[{"annotation": [{"question_id": "test-scene0707-0", "question": "In what corner of the kitchen are there two refrigerators?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-1", "question": "What kind of cabinets are at the corner of the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-2", "question": "What is in the lower section of the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-3", "question": "How many white refrigerators are on the right side of the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-4", "question": "What is the first refrigerator on the right side of the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-5", "question": "What is the one window at the corner of the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-6", "question": "What color is the trash can on the right side of the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-7", "question": "What is below the window on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-8", "question": "What is located to the left of the wooden door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-9", "question": "Where is the garbage can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-10", "question": "On what side of the room is the stove located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-11", "question": "Where is the soap dispenser attached?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-12", "question": "What is attached to a cabinet and elevated above the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-13", "question": "Where is the microwave mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-14", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-15", "question": "Where is the brown door placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-16", "question": "What color is the kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-17", "question": "What is placed next to a plastic bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-18", "question": "What is placed next to a white fridge/refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-19", "question": "Where is the trash can placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-20", "question": "What is placed on the wall above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-21", "question": "Where is a white refrigerator placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-22", "question": "What is sitting between a garbage can and another refridgerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-23", "question": "Where is the refridgerator sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-24", "question": "What color is the dome lid trashcan?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-25", "question": "What color is the only door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-26", "question": "What is right next to the open door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-27", "question": "What color soap dispenser is attached to the wall above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-28", "question": "What is the white soap dispenser attached to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-29", "question": "What color is the trash can next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-30", "question": "What is facing the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-31", "question": "What is directly across from the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-32", "question": "What type of cabinet has a drawer in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-33", "question": "What obstructs part of the cabinet when it is open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-34", "question": "What kind of cabinets are next to the oven?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-35", "question": "What is next to the brown cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-36", "question": "What kind of cabinets are underneath the microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-37", "question": "What is next to the brown cabinets underneath the microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-38", "question": "What is the window facing ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-39", "question": "What color is the refrigerator next to the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-40", "question": "Which side of the refrigerator is facing the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-41", "question": "What is the small window above?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-42", "question": "Which window of the 2 windows is above the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-43", "question": "What color are kitchen cabinets with a sink in them?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-44", "question": "What is to the right of the kitchen cabinets with a sink in them?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-45", "question": "What is on the wall above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-46", "question": "The white soap dispenser is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-47", "question": "What color are the cabinets on top of the stove ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-48", "question": "What is the color of the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-49", "question": "Where is the soap dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-50", "question": "What kind of dispenser is on top of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-51", "question": "What is above the radiator on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-52", "question": "What kind of cabinets are beside fridges and behind a door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-53", "question": "Where are the brown cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-54", "question": "Where is a wooden cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-55", "question": "Where is a standard microwave located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-56", "question": "What is located on the wall next to the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-57", "question": "What color soap dispenser is located above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-58", "question": "Where is the white soap dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-59", "question": "What is located on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-60", "question": "Where is the refrigerator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-61", "question": "What color is the microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-62", "question": "What type of cabinet is placed next to a refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-63", "question": "What is placed in the kitchen to the left of the wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-64", "question": "Where is the white refrigerator placed in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-65", "question": "What is placed next to a refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-66", "question": "A trash can is placed next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-67", "question": "What is left open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-68", "question": "How is a wooden door left open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-69", "question": "Where is the white microwave placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-70", "question": "What location is fire extinguisher around the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-71", "question": "What type of trash can is located in the corner between the fire extinguisher and the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-72", "question": "What are these cabinets made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-73", "question": "Where are the dark wooden kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-74", "question": "Where is the left-most window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-75", "question": "What is located on the floor underneath the microware ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-76", "question": "The trash can is located on the left of what ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-77", "question": "What type of cabinets are mounted on the wall over the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-78", "question": "Where are the wooden kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-79", "question": "Where is the right-most refrigerator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-80", "question": "Where is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-81", "question": "What are the cabinets made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-82", "question": "What is to the left of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-83", "question": "What type of cabinets are across from the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-84", "question": "What color is the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-85", "question": "Where is the stove located from the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-86", "question": "The left-most refrigerator is located to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-87", "question": "What part of the refrigerator is located to the right of the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-88", "question": "The wooden door is located to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0707-89", "question": "Where is the left-most refrigerator located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.41246, -0.300073, 0.860135, 4.08163], [-0.910859, 0.120709, -0.394672, 2.29383], [0.0146042, -0.946248, -0.323112, 1.45403], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.463913, -0.276647, 0.841577, 4.1247], [-0.885481, 0.116267, -0.449895, 2.37256], [0.0266142, -0.953912, -0.298903, 1.45086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.560921, -0.209698, 0.800871, 4.43662], [-0.827838, 0.133618, -0.544822, 2.32834], [0.00723735, -0.968593, -0.248545, 1.48319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.708731, -0.216022, 0.671591, 4.82589], [-0.705476, 0.214541, -0.675482, 2.35741], [0.00183562, -0.952526, -0.30445, 1.51687], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.83194, -0.114878, 0.542844, 5.1602], [-0.553489, 0.240702, -0.797316, 2.2754], [-0.0390695, -0.963777, -0.263833, 1.53844], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.919398, -0.135967, 0.36908, 5.46555], [-0.392632, 0.261473, -0.881743, 2.17454], [0.0233835, -0.955586, -0.293783, 1.51052], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.988463, -0.0471665, 0.143932, 5.6641], [-0.151347, 0.270231, -0.950826, 2.08953], [0.00595203, -0.961639, -0.274252, 1.50437], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.999026, -0.0242088, 0.0368838, 5.88374], [-0.0417939, 0.251474, -0.966961, 1.95539], [0.0141336, -0.967561, -0.252241, 1.52558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.957765, 0.0782369, -0.276705, 5.97137], [0.287497, 0.241515, -0.926831, 1.99448], [-0.00568387, -0.967238, -0.253808, 1.53621], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.895325, 0.159567, -0.41585, 5.86906], [0.444078, 0.247561, -0.861109, 1.97516], [-0.0344567, -0.955642, -0.292508, 1.53313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.832598, 0.168603, -0.527593, 5.62457], [0.552359, 0.182238, -0.813443, 1.8618], [-0.0410013, -0.968691, -0.244861, 1.53844], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.742156, 0.224881, -0.631374, 5.39579], [0.670127, 0.232744, -0.704812, 1.76274], [-0.0115506, -0.946181, -0.323431, 1.50573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.449795, 0.262371, -0.853725, 5.23557], [0.892542, 0.0973239, -0.440337, 1.58386], [-0.0324439, -0.960047, -0.277953, 1.52588], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.387515, 0.275636, -0.879692, 4.99636], [0.920064, 0.0560443, -0.387739, 1.47304], [-0.057573, -0.959627, -0.27532, 1.51997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.270477, 0.257557, -0.927635, 4.68915], [0.96176, 0.029115, -0.272344, 1.37161], [-0.043136, -0.965824, -0.255583, 1.54766], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.0235452, 0.253826, -0.966963, 4.37642], [0.999589, -0.0217791, 0.0186226, 1.18986], [-0.0163327, -0.967005, -0.254234, 1.54952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.203347, 0.208614, -0.956625, 4.0174], [0.978979, -0.0591319, 0.195204, 1.2003], [-0.0158447, -0.976209, -0.216253, 1.5225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.607076, 0.206597, -0.767318, 3.72895], [0.794572, -0.170841, 0.58264, 1.27898], [-0.0107173, -0.963396, -0.26787, 1.52329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.750532, 0.192535, -0.632165, 3.65367], [0.660369, -0.182612, 0.728399, 1.30825], [0.0248011, -0.964149, -0.2642, 1.51297], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.844209, 0.175467, -0.506481, 3.6176], [0.535751, -0.246576, 0.807571, 1.33312], [0.0168163, -0.953106, -0.302168, 1.51557], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.872997, 0.140971, -0.466908, 3.51712], [0.487561, -0.227424, 0.842948, 1.31995], [0.0126447, -0.963538, -0.267273, 1.51197], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.91195, 0.0759374, -0.403213, 3.28273], [0.410137, -0.196536, 0.890596, 1.4488], [-0.0116162, -0.977552, -0.210376, 1.53358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.990709, 0.0561192, -0.123882, 3.11789], [0.135167, -0.305601, 0.942517, 1.45266], [0.0150348, -0.950505, -0.310347, 1.49275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.980971, -0.0195654, 0.193167, 3.10803], [-0.184739, -0.400144, 0.897639, 1.54645], [0.059732, -0.916243, -0.396144, 1.42638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.855607, -0.20411, 0.475686, 3.07372], [-0.516962, -0.38352, 0.765286, 1.84917], [0.0262324, -0.900695, -0.43366, 1.41249], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.639396, -0.346224, 0.686514, 2.94731], [-0.767958, -0.331224, 0.548207, 1.93802], [0.0375874, -0.877736, -0.477668, 1.38346], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.445231, -0.322915, 0.835162, 2.95339], [-0.894947, -0.1303, 0.426723, 2.10724], [-0.0289734, -0.937416, -0.347005, 1.43973], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.265155, -0.241207, 0.933548, 2.99596], [-0.963726, -0.0357577, 0.264487, 2.29091], [-0.0304148, -0.969815, -0.241939, 1.5361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.0144079, -0.204613, 0.978737, 3.12561], [-0.997655, 0.0625597, 0.0277651, 2.38194], [-0.0669105, -0.976842, -0.203231, 1.56543], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.218382, -0.191558, 0.956878, 3.52238], [-0.972037, 0.129447, -0.195927, 2.48459], [-0.0863339, -0.972908, -0.21447, 1.56795], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.429772, -0.0970926, 0.897702, 3.7827], [-0.89908, 0.137823, -0.415525, 2.48466], [-0.0833799, -0.985686, -0.146527, 1.57502], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.618658, -0.167414, 0.767617, 4.06654], [-0.784441, 0.186054, -0.591639, 2.42112], [-0.0437697, -0.968172, -0.24643, 1.48962], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.770129, -0.172578, 0.614099, 4.40701], [-0.637693, 0.184469, -0.747876, 2.31138], [0.0157843, -0.967568, -0.252117, 1.47341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.888858, -0.0863156, 0.449979, 4.77471], [-0.457734, 0.210716, -0.863758, 2.2498], [-0.0202621, -0.973729, -0.226807, 1.51948], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.960248, -0.0165856, 0.278656, 5.07455], [-0.275977, 0.206456, -0.938729, 2.08355], [-0.0419611, -0.978315, -0.202827, 1.52571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.999802, 0.00391811, -0.0195274, 5.16249], [0.0196855, 0.343279, -0.939027, 2.0252], [0.00302404, -0.939225, -0.343289, 1.50168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.95947, 0.0674879, -0.27361, 5.14873], [0.278162, 0.382519, -0.881082, 2.06632], [0.0451987, -0.92148, -0.385788, 1.45288], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.914249, 0.137733, -0.381023, 5.04657], [0.403212, 0.401257, -0.822444, 2.03454], [0.0396106, -0.905551, -0.422384, 1.42241], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.792886, 0.280964, -0.540732, 4.72528], [0.609339, 0.356536, -0.70823, 1.91695], [-0.00619626, -0.891034, -0.453894, 1.40727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.53869, 0.362144, -0.7607, 4.53295], [0.842503, 0.232667, -0.485854, 1.76566], [0.00104061, -0.902617, -0.430443, 1.38453], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0707_00"}, {"annotation": [{"question_id": "test-scene0708-0", "question": "What is the couch around?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-1", "question": "What color is the couch in the picture?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-2", "question": "What is the picture that is directly above the singular chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-3", "question": "From the entryway, what picture is on the bottom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-4", "question": "What type of upholstered chair is in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-5", "question": "What color sectional sofa is next to the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-6", "question": "Where is the picture hanging on the wall located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-7", "question": "Where is the second section of the couch facing you?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-8", "question": "What are these in the corner of a room behind a sofa and a chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-9", "question": "Where are bookshelves located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-10", "question": "What type of upholstered chair is in the center of a room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-11", "question": "What type of sofa is next to the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-12", "question": "In what part of the wall is the picture hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-13", "question": "What is to the right, of the row of four, gray chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-14", "question": "What is on the wall, above the row of four, gray chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-15", "question": "What is to the right of the door, hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-16", "question": "The couch is between what and the two singular chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-17", "question": "What covers the window in the left side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-18", "question": "What color is the wooden chair in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-19", "question": "What color is the armless sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-20", "question": "Where is the right-most sofa chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-21", "question": "On what side of the room is a picture frame located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-22", "question": "To what side of the door is the picture frame located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-23", "question": "Which side of the sofa chair is the beige sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-24", "question": "Where is the beige sofa chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-25", "question": "What is to the left of the couch against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-26", "question": "How many seats does the sofa chair have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-27", "question": "What color is the left-most sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-28", "question": "Where is the left-most sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-29", "question": "What covers the window in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-30", "question": "Where is the picture from the door in the bottom row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-31", "question": "What is on the wall to the right of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-32", "question": "Where are many pictures located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-33", "question": "Where is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-34", "question": "What kind of blinds does the window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-35", "question": "The bookshelf is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-36", "question": "What is placed behind an \"l\" shaped chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-37", "question": "What size coffee table is placed in the middle of four sofas?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-38", "question": "What is placed in the middle of four sofas?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-39", "question": "How many sofas are in the middle of the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-40", "question": "What type of frame is a picture placed in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-41", "question": "Where is a picture in basic frame placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-42", "question": "What color frame does the window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-43", "question": "Where is the black leather sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-44", "question": "What color is the couch in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-45", "question": "In what part of the room is a blue couch placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-46", "question": "What color sofa chair is placed along the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-47", "question": "Where is the blue sofa chair placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-48", "question": "Where is the blue sofa chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-49", "question": "What is placed in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-50", "question": "In what part of the room is a coffee table with paper on it placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-51", "question": "Where is the picture from the left on the lower row as you face the pictures?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-52", "question": "Where is the picture that is 3rd from the left on the lower row as you face the pictures?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-53", "question": "What is a picture with that is placed among other pictures?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-54", "question": "Where is a picture with a frame placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-55", "question": "What is placed above the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-56", "question": "A window with a brown frame is placed above what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-57", "question": "What color is the far wall across fro the light green couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-58", "question": "What object is in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-59", "question": "What is close to the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-60", "question": "What is above the black couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-61", "question": "Where is the black couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-62", "question": "What size is the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-63", "question": "What type of window is located on the left wall closest to the chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-64", "question": "Where is the double window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-65", "question": "The brown wooden chair is located close to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-66", "question": "What is the couch closest to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-67", "question": "What is next to the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-68", "question": "On what side of the three seater couch is the brown chair located when looking at the green wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-69", "question": "What type of chair is under a line of paintings?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-70", "question": "In which direction is the black chair located compared to the four seater couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-71", "question": "What are the picture frame colors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-72", "question": "What is the color of a leather sofa chair against the wall between 2 bookshelves?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-73", "question": "What is next to the picture on the bottom row of pictures?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-74", "question": "Where is black leather sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-75", "question": "Where is black sofa chair from the left as you face the pictures?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-76", "question": "Which picture is closest to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-77", "question": "Where is the far left picture on the top row of pictures?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-78", "question": "Where is the black sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-79", "question": "What is in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-80", "question": "How many windows are in the room ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-81", "question": "How many navy blue chairs are underneath the pictures on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-82", "question": "What is in the middle of the sofas?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-83", "question": "What is in the middle of the room with chairs on all 4 sides?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-84", "question": "How many pictures are on the wall behind the navy blue chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-85", "question": "What color are the chairs against the wall with 10 pictures?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-86", "question": "What color is the chair in between the two brown bookcases and the navy blue couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-87", "question": "How many blue chairs are underneath the black-framed picture on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-88", "question": "What color is the chair at the right end of the pictures with black frames?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-89", "question": "What does the print look like in an office sitting room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-90", "question": "What is in the center of an office waiting room space surrounded by chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-91", "question": "What are on a coffee table in a waiting room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-92", "question": "What color are the magazines in the upper left hand corner of the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-93", "question": "How many prints are on the wall in a sitting room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-94", "question": "How many prints are in the top row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-95", "question": "In what type of setting is a desk chair used?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-96", "question": "Where is the desk chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-97", "question": "What is in the corner of the room in front of the desk chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-98", "question": "What color is the chair in the middle of three in a row across from square table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-99", "question": "How many brown wooden bookshelves were on the right side of the bookhelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-100", "question": "What picture is on the bottom row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-101", "question": "What is the 3rd picture on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-102", "question": "What is above the sofa chair on the right end of three sofa chairs when you are facing the wall with a piano against it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-103", "question": "What color sofa chair is located to the left of the other three identical sofa chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-104", "question": "How many identical blue sofa chairs are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-105", "question": "What is located above a sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-106", "question": "What type of chair is located to the right of a standard wooden chair and a wooden shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-107", "question": "A sofa chair is located to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-108", "question": "Where does the bookshelf sit in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-109", "question": "What shape is the bookshelf in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-110", "question": "What is to the right of three grey chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-111", "question": "What color is the sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-112", "question": "What kind of cushion is on the 1st chair on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-113", "question": "What color is the chair next to the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-114", "question": "Where does the couch sit in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-115", "question": "What sits to the left of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-116", "question": "What shape is the sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-117", "question": "What is placed against a back wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-118", "question": "What are the windows above?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-119", "question": "What is placed along a wall with the grey armless seat?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-120", "question": "Along with the grey row of chairs, what else is on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0708-121", "question": "What is the grey chair along the wall with?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.475537, -0.397033, 0.785002, 6.68301], [-0.879631, 0.225443, -0.418838, 3.63981], [-0.0106807, -0.889685, -0.456449, 1.53489], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.59969, -0.3841, 0.702025, 6.74078], [-0.800217, 0.282481, -0.529015, 3.62991], [0.00488582, -0.879017, -0.476765, 1.52843], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.753181, -0.259201, 0.604594, 6.83504], [-0.656516, 0.35391, -0.666135, 3.50844], [-0.0413093, -0.898645, -0.436727, 1.50267], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.738093, -0.313642, 0.597367, 6.99191], [-0.674638, 0.355042, -0.647155, 3.32391], [-0.00911562, -0.880667, -0.473648, 1.4976], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.851028, -0.175432, 0.494949, 7.19315], [-0.52332, 0.361315, -0.771744, 3.23939], [-0.0434439, -0.915792, -0.399296, 1.54153], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.881249, -0.0826562, 0.465369, 7.28556], [-0.46557, 0.321609, -0.824507, 3.06201], [-0.0815162, -0.943258, -0.3219, 1.57669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.889837, -0.0855245, 0.448191, 7.33136], [-0.452146, 0.297179, -0.840981, 2.94963], [-0.0612687, -0.950984, -0.303111, 1.58554], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.92467, -0.0998187, 0.367453, 7.40801], [-0.379641, 0.315942, -0.869514, 2.95695], [-0.0293001, -0.943513, -0.330037, 1.57386], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.961791, -0.0612258, 0.266849, 7.51072], [-0.271467, 0.339765, -0.900481, 2.97725], [-0.0355335, -0.938515, -0.343404, 1.5619], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.995111, 0.0625084, 0.0764643, 7.59261], [-0.0423827, 0.42903, -0.902295, 2.9111], [-0.0892066, -0.901125, -0.424283, 1.52929], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.993884, 0.109599, 0.013541, 7.66859], [0.0274245, 0.363736, -0.931098, 2.65617], [-0.106972, -0.925032, -0.364517, 1.55108], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.979938, 0.141092, -0.140766, 7.74388], [0.181674, 0.341928, -0.921998, 2.51354], [-0.0819547, -0.929074, -0.360701, 1.55009], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.859678, 0.256993, -0.441485, 7.75735], [0.502754, 0.272512, -0.820352, 2.39861], [-0.0905146, -0.927196, -0.363476, 1.52999], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.764231, 0.310953, -0.565031, 7.62203], [0.634077, 0.202115, -0.746389, 2.15058], [-0.117891, -0.928686, -0.35163, 1.54947], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.630543, 0.326906, -0.703952, 7.52486], [0.764601, 0.105713, -0.635776, 1.91382], [-0.133422, -0.939126, -0.316609, 1.55764], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.399581, 0.37658, -0.835777, 7.35358], [0.908831, 0.0435546, -0.414884, 1.72651], [-0.119835, -0.92536, -0.359651, 1.51933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.280211, 0.394355, -0.875195, 6.97571], [0.951999, -0.00285602, -0.306088, 1.60362], [-0.123207, -0.918954, -0.374625, 1.50185], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.0857594, 0.414087, -0.906188, 6.61085], [0.993811, -0.0289057, -0.107261, 1.49049], [-0.0706091, -0.909778, -0.409045, 1.48255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.11511, 0.369409, -0.92211, 6.22402], [0.992486, 0.00399691, -0.122294, 1.42884], [-0.0414907, -0.929258, -0.367093, 1.48597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.00351769, 0.436611, -0.899644, 5.86908], [0.99956, -0.0280286, -0.00969446, 1.35295], [-0.0294485, -0.899214, -0.436517, 1.49712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.0233327, 0.442487, -0.896472, 5.51154], [0.998378, -0.0362727, -0.043889, 1.35196], [-0.0519377, -0.896041, -0.440922, 1.49318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.0528247, 0.39551, -0.916941, 5.23695], [0.995141, -0.0972568, 0.0153792, 1.28997], [-0.0830961, -0.913298, -0.398726, 1.54652], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.141001, 0.299274, -0.943692, 4.98682], [0.98068, -0.172779, 0.0917335, 1.30378], [-0.135596, -0.938394, -0.317854, 1.60963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.19773, 0.247343, -0.948538, 4.72989], [0.971939, -0.175255, 0.156908, 1.40609], [-0.127426, -0.952947, -0.275055, 1.62327], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.22309, 0.252577, -0.941507, 4.51533], [0.974728, -0.0694109, 0.212341, 1.31785], [-0.0117184, -0.965084, -0.261678, 1.55937], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.150036, 0.303387, -0.940981, 4.44205], [0.988069, -0.0794727, 0.131921, 1.3765], [-0.0347593, -0.949548, -0.311691, 1.58464], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.126132, 0.311367, -0.941882, 4.45067], [0.991444, -0.071731, 0.109056, 1.3949], [-0.0336057, -0.947579, -0.31775, 1.58304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.108966, 0.306547, -0.945598, 4.44354], [0.993611, -0.0617304, 0.0944867, 1.41744], [-0.0294075, -0.949852, -0.311315, 1.57691], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.115407, 0.264242, -0.957527, 4.3648], [0.992514, -0.0694618, 0.100455, 1.47345], [-0.0399672, -0.961952, -0.27028, 1.59498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.219186, 0.145598, -0.964758, 4.19718], [0.972813, -0.108399, 0.204657, 1.37341], [-0.074781, -0.983388, -0.165399, 1.65293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.180791, 0.105475, -0.977849, 4.09072], [0.981141, -0.0884736, 0.171856, 1.26575], [-0.0683873, -0.990478, -0.119482, 1.65426], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.173189, 0.138616, -0.975085, 4.004], [0.983246, -0.0815048, 0.163052, 1.4537], [-0.0568725, -0.986987, -0.15041, 1.64503], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.419838, 0.156187, -0.894059, 3.97941], [0.907563, -0.0810833, 0.412014, 1.60077], [-0.00814182, -0.984394, -0.175792, 1.63215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.553446, 0.156197, -0.818108, 4.04664], [0.832085, -0.146761, 0.53488, 1.45554], [-0.0365196, -0.976762, -0.211193, 1.61593], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.699726, 0.171387, -0.693549, 4.07635], [0.713251, -0.222914, 0.664517, 1.39375], [-0.0407121, -0.959654, -0.278221, 1.57962], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.766121, 0.155978, -0.623482, 3.94559], [0.641198, -0.251706, 0.72492, 1.47431], [-0.0438627, -0.955152, -0.29285, 1.56477], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.802188, 0.146783, -0.578748, 3.8146], [0.593976, -0.294763, 0.748537, 1.55121], [-0.0607212, -0.94423, -0.32364, 1.55626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.879661, 0.071475, -0.470199, 3.77662], [0.465686, -0.33026, 0.821015, 1.56485], [-0.0966054, -0.94118, -0.323802, 1.57168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.944208, 0.0137036, -0.329064, 3.79565], [0.317085, -0.30794, 0.897012, 1.55662], [-0.0890397, -0.951307, -0.295105, 1.56301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.971919, -0.0487235, -0.230217, 3.84394], [0.216013, -0.203327, 0.954985, 1.56104], [-0.0933395, -0.977898, -0.187092, 1.57743], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.973299, -0.0998355, -0.206696, 3.86836], [0.191496, -0.143357, 0.970968, 1.62664], [-0.126568, -0.984623, -0.120411, 1.61522], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.989332, -0.0705309, -0.127466, 4.04463], [0.116841, -0.138417, 0.983458, 1.84423], [-0.0870075, -0.987859, -0.128699, 1.60792], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.998354, -0.0298218, 0.0489931, 4.1186], [-0.0549255, -0.2511, 0.966402, 2.03554], [-0.0165175, -0.967502, -0.252325, 1.49849], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.987677, -0.0648614, 0.142433, 4.06348], [-0.149693, -0.12591, 0.980683, 2.26173], [-0.0456747, -0.989919, -0.134067, 1.59051], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.953907, -0.132246, 0.269394, 4.19596], [-0.277946, -0.0507952, 0.959253, 2.55117], [-0.113173, -0.989915, -0.085211, 1.61708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.91451, -0.145051, 0.377666, 4.27202], [-0.392693, -0.0937975, 0.914874, 2.59387], [-0.0972789, -0.984968, -0.142739, 1.63121], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.895499, -0.145855, 0.420484, 4.26593], [-0.438773, -0.131058, 0.888989, 2.32172], [-0.0745557, -0.980587, -0.181359, 1.54062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.778923, -0.219905, 0.587299, 4.31911], [-0.61304, -0.0696796, 0.786973, 1.95517], [-0.132136, -0.97303, -0.189086, 1.54153], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.398858, -0.255366, 0.880739, 4.40209], [-0.90713, 0.0307528, 0.419727, 1.88118], [-0.134269, -0.966355, -0.219384, 1.48875], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.174105, -0.403632, 0.898203, 4.526], [-0.984507, -0.090616, 0.150113, 2.18731], [0.0208011, -0.910423, -0.413155, 1.43851], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.21691, -0.339184, 0.915371, 4.63424], [-0.975555, -0.109181, 0.190715, 2.58977], [0.0352541, -0.934363, -0.354575, 1.46269], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.277987, -0.253915, 0.926418, 4.82597], [-0.960344, -0.0518813, 0.273947, 2.92772], [-0.0214954, -0.965834, -0.258268, 1.52382], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.26264, -0.302458, 0.916264, 4.82893], [-0.964403, -0.0519909, 0.259277, 3.26543], [-0.0307829, -0.951744, -0.305346, 1.5022], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.226997, -0.268245, 0.936225, 5.04462], [-0.973649, -0.0408832, 0.224357, 3.54338], [-0.0219067, -0.962483, -0.270457, 1.50018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.0328957, -0.28443, 0.958132, 5.31388], [-0.999146, -0.0146321, -0.0386474, 3.74604], [0.025012, -0.958585, -0.283705, 1.46866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.368158, -0.322822, 0.871921, 5.56104], [-0.929737, 0.120722, -0.347873, 3.75689], [0.00704131, -0.938729, -0.344585, 1.45538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.581926, -0.298839, 0.756345, 5.88376], [-0.81324, 0.215857, -0.540413, 3.75193], [-0.00176606, -0.92957, -0.368641, 1.45484], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.869189, -0.154764, 0.469636, 5.9938], [-0.493474, 0.332038, -0.803887, 3.81029], [-0.0315243, -0.930483, -0.364976, 1.44529], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.994686, 9.06736e-05, 0.102953, 5.95861], [-0.0940228, 0.406579, -0.908765, 3.70242], [-0.0419409, -0.913616, -0.40441, 1.43181], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.999223, 0.0291884, 0.0264828, 5.91196], [-0.0122109, 0.409609, -0.91218, 3.59034], [-0.0374728, -0.911794, -0.408934, 1.42447], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0708_00"}, {"annotation": [{"question_id": "test-scene0709-0", "question": "What color stove is up against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-1", "question": "Where are the brown kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-2", "question": "What does the bottom brown kitchen cabinets contain between them?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-3", "question": "What color is the one-basin sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-4", "question": "Where is the one-basin sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-5", "question": "What dispenser is next to the one-basin sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-6", "question": "Where is the leftmost refrigerator from the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-7", "question": "What is the position of the refrigerator closest to the window and farthest from the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-8", "question": "What color is the trash can in front of the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-9", "question": "Where is the window in the wall located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-10", "question": "Where is the window in the wall that is between the refrigerator and the stove located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-11", "question": "How do the kitchen cabinets look to the wall with the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-12", "question": "What color are the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-13", "question": "The white fridge is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-14", "question": "The room entrance door is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-15", "question": "What color are the doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-16", "question": "What is in the far wall of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-17", "question": "Where is the white radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-18", "question": "What color are the kitchen cabinets on the wall between the doorway and refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-19", "question": "Where are the dark brown kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-20", "question": "What type of sink is built into the dark grey countertop on top of the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-21", "question": "Where is the stainless steel sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-22", "question": "What color is the refrigerator in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-23", "question": "What color is the stove in the corner of the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-24", "question": "Where is the white double-door refrigerator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-25", "question": "What color are these cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-26", "question": "What is between the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-27", "question": "What is the shape of the sink located between the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-28", "question": "Where is the single-basin sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-29", "question": "What kind of cabinets are in the corner near the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-30", "question": "Where are the cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-31", "question": "What is next to the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-32", "question": "What is in the counter top next to the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-33", "question": "What is on the floor next to the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-34", "question": "What is underneath the brown cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-35", "question": "To what side of the refrigerator is the long countertop located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-36", "question": "How many windows are located above the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-37", "question": "Where are the two brown doors to the left of the garbage can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-38", "question": "What color is the stove in the middle of the countertop?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-39", "question": "Where are the blinds located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-40", "question": "Where are windows located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-41", "question": "What color is the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-42", "question": "What color finish do kitchen cabinets have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-43", "question": "What is located near the oven?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-44", "question": "Where is a standard white radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-45", "question": "What is located next to the bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-46", "question": "Where is the large kitchen counter located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-47", "question": "What is located above the kitchen counter to the right of a while refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-48", "question": "Where is a wooden kitchen cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-49", "question": "Where is the two panel window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-50", "question": "The trash can is located against what wall in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-51", "question": "What colors are in the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-52", "question": "What color are kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-53", "question": "What color kitchen cabinets are located under a microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-54", "question": "What color is the microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-55", "question": "What color stove is under brown kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-56", "question": "What color is the trash can next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-57", "question": "What color is the microwave on the kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-58", "question": "Where is the trash can located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-59", "question": "What color is the metal radiator under the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-60", "question": "Where is the radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-61", "question": "What color is the microwave next to the wall that sticks out into the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-62", "question": "What color are cabinets above the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-63", "question": "Where the cabinets located by window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-64", "question": "What color is the trash can in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-65", "question": "To the right of the door that is opposite the sink is what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-66", "question": "To what side of the refrigerators is the sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-67", "question": "What color is the wooden door with a window in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-68", "question": "What is next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-69", "question": "What color are kitchen cabinets under the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-70", "question": "What are the long brown kitchen cabinets under the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-71", "question": "What type of refrigerator is between another refrigerator and the long counter top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-72", "question": "What color is the microwave on the left of the oven?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-73", "question": "What is the microwave opposite?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-74", "question": "What color is the cabinet above and to the left of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-75", "question": "What color is the radiator underneath the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-76", "question": "What color is the stove between 2 brown cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-77", "question": "What is the stove opposite?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-78", "question": "What color is a wooden door with a window in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-79", "question": "What kind of blinds do windows have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-80", "question": "What is directly above the white radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-81", "question": "What appliance is on the top left of these kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-82", "question": "How many handles do these kitchen cabinets have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-83", "question": "What color is the refrigerator on the right of the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-84", "question": "To what side of the kitchen sink are these kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-85", "question": "What color are the handles on these kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-86", "question": "How many doors are in the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-87", "question": "On what side of the stove/oven is the kitchen cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-88", "question": "What are the tops of the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-89", "question": "What color are the kitchen cabinets to the left of the stove/oven?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-90", "question": "Where is the refrigerator on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-91", "question": "What shape is the 2nd refrigerator on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-92", "question": "What color is the 2nd refrigerator on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-93", "question": "What is on top of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-94", "question": "What color is the sink on top of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-95", "question": "What shape is the sink on top of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-96", "question": "Where is the kitchen cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-97", "question": "What is located to the left of the kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-98", "question": "What color is the kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-99", "question": "What is the door made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-100", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-101", "question": "The door is open and to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-102", "question": "What are the kitchen cabinets made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-103", "question": "Where is a round grey trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-104", "question": "What color is the kitchen cabinet in front of the kitchen door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0709-105", "question": "Where is the big window in the kitchen?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.296445, -0.35127, 0.888104, 1.83091], [-0.95505, 0.109948, -0.275304, 2.17848], [-0.000939002, -0.929796, -0.368074, 1.49182], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.393374, -0.259318, 0.882049, 1.92488], [-0.919379, 0.111168, -0.377339, 2.24455], [-0.000205033, -0.959373, -0.282142, 1.5196], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.400931, -0.141348, 0.905138, 2.09761], [-0.91411, 0.126951, -0.38508, 2.23451], [-0.0604784, -0.981786, -0.180106, 1.61674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.442939, -0.0832373, 0.892679, 2.24846], [-0.89565, 0.085733, -0.436419, 2.26658], [-0.0402058, -0.992835, -0.112526, 1.71086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.612525, -0.184403, 0.76864, 2.24864], [-0.789738, 0.184046, -0.585184, 2.39043], [-0.033556, -0.965465, -0.258363, 1.59905], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.707421, -0.204961, 0.676422, 2.27986], [-0.706438, 0.235326, -0.667508, 2.3401], [-0.0223664, -0.950059, -0.311267, 1.53894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.871267, -0.132369, 0.472623, 2.39915], [-0.489616, 0.301524, -0.818144, 2.04598], [-0.0342102, -0.944225, -0.327518, 1.52697], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.942999, -0.066195, 0.326144, 2.65144], [-0.329173, 0.329707, -0.884838, 1.88602], [-0.04896, -0.94176, -0.332703, 1.52253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.984205, -0.0197034, 0.175932, 3.02889], [-0.166848, 0.435447, -0.884617, 1.71179], [-0.0591792, -0.899999, -0.431857, 1.51611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.993203, 0.0827601, -0.0818396, 3.33719], [0.104753, 0.329111, -0.938463, 1.52394], [-0.0507331, -0.940658, -0.335543, 1.5247], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.89789, 0.149685, -0.41399, 3.47022], [0.439682, 0.258467, -0.86016, 1.52297], [-0.0217498, -0.954353, -0.297889, 1.52119], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.793281, 0.194922, -0.576811, 3.37202], [0.60815, 0.208049, -0.766074, 1.42838], [-0.0293199, -0.9585, -0.283583, 1.50301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.711207, 0.197445, -0.674686, 3.1435], [0.702975, 0.19519, -0.683906, 1.22037], [-0.0033417, -0.960685, -0.27762, 1.49116], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.430882, 0.29065, -0.85432, 2.9834], [0.902407, 0.137056, -0.408507, 0.995228], [-0.00164281, -0.946963, -0.321339, 1.49478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.222649, 0.294247, -0.929433, 2.77373], [0.972218, -0.00363214, -0.234049, 0.818386], [-0.0722439, -0.955723, -0.285263, 1.5486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.0337012, 0.248294, -0.968099, 2.51709], [0.99855, -0.0323233, -0.0430515, 0.777984], [-0.0419816, -0.968145, -0.246844, 1.60478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.152687, 0.273435, -0.949694, 2.39923], [0.987906, -0.068492, 0.13911, 0.757787], [-0.0270089, -0.959449, -0.280586, 1.57714], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.221192, 0.359981, -0.90636, 2.29681], [0.975218, -0.0768673, 0.207467, 0.528068], [0.00501468, -0.929788, -0.368062, 1.4925], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.208885, 0.328514, -0.921111, 2.07842], [0.977769, -0.0524935, 0.203012, 0.397129], [0.0183399, -0.943039, -0.332176, 1.49164], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.238841, 0.376322, -0.895174, 1.99456], [0.970445, -0.0597203, 0.233818, 0.388679], [0.0345308, -0.924562, -0.379464, 1.48998], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.530816, 0.28565, -0.797896, 2.04718], [0.846346, -0.227522, 0.481594, 0.503876], [-0.0439717, -0.930934, -0.362531, 1.5271], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.639042, 0.218466, -0.737494, 2.07621], [0.767501, -0.244286, 0.592679, 0.63193], [-0.0506795, -0.944774, -0.323781, 1.50602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.672688, 0.112538, -0.731318, 1.94861], [0.728974, -0.270225, 0.628949, 0.936009], [-0.126839, -0.956198, -0.263814, 1.59327], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.81967, 0.0815218, -0.567006, 1.74255], [0.562485, -0.301859, 0.769735, 1.23079], [-0.108406, -0.949861, -0.29328, 1.56894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.786029, 0.157819, -0.597705, 1.613], [0.616779, -0.265482, 0.741015, 1.48008], [-0.0417339, -0.951111, -0.306016, 1.51412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.782112, 0.213954, -0.585256, 1.4436], [0.623117, -0.260841, 0.737352, 1.69663], [0.00510068, -0.941375, -0.337325, 1.52849], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.760039, 0.285377, -0.583867, 1.37244], [0.648959, -0.285521, 0.705216, 1.81994], [0.0345458, -0.914898, -0.402205, 1.5283], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.715604, 0.256426, -0.649736, 1.39648], [0.69847, -0.253162, 0.669365, 1.91326], [0.00715414, -0.932821, -0.360269, 1.55077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.68349, 0.235686, -0.690864, 1.45608], [0.729892, -0.233594, 0.642411, 2.00607], [-0.00997442, -0.943338, -0.331685, 1.55565], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.603212, 0.181488, -0.776658, 1.41892], [0.794756, -0.218659, 0.566172, 2.09336], [-0.0670695, -0.958775, -0.276137, 1.59452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.593483, 0.0572441, -0.802808, 1.3659], [0.797478, -0.176492, 0.576957, 2.23404], [-0.108662, -0.982636, -0.150396, 1.63501], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.576528, 0.0519574, -0.815424, 1.44412], [0.808807, -0.177928, 0.560512, 2.4144], [-0.115964, -0.982671, -0.144604, 1.6596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.635062, 0.206774, -0.744272, 1.4914], [0.771539, -0.216838, 0.598087, 2.60456], [-0.0377176, -0.954057, -0.29724, 1.56484], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.732471, 0.283481, -0.618971, 1.28089], [0.679565, -0.359139, 0.639695, 2.83383], [-0.0409555, -0.889189, -0.455703, 1.50596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.870077, 0.138599, -0.473027, 1.17271], [0.484642, -0.415621, 0.769663, 3.13784], [-0.0899257, -0.898916, -0.428794, 1.48939], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.959364, 0.0126754, -0.281886, 1.08817], [0.2577, -0.446288, 0.856982, 3.3342], [-0.11494, -0.8948, -0.431419, 1.5153], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.982928, -0.1751, 0.0564966, 0.940449], [-0.130398, -0.446341, 0.885311, 3.43598], [-0.129802, -0.877564, -0.461554, 1.51284], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.876811, -0.293253, 0.381058, 0.95974], [-0.469238, -0.348854, 0.811244, 3.63377], [-0.104966, -0.890114, -0.443485, 1.49552], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.665138, -0.360861, 0.653736, 1.06267], [-0.74162, -0.217092, 0.634721, 3.76653], [-0.0871257, -0.907001, -0.412018, 1.50911], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.531706, -0.403641, 0.744555, 1.21263], [-0.839976, -0.138909, 0.524543, 3.89835], [-0.108302, -0.904311, -0.412907, 1.48596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.30314, -0.42278, 0.854028, 1.38517], [-0.950318, -0.0676042, 0.303851, 4.01618], [-0.0707263, -0.903708, -0.422268, 1.46682], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.177275, -0.439359, 0.880646, 1.43601], [-0.9837, 0.106502, -0.144885, 4.12954], [-0.030134, -0.891976, -0.451078, 1.46611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.615479, -0.372609, 0.694512, 1.49882], [-0.788138, 0.29646, -0.539399, 3.83931], [-0.00491025, -0.87936, -0.476132, 1.44014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.728305, -0.27687, 0.626829, 1.45211], [-0.681867, 0.383644, -0.622796, 3.52911], [-0.0680457, -0.881, -0.468198, 1.45883], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.764257, -0.250002, 0.594483, 1.55654], [-0.644014, 0.247242, -0.72396, 3.31435], [0.0340099, -0.936147, -0.349961, 1.447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.746531, -0.26309, 0.611126, 1.70414], [-0.66488, 0.260435, -0.700077, 3.08141], [0.0250245, -0.928955, -0.369346, 1.47649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.697696, -0.147065, 0.701136, 1.83153], [-0.715379, 0.195113, -0.670943, 2.783], [-0.0381288, -0.969692, -0.241336, 1.52354], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0709_00"}, {"annotation": [{"question_id": "test-scene0710-0", "question": "What color is the painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-1", "question": "What color is the door in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-2", "question": "Where is the beige colored door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-3", "question": "In what part of the room is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-4", "question": "Where is the desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-5", "question": "What is on the desk in the corner below the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-6", "question": "What is the curtain covering next to the computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-7", "question": "What is sitting on a table next to a window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-8", "question": "What is next to the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-9", "question": "What is in front of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-10", "question": "How many drawers are on each side of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-11", "question": "What is the monitor sitting on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-12", "question": "What type of bookcase is located across from a window and between two doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-13", "question": "How many doors is the bookcase located between?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-14", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-15", "question": "What shape is the desk in the dark brown color?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-16", "question": "The color of the desk is dark brown and is shaped as what shape?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-17", "question": "What is the color of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-18", "question": "What color is the chair in front of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-19", "question": "Can you see an animal that is on the right of the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-20", "question": "What is the color of the paneled door that is located between a black bookshelf and an electric keyboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-21", "question": "Where is the beige paneled door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-22", "question": "What is the color of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-23", "question": "What is the shape of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-24", "question": "What is located to the left of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-25", "question": "What color are the curtains in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-26", "question": "Where is the black bookshelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-27", "question": "What does the bookshelf contain ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-28", "question": "What color is the computer desk ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-29", "question": "What decorates a slender portion of the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-30", "question": "What language does the scroll art contain letters of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-31", "question": "What color is the curtain in the doorway facing the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-32", "question": "What kind of bookshelf is in the corner between the 2 grey doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-33", "question": "What color is the keyboard on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-34", "question": "What color is the keyboard in front of the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-35", "question": "What color is the door mat in front of the grey door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-36", "question": "What color is the door to the right of the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-37", "question": "What color is the doormat in front of the bookcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-38", "question": "What color is the curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-39", "question": "The curtain is to the right of what desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-40", "question": "What color desk is next to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-41", "question": "What color blind does the window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-42", "question": "What is on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-43", "question": "What is behind the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-44", "question": "Where is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-45", "question": "What is next to the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-46", "question": "What is next to the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-47", "question": "The long hainging painting is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-48", "question": "What type of painting is on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0710-49", "question": "To the left of the door is the asian painting to the left of what?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.0361412, -0.744588, 0.666546, 0.869422], [-0.999347, 0.0272631, -0.0237312, 1.36449], [-0.000502169, -0.666968, -0.745086, 1.53724], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.0380295, -0.75955, 0.649337, 0.85988], [-0.999267, 0.0259912, -0.0281211, 1.36452], [0.00448226, -0.64993, -0.759981, 1.52009], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.0302643, -0.822252, 0.568318, 0.86212], [-0.999436, 0.0166037, -0.0292001, 1.37073], [0.0145737, -0.568881, -0.822291, 1.48441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.0677154, -0.866704, 0.494206, 0.860398], [-0.997453, 0.047677, -0.0530571, 1.35324], [0.0224225, -0.49654, -0.867724, 1.45704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.183547, -0.860387, 0.475442, 0.877205], [-0.982153, 0.140306, -0.125261, 1.29067], [0.0410655, -0.489948, -0.870784, 1.45504], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.169287, -0.818024, 0.549707, 0.906458], [-0.984217, 0.111132, -0.137722, 1.27659], [0.0515695, -0.564346, -0.823926, 1.49302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.132813, -0.75406, 0.643238, 0.967797], [-0.989846, 0.0677456, -0.124962, 1.30006], [0.0506518, -0.653303, -0.7554, 1.54934], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.0504642, -0.745572, 0.664511, 1.13396], [-0.996557, -0.00623346, -0.0826744, 1.30854], [0.0657819, -0.666396, -0.742691, 1.58418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.0230538, -0.777885, 0.627983, 1.36915], [-0.995627, -0.0747428, -0.056034, 1.28169], [0.0905253, -0.623946, -0.776207, 1.59146], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.0211272, -0.828037, 0.560275, 1.52503], [-0.997105, -0.0583974, -0.048707, 1.31108], [0.0730497, -0.557624, -0.826873, 1.59292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.0688087, -0.861467, 0.50313, 1.6636], [-0.994272, -0.100561, -0.0362047, 1.2934], [0.0817844, -0.497757, -0.863452, 1.60882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.112682, -0.896353, 0.428782, 1.83267], [-0.986296, -0.153239, -0.0611469, 1.19937], [0.120515, -0.416016, -0.901336, 1.61585], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.140993, -0.918851, 0.368556, 1.95047], [-0.985536, -0.165623, -0.0358957, 1.18283], [0.0940241, -0.358164, -0.928912, 1.61626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.0684215, -0.938142, 0.339422, 2.03785], [-0.997055, -0.0761184, -0.00939829, 1.17823], [0.0346531, -0.33778, -0.940587, 1.63929], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.017036, -0.955577, 0.294248, 2.13373], [-0.999815, 0.0136365, -0.0136014, 1.15855], [0.00898464, -0.294425, -0.955632, 1.64797], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.00980587, -0.942476, 0.334129, 2.07808], [-0.999945, 0.0104547, 0.000143155, 1.17076], [-0.00362818, -0.33411, -0.942527, 1.67192], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.0581819, -0.911107, 0.408042, 1.90652], [-0.997749, 0.0394204, -0.0542464, 1.21778], [0.033339, -0.41028, -0.91135, 1.7202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.055312, -0.863256, 0.501726, 1.69959], [-0.99775, 0.0287156, -0.0605884, 1.29934], [0.0378959, -0.503949, -0.862902, 1.77082], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.0226421, -0.799024, 0.600873, 1.56795], [-0.999742, -0.0168666, 0.0152434, 1.31029], [-0.00204526, -0.601063, -0.799199, 1.84925], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.0623228, -0.707563, 0.703896, 1.39239], [-0.998038, -0.0398924, 0.0482657, 1.32232], [-0.00607095, -0.705523, -0.708661, 1.91839], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.0695152, -0.541451, 0.837853, 1.22184], [-0.9975, -0.0270088, 0.0653065, 1.3787], [-0.0127309, -0.840298, -0.541975, 1.96682], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.0432703, -0.401612, 0.914787, 1.0922], [-0.999052, -0.0130327, 0.0415344, 1.43615], [-0.00475853, -0.915717, -0.401795, 2.04707], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.0303812, -0.272458, 0.961688, 1.02414], [-0.999535, -0.0107072, 0.0285433, 1.4374], [0.00252012, -0.962108, -0.272657, 2.11769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.0274434, -0.214724, 0.976289, 0.999489], [-0.999449, -0.0241404, 0.0227849, 1.44701], [0.0186755, -0.976376, -0.215268, 2.166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.0735778, -0.308819, 0.94827, 1.02472], [-0.997234, -0.0328527, 0.0666778, 1.47422], [0.0105619, -0.950553, -0.310382, 2.091], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.125662, -0.388388, 0.912888, 1.03745], [-0.991748, -0.0727504, 0.105566, 1.51189], [0.0254124, -0.91862, -0.394325, 1.97253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.153678, -0.519742, 0.840388, 1.01012], [-0.987045, -0.120429, 0.106017, 1.54947], [0.0461059, -0.845793, -0.531516, 1.79297], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.181885, -0.697822, 0.692794, 0.973091], [-0.983209, -0.139663, 0.117454, 1.5842], [0.0147959, -0.702524, -0.711507, 1.62392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.221845, -0.709727, 0.668635, 1.01], [-0.975079, -0.159701, 0.154003, 1.58438], [-0.00251818, -0.686137, -0.727468, 1.60659], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.222985, -0.711313, 0.666567, 1.10775], [-0.974555, -0.146671, 0.169499, 1.52601], [-0.0228007, -0.687402, -0.725919, 1.60234], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.232107, -0.698774, 0.67664, 1.17719], [-0.972526, -0.153948, 0.174621, 1.47976], [-0.0178533, -0.698581, -0.715308, 1.60336], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.370095, -0.669304, 0.644253, 1.12436], [-0.928536, -0.244736, 0.279151, 1.54363], [-0.0291654, -0.701525, -0.712048, 1.58711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.18354, -0.744076, 0.642389, 1.00483], [-0.982715, -0.122812, 0.138524, 1.59439], [-0.0241797, -0.65671, -0.753756, 1.53314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.067864, -0.776925, 0.625925, 0.997288], [-0.997653, 0.0585994, -0.0354315, 1.67227], [-0.00915122, -0.62686, -0.779078, 1.46817], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.312896, -0.745836, 0.588069, 1.12468], [-0.949473, 0.229695, -0.213873, 1.77848], [0.0244372, -0.625275, -0.780022, 1.45285], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.618716, -0.597387, 0.510215, 1.10966], [-0.785386, 0.486002, -0.383366, 1.96715], [-0.0189472, -0.637911, -0.769877, 1.46333], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.723441, -0.524177, 0.4493, 1.16856], [-0.690046, 0.528597, -0.49439, 2.06265], [0.0216494, -0.6677, -0.744116, 1.44621], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.766034, -0.500669, 0.40314, 1.26035], [-0.639902, 0.534486, -0.552132, 2.18572], [0.0609627, -0.680923, -0.729813, 1.44282], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.794985, -0.45148, 0.405172, 1.29282], [-0.606284, 0.568815, -0.55576, 2.36157], [0.0204464, -0.68747, -0.725925, 1.43783], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.592532, -0.57945, 0.559593, 1.29281], [-0.8053, 0.408883, -0.429309, 2.40238], [0.019955, -0.705019, -0.708907, 1.46234], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.215736, -0.661562, 0.718187, 1.29451], [-0.975558, 0.114571, -0.18751, 2.30783], [0.0417655, -0.741086, -0.67011, 1.49273], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.00609293, -0.605698, 0.795672, 1.25622], [-0.99995, 0.00265997, 0.00968195, 2.29479], [-0.00798085, -0.79569, -0.605651, 1.52586], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.225617, -0.507396, 0.831653, 1.17596], [-0.973965, -0.0981041, 0.204371, 2.21566], [-0.0221083, -0.856111, -0.516319, 1.6044], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.387976, -0.429812, 0.815314, 1.23189], [-0.921624, -0.172094, 0.347841, 2.0881], [-0.00919576, -0.886366, -0.462893, 1.64142], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.532746, -0.42997, 0.728908, 1.26849], [-0.846208, -0.259771, 0.465244, 1.96352], [-0.0106912, -0.864664, -0.502236, 1.61045], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.690991, -0.431351, 0.580058, 1.15576], [-0.722752, -0.39819, 0.564867, 1.84246], [-0.0126829, -0.809556, -0.586906, 1.56031], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.768814, -0.425656, 0.477223, 1.09142], [-0.639346, -0.496821, 0.58686, 1.75724], [-0.0127057, -0.756297, -0.654105, 1.5155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.864602, -0.350546, 0.359972, 1.0707], [-0.502176, -0.578936, 0.64238, 1.70595], [-0.016783, -0.736173, -0.676586, 1.49177], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.927478, -0.244812, 0.28258, 1.08027], [-0.37369, -0.583072, 0.721375, 1.80185], [-0.0118371, -0.774657, -0.632271, 1.49802], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.955016, -0.173907, 0.240208, 1.12154], [-0.295968, -0.508097, 0.808851, 1.92085], [-0.0186162, -0.84356, -0.536712, 1.50166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.950453, -0.116585, 0.288179, 1.15789], [-0.310296, -0.299509, 0.902226, 1.95147], [-0.0188737, -0.946944, -0.320845, 1.57198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.956655, -0.0336668, 0.289272, 1.12943], [-0.291115, -0.137741, 0.946721, 1.93412], [0.00797126, -0.989896, -0.141571, 1.63214], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.957743, 0.0149051, 0.287238, 1.11684], [-0.287373, 0.00782725, 0.957787, 1.91895], [0.0120276, -0.999858, 0.0117799, 1.70068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.96386, 0.0388756, 0.263559, 1.1107], [-0.265812, 0.0740569, 0.961176, 1.91199], [0.0178479, -0.996496, 0.0817141, 1.73672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.97968, 0.0402694, 0.196484, 1.07175], [-0.200042, 0.125312, 0.971741, 1.9151], [0.0145097, -0.9913, 0.130822, 1.77739], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.997678, 0.0126456, 0.0669299, 0.995037], [-0.0678265, 0.0942348, 0.993237, 1.92026], [0.00625288, -0.99547, 0.0948737, 1.77807], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.999826, 0.00474593, -0.0180333, 0.953657], [0.0178172, 0.0421962, 0.998951, 1.9194], [0.00550181, -0.999098, 0.0421044, 1.76579], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.997711, -0.00355169, -0.0675324, 0.942851], [0.0674056, -0.028253, 0.997326, 1.94651], [-0.0054501, -0.999594, -0.0279489, 1.7298], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.991282, 0.00480166, -0.131668, 0.978958], [0.131194, -0.12813, 0.983042, 1.99885], [-0.0121504, -0.991746, -0.127643, 1.65782], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.983299, 0.0346471, -0.178669, 1.00002], [0.180864, -0.295403, 0.938097, 2.11938], [-0.020277, -0.954744, -0.296736, 1.5735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.980689, 0.0659035, -0.184136, 0.97874], [0.193454, -0.465146, 0.863837, 2.27325], [-0.02872, -0.882778, -0.468913, 1.48514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.918715, 0.187279, -0.347692, 1.11082], [0.393267, -0.514361, 0.762085, 2.35305], [-0.0361169, -0.836875, -0.546202, 1.43189], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.786568, 0.388958, -0.479606, 1.22712], [0.616976, -0.527127, 0.584361, 2.42503], [-0.0255215, -0.755545, -0.654599, 1.35988], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.668168, 0.545106, -0.50637, 1.29376], [0.743989, -0.494681, 0.44919, 2.5197], [-0.00563526, -0.676868, -0.736083, 1.33893], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.537106, 0.545505, -0.643383, 1.33748], [0.843436, -0.336871, 0.41849, 2.62176], [0.0115521, -0.767426, -0.641034, 1.38532], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.549702, 0.444314, -0.707399, 1.32531], [0.835027, -0.316219, 0.450263, 2.63503], [-0.0236346, -0.838207, -0.54484, 1.44804], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.54755, 0.332282, -0.76797, 1.31765], [0.835502, -0.267673, 0.479883, 2.654], [-0.0461082, -0.9044, -0.424186, 1.50523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.489095, 0.215358, -0.845226, 1.33523], [0.869281, -0.199977, 0.452062, 2.71664], [-0.0716702, -0.95584, -0.285014, 1.56682], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.503374, 0.0983068, -0.858458, 1.2829], [0.861069, -0.13977, 0.4889, 2.78468], [-0.0719243, -0.985292, -0.155006, 1.62355], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.447155, -0.00153339, -0.894455, 1.26147], [0.888658, -0.112917, 0.444451, 2.92709], [-0.101681, -0.993603, -0.0491288, 1.67615], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.26749, -0.0870528, -0.95962, 1.3095], [0.962245, -0.0278957, 0.270752, 3.13135], [-0.050339, -0.995813, 0.0763043, 1.72433], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.103786, -0.156842, -0.982155, 1.41174], [0.991015, -0.0674617, 0.115495, 3.1656], [-0.0843724, -0.985317, 0.148432, 1.75744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.0707621, -0.0699, -0.995041, 1.50521], [0.994588, -0.0810197, -0.0650383, 3.1518], [-0.0760717, -0.994258, 0.0752546, 1.74162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.271115, -0.0069693, -0.962522, 1.56436], [0.959904, -0.0760143, -0.269827, 3.12556], [-0.0712849, -0.997082, 0.0272985, 1.71125], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.479979, 0.042213, -0.876264, 1.53711], [0.87658, -0.0168234, -0.480963, 3.1462], [-0.0350446, -0.998967, -0.0289282, 1.69812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.596188, 0.0887777, -0.797922, 1.49911], [0.802817, 0.057651, -0.593432, 3.15709], [-0.00668243, -0.994382, -0.105643, 1.69097], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.67895, 0.176379, -0.712683, 1.49804], [0.734178, 0.15897, -0.660084, 3.11184], [-0.00312966, -0.9714, -0.237427, 1.65857], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.737874, 0.22591, -0.636009, 1.47396], [0.674923, 0.253463, -0.692991, 3.10289], [0.00465119, -0.940596, -0.339495, 1.60078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.810962, 0.223176, -0.540863, 1.48297], [0.584437, 0.352922, -0.73067, 3.06828], [0.027814, -0.908646, -0.416639, 1.54781], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.876969, 0.199663, -0.437103, 1.47256], [0.480329, 0.391561, -0.784833, 2.95374], [0.0144503, -0.898228, -0.439292, 1.54507], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.980679, 0.0441031, -0.190588, 1.36407], [0.191613, 0.412838, -0.890421, 2.94158], [0.0394115, -0.909736, -0.413312, 1.5768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.971035, 0.0538741, -0.232782, 1.20864], [0.236873, 0.344767, -0.90831, 2.97126], [0.0313209, -0.937141, -0.347542, 1.60696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.976412, 0.0514188, -0.209706, 1.18364], [0.215917, 0.229797, -0.948985, 2.96715], [-0.000605971, -0.971879, -0.235479, 1.65301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.982437, 0.0130071, -0.186141, 1.18578], [0.18625, 0.128942, -0.974005, 2.95367], [0.0113324, -0.991567, -0.1291, 1.72667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.986939, -0.00162798, -0.161089, 1.19618], [0.160066, 0.103065, -0.981711, 2.82551], [0.0182006, -0.994673, -0.101458, 1.735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.998996, -0.00456133, -0.0445672, 1.23402], [0.042381, 0.226261, -0.973144, 2.66951], [0.0145226, -0.974056, -0.225841, 1.69853], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.990234, -0.0764943, 0.116555, 1.16413], [-0.135009, 0.31766, -0.938544, 2.51678], [0.0347686, -0.945114, -0.324885, 1.64706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.95805, -0.164304, 0.234827, 1.11492], [-0.283038, 0.413633, -0.865331, 2.3824], [0.0450447, -0.895495, -0.442786, 1.56845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.873319, -0.270337, 0.405256, 1.0975], [-0.48611, 0.429288, -0.761189, 2.1868], [0.0318056, -0.86176, -0.506318, 1.55551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.708156, -0.441854, 0.550708, 0.960695], [-0.704649, 0.39308, -0.590726, 2.10007], [0.0445419, -0.806383, -0.589714, 1.53555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.651471, -0.489855, 0.579334, 0.919229], [-0.75773, 0.382044, -0.529043, 2.11949], [0.0378232, -0.783635, -0.620069, 1.51971], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0710_00"}, {"annotation": [{"question_id": "test-scene0711-0", "question": "What is to the left, of the table, without the monitor on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-1", "question": "What is in the right corner of the room ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-2", "question": "What is on the whiteboard at the back of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-3", "question": "What color is the trash can on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-4", "question": "What is in the trash can next to the black trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-5", "question": "The trash can is against a wall with what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-6", "question": "What is on the wall of a trash can with a bag?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-7", "question": "What is placed next to a row of desks?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-8", "question": "Where is the bookshelf located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-9", "question": "Where is the door located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-10", "question": "What is directly across from the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-11", "question": "How many computer monitors are there on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-12", "question": "What color is the computer chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-13", "question": "Where is the black computer chair tucked neatly?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-14", "question": "What is to the right of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-15", "question": "Where is the office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-16", "question": "Where is the office chair in front of the computer monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-17", "question": "Where is the desk located in the wall in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-18", "question": "What is on top of the rightmost desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-19", "question": "The file cabinet is next to what other part of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-20", "question": "What is on the desk in front of the monitor base?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-21", "question": "Where is the keyboard located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-22", "question": "What color plastic bag is in a black trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-23", "question": "What is to the right of trash cans?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-24", "question": "What shape is the white desk on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-25", "question": "What is the desk behind?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-26", "question": "How many trash cans are next to each other near the office door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-27", "question": "What is in front of a white desk with a computer on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-28", "question": "Where is the black office chair ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-29", "question": "To what side of a window is the whiteboard located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-30", "question": "What color desk is directly to the left of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-31", "question": "What is on the desk to the left of the white desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-32", "question": "What is on the desk with a white top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-33", "question": "What is on the wall next to the computer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-34", "question": "Where is the white book shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-35", "question": "When facing the door from inside the room, the shelf is where?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-36", "question": "What color is the chair in front of the desk with the computer monitor on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-37", "question": "Where is the chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-38", "question": "The white door is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-39", "question": "Where are white vents located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-40", "question": "The vents are to the right of what color computer chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-41", "question": "What is on the wall to your right side when you enter the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-42", "question": "What shape is the whiteboard on the wall to your right side?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-43", "question": "What is to the right of the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-44", "question": "Where is the tall white cabinet located relative to the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-45", "question": "What color is the computer keyboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-46", "question": "How many white desks are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-47", "question": "What is next to one of the desks?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-48", "question": "Where is the white radiator vent located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-49", "question": "How many chairs are on the left side of the room when you enter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-50", "question": "What is on the wall in front of the closest chair to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-51", "question": "How many chairs are facing the left side of the room when you are in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-52", "question": "How many chairs are in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-53", "question": "Where is the bookshelf located when you enter the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-54", "question": "Where is the white door located on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-55", "question": "What is on the right of the white door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-56", "question": "What is the tall white cabinet opposite?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-57", "question": "How many trash cans are on the side of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-58", "question": "What type of bag is in the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-59", "question": "The trash can is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-60", "question": "What type of chair is near the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-61", "question": "What is on the chair under the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-62", "question": "What is on the right hand white desk next to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-63", "question": "What type of monitor is located on top of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-64", "question": "On what part of the desk is a rectangle monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-65", "question": "What color is the desk next to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-66", "question": "What is underneath the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-67", "question": "What color is the metal radiator underneath the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-68", "question": "Where is the radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-69", "question": "What color is the monitor closest to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-70", "question": "What color metal file cabinet is under the right hand desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-71", "question": "The file cabinet is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-72", "question": "What is located next to the computer chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-73", "question": "What is tucked underneath an empty computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-74", "question": "Where is a computer chair tucked?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-75", "question": "What type of computer chair is located under an empty desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-76", "question": "Where is the multi-functional computer chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-77", "question": "What is located just in front of the computer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-78", "question": "Where is the keyboard located on a computer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-79", "question": "What is located under the table with a monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-80", "question": "What is on the floor along the wall with no map?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-81", "question": "Where is the black trash can with no bag located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-82", "question": "What is located next to the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-83", "question": "The white door is located next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-84", "question": "What color keyboard is located in front of the computer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-85", "question": "Where is the black keyboard located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-86", "question": "What color monitor is located on top of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-87", "question": "On what part of the table is a black monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-88", "question": "What is against a wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-89", "question": "To what side of a door is the grey bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-90", "question": "What color handle does the white door have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-91", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-92", "question": "Where is the white door with a black handle located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-93", "question": "To what side of the window is the whiteboard located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-94", "question": "What is the largest item on the desk in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-95", "question": "What is to the right of the desk with a monitor on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-96", "question": "What is right of the black trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-97", "question": "In what part of the room is a white trash can liner located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-98", "question": "What color is the trash can liner in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-99", "question": "What color is the trash can with no trash can liner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-100", "question": "What color is the desk next to the window in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-101", "question": "How many wooden doors does the tall white cabinet have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-102", "question": "Where is the tall white cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-103", "question": "What is to the left of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-104", "question": "What is to the left of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-105", "question": "Where does the file cabinet stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-106", "question": "What is to the left of the file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-107", "question": "What is underneath the two windows in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-108", "question": "What is to the left of the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-109", "question": "On what side of the room is the keyboard located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-110", "question": "Where is the monitor in front of the second chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-111", "question": "Where is the monitor on the desk facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0711-112", "question": "What is on the right wall of the room?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.493552, -0.412703, 0.765561, 3.81982], [-0.86855, 0.279463, -0.409294, 2.17499], [-0.0450294, -0.866935, -0.496383, 1.59475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.549468, -0.428662, 0.717171, 3.88022], [-0.835368, 0.265711, -0.481207, 2.22724], [0.0157149, -0.863509, -0.504089, 1.54778], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.542464, -0.436503, 0.717773, 3.88694], [-0.840048, 0.274494, -0.467946, 2.20937], [0.00723539, -0.856807, -0.515586, 1.56051], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.532765, -0.326552, 0.780722, 3.88112], [-0.846262, 0.203387, -0.492419, 2.19955], [0.0020116, -0.923037, -0.384705, 1.62992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.479973, -0.297758, 0.825207, 3.86495], [-0.877272, 0.158057, -0.453225, 2.20224], [0.00452142, -0.941466, -0.337078, 1.64825], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.440978, -0.482058, 0.757073, 3.84185], [-0.896772, 0.202255, -0.393566, 2.12952], [0.0365999, -0.852475, -0.521486, 1.54065], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.126021, -0.664014, 0.737024, 3.85573], [-0.989671, 0.0329718, -0.139515, 1.95263], [0.0683386, -0.746993, -0.661311, 1.48335], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.366721, -0.656843, 0.658843, 3.82363], [-0.925794, -0.32751, 0.188794, 1.87119], [0.0917697, -0.679187, -0.728205, 1.49452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.627508, -0.55272, 0.548393, 3.73773], [-0.77675, -0.493046, 0.391874, 1.81483], [0.0537868, -0.671868, -0.738715, 1.47297], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.772885, -0.408702, 0.4854, 3.66421], [-0.632965, -0.550551, 0.544289, 1.81728], [0.0447858, -0.727913, -0.684206, 1.48264], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.797766, -0.132206, 0.588296, 3.64709], [-0.602631, -0.20745, 0.770585, 1.7722], [0.0201665, -0.969271, -0.245168, 1.6195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.925192, -0.0756915, 0.371876, 3.59782], [-0.379313, -0.215252, 0.899883, 1.82443], [0.0119334, -0.973621, -0.22786, 1.63157], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.99377, 0.00108655, 0.111451, 3.56675], [-0.106815, -0.27629, 0.955121, 1.85153], [0.0318306, -0.961074, -0.274453, 1.62212], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.98045, 0.103724, -0.167213, 3.64249], [0.188532, -0.25186, 0.949223, 1.7433], [0.0563427, -0.962189, -0.266491, 1.63181], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.926615, 0.1734, -0.333644, 3.65072], [0.369988, -0.262248, 0.891255, 1.67435], [0.0670464, -0.949294, -0.307159, 1.62254], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.872712, 0.141648, -0.467236, 3.62575], [0.484695, -0.136331, 0.863994, 1.66757], [0.0586844, -0.980485, -0.187634, 1.65496], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.820777, 0.147737, -0.551815, 3.56584], [0.566936, -0.092171, 0.81859, 1.70703], [0.0700745, -0.984723, -0.159409, 1.67787], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.660541, 0.140865, -0.737457, 3.47024], [0.74863, -0.0491154, 0.661167, 1.70887], [0.0569147, -0.98881, -0.137899, 1.68876], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.426501, 0.370191, -0.825261, 3.48254], [0.897757, -0.062155, 0.436086, 1.70976], [0.110141, -0.926874, -0.358851, 1.65077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.21746, 0.429301, -0.876591, 3.57296], [0.972723, -0.0210084, 0.231019, 1.67892], [0.0807609, -0.902917, -0.42216, 1.66538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.0163273, 0.447099, -0.894336, 3.59683], [0.99902, 0.0295124, 0.0329923, 1.70433], [0.0411449, -0.893997, -0.446179, 1.65732], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.252759, 0.42564, -0.868875, 3.44449], [0.96743, 0.1241, -0.220635, 1.78776], [0.013916, -0.896343, -0.443143, 1.65809], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.444758, 0.41335, -0.794564, 3.30292], [0.895584, 0.216112, -0.388877, 1.95323], [0.0109721, -0.884555, -0.466307, 1.65663], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.715579, 0.309711, -0.626119, 3.29202], [0.697804, 0.35784, -0.6205, 2.02378], [0.0318748, -0.880926, -0.472181, 1.65807], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.850996, 0.273604, -0.448272, 3.3575], [0.525126, 0.454763, -0.719329, 1.95541], [0.00704619, -0.847544, -0.530678, 1.62364], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.906738, 0.229782, -0.353591, 3.36169], [0.418165, 0.59821, -0.683581, 2.04071], [0.054447, -0.767688, -0.638506, 1.55862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.999378, -0.0313854, 0.0160727, 3.52115], [-0.0317557, 0.602937, -0.797157, 2.11852], [0.0153282, -0.797172, -0.603558, 1.57283], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.954113, -0.194156, 0.227975, 3.63134], [-0.297344, 0.524196, -0.798002, 2.1058], [0.0354331, -0.82917, -0.557872, 1.58541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.814737, -0.377537, 0.440079, 3.76199], [-0.576236, 0.44282, -0.686923, 2.10336], [0.0644632, -0.81325, -0.578333, 1.57534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.597041, -0.386993, 0.702694, 3.83565], [-0.801192, 0.243515, -0.546619, 2.1051], [0.040421, -0.889347, -0.455444, 1.61067], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.294871, -0.479806, 0.82634, 3.76202], [-0.954995, 0.118841, -0.271776, 2.05626], [0.0321964, -0.869289, -0.493255, 1.59335], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.198822, -0.336669, 0.920393, 3.67464], [-0.979687, 0.0432032, -0.195827, 1.97117], [0.026165, -0.940631, -0.33842, 1.62659], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.0710171, -0.21505, 0.974018, 3.69445], [-0.997327, 0.0321463, -0.0656191, 1.94633], [-0.0171996, -0.976074, -0.216758, 1.66544], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.0263748, -0.0862743, 0.995923, 3.90838], [-0.999262, -0.0255822, -0.0286793, 1.9782], [0.0279524, -0.995943, -0.0855359, 1.6978], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.110077, -0.0128054, 0.993841, 4.18717], [-0.993922, 0.00303648, -0.110047, 1.92446], [-0.00160843, -0.999913, -0.0130618, 1.73201], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.227656, -0.0165106, 0.973602, 4.44029], [-0.973741, 0.00541071, -0.227597, 1.8605], [-0.00151004, -0.999849, -0.0173088, 1.79167], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.421401, -0.0510676, 0.905436, 4.68852], [-0.90525, 0.0834283, -0.416609, 1.9486], [-0.0542637, -0.995205, -0.0813857, 1.77164], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.598476, 0.0857092, 0.796543, 4.83731], [-0.799498, -0.00024842, -0.60067, 1.90428], [-0.051285, -0.99632, 0.068673, 1.84918], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.858018, 0.0845431, 0.506614, 4.9977], [-0.513551, -0.157346, -0.843509, 1.82312], [0.00840059, -0.983918, 0.178423, 1.90357], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.978273, 0.0185861, 0.20649, 5.11706], [-0.206918, -0.0252204, -0.978033, 1.83656], [-0.0129701, -0.999509, 0.0285182, 1.89181], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.97493, -0.0345954, 0.219808, 5.20018], [-0.222508, 0.158414, -0.961975, 1.89373], [-0.00154084, -0.986767, -0.16214, 1.82606], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.962413, -0.0701038, 0.262389, 5.21561], [-0.271254, 0.296333, -0.915756, 1.91621], [-0.0135568, -0.952508, -0.304211, 1.77265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.952035, -0.104487, 0.287596, 5.23898], [-0.304573, 0.41389, -0.857864, 1.90242], [-0.0293973, -0.904311, -0.425861, 1.72566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.941018, -0.14123, 0.307473, 5.2612], [-0.335548, 0.506369, -0.794355, 1.9064], [-0.0435082, -0.850673, -0.523891, 1.66546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.971217, -0.137537, 0.194476, 5.24969], [-0.237376, 0.626571, -0.742336, 1.86754], [-0.0197541, -0.767133, -0.641184, 1.59943], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.989181, -0.0875658, 0.117704, 5.22923], [-0.144937, 0.707467, -0.691725, 1.82612], [-0.0227001, -0.701301, -0.712504, 1.53374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.999456, -0.00870389, -0.0318281, 5.20464], [0.0161304, 0.712593, -0.701393, 1.78316], [0.0287854, -0.701524, -0.712064, 1.50984], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.984954, 0.102262, -0.139316, 5.15945], [0.172749, 0.605523, -0.776853, 1.75753], [0.00491697, -0.789231, -0.614077, 1.55058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.871132, 0.333436, -0.360487, 5.027], [0.488016, 0.506383, -0.710928, 1.68765], [-0.0545041, -0.795234, -0.603847, 1.55673], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.715793, 0.522381, -0.463423, 4.92304], [0.697107, 0.495533, -0.518161, 1.64624], [-0.0410361, -0.69395, -0.718853, 1.47439], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.566322, 0.649689, -0.507133, 5.12123], [0.822319, 0.404039, -0.400679, 1.62597], [-0.0554153, -0.643939, -0.763067, 1.44856], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.647439, 0.609701, -0.457262, 5.26847], [0.761177, 0.487512, -0.427718, 1.62616], [-0.037859, -0.624978, -0.779724, 1.37577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.643368, 0.500849, -0.578989, 5.32261], [0.764794, 0.386729, -0.515297, 1.61682], [-0.0341745, -0.774332, -0.631856, 1.00389], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.984181, 0.126805, -0.123728, 5.42279], [0.173678, 0.55263, -0.81513, 1.71522], [-0.0349867, -0.823724, -0.565911, 0.812286], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.999016, 0.0442888, 0.00238559, 5.46266], [0.0234531, 0.573151, -0.819115, 1.70988], [-0.0376449, -0.818253, -0.573625, 0.794807], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.990876, 0.0965581, -0.0940293, 5.46189], [0.132869, 0.582853, -0.801641, 1.6806], [-0.0225996, -0.80682, -0.590365, 0.791507], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.77498, 0.318515, -0.545852, 5.40032], [0.631892, 0.405445, -0.660551, 1.65789], [0.0109178, -0.856833, -0.515479, 0.836535], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.573733, 0.38958, -0.720457, 5.2938], [0.818809, 0.251807, -0.515894, 1.6459], [-0.0195657, -0.885901, -0.463461, 0.883372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.425178, 0.423356, -0.799996, 5.1903], [0.904057, 0.156006, -0.397925, 1.68561], [-0.0436603, -0.89243, -0.449068, 0.901821], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.449594, 0.54496, -0.707732, 4.93065], [0.890021, 0.20617, -0.406642, 1.70758], [-0.0756908, -0.81272, -0.577718, 1.04162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.430331, 0.625029, -0.651271, 4.94331], [0.901402, 0.259308, -0.346747, 1.64863], [-0.0478469, -0.736273, -0.674991, 1.21605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.507466, 0.668669, -0.543471, 5.0608], [0.860426, 0.359325, -0.361322, 1.77758], [-0.046322, -0.650975, -0.757685, 1.44932], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.573124, 0.617206, -0.539061, 4.90936], [0.819437, 0.437483, -0.370314, 1.83628], [0.0072704, -0.653962, -0.756493, 1.45343], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.664172, 0.548827, -0.507608, 4.64453], [0.747536, 0.480114, -0.459001, 1.87455], [-0.00820261, -0.68431, -0.729145, 1.51404], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.68191, 0.550876, -0.481181, 4.36642], [0.730343, 0.476851, -0.489093, 1.94673], [-0.0399781, -0.684945, -0.727498, 1.5157], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.737378, 0.439889, -0.512614, 4.14116], [0.675418, 0.490562, -0.550601, 1.92649], [0.00926551, -0.752229, -0.658837, 1.54992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.888177, 0.272451, -0.370018, 3.90421], [0.458949, 0.565523, -0.685238, 2.06487], [0.0225602, -0.778431, -0.627325, 1.58027], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.891911, 0.27245, -0.360924, 3.65284], [0.452015, 0.560662, -0.693788, 2.09874], [0.013334, -0.78194, -0.623211, 1.55665], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.989703, 0.0804654, -0.118383, 3.47777], [0.142225, 0.646223, -0.749779, 2.06616], [0.0161708, -0.758895, -0.651012, 1.53534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.979845, -0.146706, 0.135578, 3.16787], [-0.199368, 0.675694, -0.709712, 2.16862], [0.0125099, -0.722437, -0.691324, 1.5225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.91736, -0.318797, 0.238369, 2.99531], [-0.392084, 0.620294, -0.679343, 2.11778], [0.0687141, -0.716662, -0.694028, 1.47713], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.790216, -0.455732, 0.409717, 2.79405], [-0.611849, 0.548907, -0.569511, 2.16387], [0.0346478, -0.700721, -0.712594, 1.39585], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.783939, -0.372875, 0.496392, 2.77379], [-0.620839, 0.471, -0.626672, 2.21387], [-0.000130326, -0.799452, -0.60073, 1.05644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.811909, -0.320675, 0.487824, 2.79328], [-0.582907, 0.491121, -0.647318, 2.20725], [-0.032002, -0.809918, -0.585669, 0.875378], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.795696, -0.2956, 0.528667, 2.8286], [-0.605602, 0.372849, -0.703015, 2.22894], [0.0106981, -0.879548, -0.47569, 0.864994], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.673717, -0.321883, 0.665205, 2.86382], [-0.73887, 0.309631, -0.598499, 2.2795], [-0.0133214, -0.894718, -0.446433, 0.858707], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.921756, -0.208602, 0.326882, 2.79738], [-0.386215, 0.418402, -0.822057, 2.18993], [0.0347141, -0.883983, -0.46623, 0.876981], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.994541, -0.0364998, 0.0977596, 2.75142], [-0.101189, 0.566197, -0.818036, 2.16598], [-0.0254931, -0.823462, -0.566799, 0.907992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.996153, -0.00989146, 0.0870781, 2.75131], [-0.0659045, 0.739493, -0.66993, 2.0978], [-0.057767, -0.673091, -0.7373, 1.29641], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.969346, 0.223363, -0.102366, 3.00934], [0.233442, 0.707268, -0.667292, 2.07837], [-0.0766478, -0.670732, -0.737729, 1.48896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.910849, 0.298083, -0.285484, 3.11268], [0.412606, 0.639951, -0.648244, 2.09392], [-0.0105344, -0.708244, -0.705889, 1.5417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.868289, 0.287146, -0.404503, 3.09143], [0.495737, 0.531719, -0.686674, 2.12399], [0.0179059, -0.796758, -0.604034, 1.62535], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.874333, 0.279049, -0.397083, 3.07571], [0.485279, 0.491116, -0.723402, 2.06209], [-0.00685108, -0.825189, -0.564815, 1.70078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.842588, 0.321351, -0.43218, 3.09379], [0.538098, 0.469121, -0.700269, 1.9118], [-0.0222878, -0.822593, -0.568194, 1.742], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.907559, 0.232777, -0.349504, 3.15815], [0.415876, 0.382912, -0.82488, 1.70531], [-0.0581838, -0.893976, -0.444321, 1.82475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.876684, 0.172432, -0.449103, 3.25844], [0.476791, 0.18723, -0.858846, 1.54757], [-0.0640071, -0.967064, -0.246356, 1.89424], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.932187, 0.108141, -0.345447, 3.38534], [0.357203, 0.120321, -0.926245, 1.47149], [-0.0586008, -0.986827, -0.15079, 1.926], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.868134, 0.15412, -0.471796, 3.28697], [0.489822, 0.112593, -0.864522, 1.49066], [-0.0801191, -0.981616, -0.173237, 1.92485], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.815133, 0.217515, -0.536885, 3.11687], [0.572002, 0.155837, -0.805314, 1.54515], [-0.0915015, -0.963536, -0.251447, 1.93123], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.815268, 0.233614, -0.529872, 3.10424], [0.572465, 0.187177, -0.798279, 1.55419], [-0.087309, -0.954144, -0.286335, 1.90638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.737082, 0.345069, -0.581067, 3.10815], [0.670023, 0.260907, -0.694981, 1.5328], [-0.0882115, -0.901585, -0.423513, 1.85547], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.634535, 0.459636, -0.62137, 3.13904], [0.76554, 0.263124, -0.587124, 1.52557], [-0.106366, -0.848234, -0.51883, 1.79667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.724495, 0.43954, -0.530954, 2.98413], [0.686823, 0.395356, -0.609892, 1.65228], [-0.0581558, -0.806535, -0.58832, 1.76805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.807199, 0.306292, -0.504595, 2.78129], [0.587756, 0.496036, -0.639134, 1.74014], [0.0545359, -0.812486, -0.580425, 1.69999], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.88091, 0.299812, -0.366211, 2.50871], [0.472969, 0.529406, -0.704295, 1.80528], [-0.0172815, -0.793626, -0.608161, 1.71099], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.962187, 0.168578, -0.213957, 2.22487], [0.272378, 0.602934, -0.749855, 1.92957], [0.00259271, -0.779778, -0.626052, 1.70329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.993301, 0.0716397, -0.0906768, 1.96318], [0.115543, 0.601537, -0.790445, 1.90412], [-0.00208175, -0.795626, -0.605785, 1.70483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.994149, -0.0885201, 0.0619139, 1.68575], [-0.104915, 0.65471, -0.748564, 1.94401], [0.0257274, -0.75068, -0.660166, 1.67716], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.9917, -0.0767566, 0.103155, 1.54067], [-0.128536, 0.612526, -0.77993, 1.8747], [-0.00331995, -0.786715, -0.617307, 1.70594], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.994009, -0.0382557, 0.102387, 1.54696], [-0.104363, 0.61055, -0.785072, 1.85066], [-0.0324787, -0.791053, -0.610885, 1.71326], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.982825, -0.0423572, 0.179615, 1.66724], [-0.165279, 0.634992, -0.754631, 1.98666], [-0.0820902, -0.771357, -0.631087, 1.69277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.987587, 0.151051, -0.0430907, 1.89032], [0.131781, 0.647465, -0.750615, 1.96262], [-0.0854813, -0.746976, -0.659333, 1.66895], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.843234, 0.433399, -0.317998, 2.10934], [0.534112, 0.60874, -0.586652, 1.91928], [-0.060676, -0.664531, -0.744793, 1.60031], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.584708, 0.557665, -0.589174, 2.28759], [0.8096, 0.354916, -0.467528, 1.91591], [-0.0516169, -0.750363, -0.659008, 1.65447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.319537, 0.643443, -0.695613, 2.44678], [0.942307, 0.138478, -0.304765, 1.74352], [-0.0997717, -0.752864, -0.65057, 1.65109], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.00195356, 0.658552, -0.752533, 2.51332], [0.999436, -0.0239647, -0.0235664, 1.70487], [-0.0335539, -0.752154, -0.658133, 1.65584], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.367743, 0.598449, -0.711776, 2.62915], [0.929893, -0.230019, 0.287039, 1.70235], [0.00805637, -0.767431, -0.641081, 1.65345], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.757037, 0.369835, -0.538625, 2.64176], [0.650968, -0.356283, 0.670302, 1.7677], [0.055998, -0.858071, -0.51047, 1.64226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.924246, 0.130503, -0.358801, 2.65863], [0.381781, -0.307132, 0.871731, 1.81471], [0.00356436, -0.942677, -0.333689, 1.68527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.97311, 0.0291222, -0.228494, 2.70835], [0.229838, -0.188421, 0.954816, 1.81138], [-0.0152466, -0.981657, -0.190047, 1.75333], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.993836, -0.0868034, 0.0689625, 2.78226], [-0.0867641, -0.221775, 0.97123, 1.83347], [-0.0690119, -0.971227, -0.227939, 1.74481], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.940479, -0.128406, 0.314662, 2.84972], [-0.335792, -0.208376, 0.918599, 1.84578], [-0.0523854, -0.969583, -0.23909, 1.74098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.932742, -0.122518, 0.33909, 2.91424], [-0.358341, -0.211183, 0.909392, 1.85333], [-0.0398069, -0.969738, -0.240883, 1.74023], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[0.827305, -0.201353, 0.524428, 3.03622], [-0.559528, -0.212343, 0.801149, 1.86162], [-0.049955, -0.956226, -0.288335, 1.7369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.796732, -0.202045, 0.569559, 3.13827], [-0.60121, -0.169291, 0.780953, 1.8672], [-0.0613663, -0.964634, -0.256351, 1.73855], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[0.73668, -0.148245, 0.659793, 3.25848], [-0.675573, -0.11795, 0.727798, 1.83018], [-0.0300698, -0.981892, -0.187041, 1.75127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[0.713226, -0.151789, 0.684302, 3.28593], [-0.699323, -0.087942, 0.709376, 1.79797], [-0.0474962, -0.984493, -0.168872, 1.76134], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[0.667988, -0.326622, 0.668663, 3.29769], [-0.739245, -0.188019, 0.646658, 1.81902], [-0.0854911, -0.926265, -0.367048, 1.6921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[0.604629, -0.44306, 0.661908, 3.35158], [-0.795824, -0.30161, 0.525068, 1.88276], [-0.0329983, -0.844233, -0.534959, 1.57208], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[0.619131, -0.49796, 0.607218, 3.47997], [-0.784058, -0.34872, 0.513467, 2.01726], [-0.0439374, -0.793997, -0.606332, 1.29704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[0.58622, -0.43755, 0.681833, 3.46737], [-0.809656, -0.286943, 0.511979, 2.01447], [-0.0283689, -0.852182, -0.522476, 0.95901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[0.576278, -0.41835, 0.70206, 3.44437], [-0.817079, -0.277153, 0.505538, 2.03917], [-0.0169142, -0.864968, -0.501542, 0.838019], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[0.499577, -0.425364, 0.754645, 3.34078], [-0.866194, -0.256821, 0.428663, 2.16503], [0.0114707, -0.867819, -0.496749, 0.784972], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[0.414229, -0.413392, 0.810877, 3.24125], [-0.908568, -0.240696, 0.341424, 2.27545], [0.054033, -0.878164, -0.475298, 0.746296], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.520079, -0.419335, 0.744095, 3.33252], [-0.854049, -0.266479, 0.446756, 2.13446], [0.0109451, -0.867841, -0.496722, 0.795091], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[0.640111, -0.479542, 0.600249, 3.49342], [-0.765387, -0.330258, 0.552371, 1.96467], [-0.0666475, -0.813, -0.578436, 1.0212], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.792022, -0.433088, 0.430275, 3.56629], [-0.60514, -0.463803, 0.647065, 1.82664], [-0.0806728, -0.772866, -0.629421, 1.19784], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.90135, -0.274513, 0.33498, 3.80164], [-0.433083, -0.576428, 0.692944, 1.79835], [0.00286943, -0.769658, -0.63845, 1.2073], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[0.992742, -0.0986905, 0.0687223, 4.05642], [-0.116273, -0.641747, 0.758052, 1.71505], [-0.0307102, -0.76054, -0.648564, 1.20542], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[0.998894, 0.0459164, 0.0101652, 4.26032], [0.0253694, -0.708119, 0.705637, 1.72793], [0.0395984, -0.704599, -0.708501, 1.16879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[0.945674, 0.205842, -0.251655, 4.44922], [0.32454, -0.643791, 0.69297, 1.72029], [-0.019371, -0.736995, -0.67562, 1.21105], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[0.886581, 0.354392, -0.29729, 4.553], [0.460115, -0.609439, 0.645662, 1.63388], [0.0476378, -0.709219, -0.703377, 1.22083], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.890702, 0.400052, -0.215892, 4.3329], [0.426677, -0.571861, 0.700659, 1.63331], [0.15684, -0.716194, -0.68005, 1.23402], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.98042, 0.195825, -0.020747, 4.23036], [0.156446, -0.710584, 0.686, 1.72733], [0.119593, -0.675814, -0.727306, 1.28091], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.982025, 0.183821, -0.0428664, 3.98631], [0.172379, -0.780879, 0.600429, 1.86087], [0.0768979, -0.597025, -0.798529, 1.2988], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.396729, 0.606894, -0.688685, 3.37686], [0.901285, -0.115287, 0.417606, 1.84654], [0.174045, -0.786377, -0.592722, 1.45626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[0.143647, 0.533549, -0.833482, 3.26423], [0.985386, 0.000803221, 0.170341, 1.98372], [0.0915545, -0.845769, -0.525635, 1.48382], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[-0.00880984, 0.472561, -0.881254, 2.98771], [0.987495, 0.14284, 0.0667239, 1.93515], [0.157409, -0.869645, -0.46791, 1.48314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[-0.499034, 0.460317, -0.734216, 2.89535], [0.85649, 0.390922, -0.337053, 1.83399], [0.13187, -0.79705, -0.58934, 1.36825], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.800514, 0.343244, -0.491286, 2.78303], [0.594151, 0.561898, -0.575548, 1.86242], [0.0784993, -0.752632, -0.653746, 1.35551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.830474, 0.405714, -0.381721, 2.77726], [0.557029, 0.611974, -0.561434, 1.91885], [0.00582147, -0.678885, -0.734222, 1.38689], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.798829, 0.353165, -0.486979, 3.0434], [0.600273, 0.520887, -0.606919, 1.9495], [0.0393186, -0.777144, -0.628094, 1.43265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.847778, 0.255374, -0.46482, 3.14749], [0.521511, 0.560782, -0.64308, 1.91341], [0.0964369, -0.787597, -0.608598, 1.44738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.824381, 0.362004, -0.435143, 2.883], [0.561927, 0.615862, -0.552226, 1.91245], [0.0680795, -0.699762, -0.711124, 1.42832], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.863284, 0.361937, -0.351771, 2.73577], [0.503771, 0.575216, -0.644471, 1.81842], [-0.0309133, -0.733573, -0.678908, 1.70841], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[-0.851669, 0.353983, -0.386466, 2.7445], [0.523181, 0.531081, -0.66651, 1.75109], [-0.0306887, -0.769837, -0.637502, 1.8704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[-0.830827, 0.40368, -0.383105, 2.72283], [0.55493, 0.548721, -0.625267, 1.71987], [-0.0421902, -0.732084, -0.679906, 1.95589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[-0.893511, 0.288639, -0.343985, 2.767], [0.448818, 0.598262, -0.663812, 1.69529], [0.0141914, -0.747509, -0.6641, 2.01709], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[-0.992049, 0.0822438, -0.0952618, 2.88179], [0.125282, 0.717335, -0.685373, 1.67935], [0.011967, -0.691858, -0.721935, 1.98883], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[-0.994726, -0.0570676, 0.0852238, 3.02366], [-0.10056, 0.706167, -0.700869, 1.70178], [-0.0201852, -0.705743, -0.708181, 1.98835], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[-0.984003, -0.120319, 0.131383, 3.08232], [-0.178115, 0.67945, -0.711775, 1.70429], [-0.00362793, -0.72379, -0.690011, 2.00248], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[-0.982931, -0.135778, 0.124145, 3.14312], [-0.183954, 0.714596, -0.674918, 1.68805], [0.00292566, -0.686234, -0.727375, 1.93122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[-0.986111, -0.104399, 0.129175, 3.21751], [-0.16498, 0.705397, -0.689345, 1.7618], [-0.0191525, -0.701082, -0.712824, 1.68167], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[-0.964427, -0.186955, 0.186895, 3.20333], [-0.264078, 0.713542, -0.648939, 1.87468], [-0.0120353, -0.675208, -0.737529, 1.55651], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[-0.911024, -0.337355, 0.237124, 3.19223], [-0.405767, 0.631049, -0.661159, 2.01323], [0.0734085, -0.698548, -0.711788, 1.35943], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[-0.902759, -0.326112, 0.280495, 3.26211], [-0.428256, 0.620334, -0.657103, 2.09031], [0.0402886, -0.713329, -0.699671, 1.0475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[-0.929156, -0.181336, 0.32216, 3.25169], [-0.368036, 0.371398, -0.852417, 2.13813], [0.0349242, -0.910594, -0.411825, 0.718177], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[-0.987211, -0.109458, 0.115901, 3.21651], [-0.150369, 0.397899, -0.905023, 2.14167], [0.0529451, -0.910876, -0.40927, 0.709493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[-0.97465, 0.0762213, -0.210351, 3.15], [0.223376, 0.384734, -0.895591, 2.06157], [0.0126659, -0.919875, -0.392007, 0.720456], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[-0.924612, 0.15259, -0.349013, 3.08127], [0.380902, 0.376836, -0.84434, 2.03704], [0.00268281, -0.913625, -0.406548, 0.717996], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[-0.881634, 0.162024, -0.443249, 3.01732], [0.471927, 0.307824, -0.826154, 2.01968], [0.00258598, -0.937546, -0.347852, 0.743711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[-0.826149, 0.193627, -0.529138, 2.9566], [0.563447, 0.279704, -0.777364, 2.01099], [-0.00251698, -0.940359, -0.340175, 0.742175], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[-0.994691, -0.0929981, 0.0440627, 3.09594], [-0.0783952, 0.407398, -0.90988, 2.02421], [0.066666, -0.908504, -0.412525, 0.868254], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[-0.837138, -0.292115, 0.46246, 3.22523], [-0.54557, 0.384982, -0.744407, 2.1299], [0.0394134, -0.875476, -0.481652, 1.23098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[-0.704927, -0.299231, 0.643071, 3.26663], [-0.709278, 0.299698, -0.638049, 2.17726], [-0.00180332, -0.905893, -0.423503, 1.43031], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0711_00"}, {"annotation": [{"question_id": "test-scene0712-0", "question": "What color are the curtains in the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-1", "question": "The curtain on the right hand side of the window is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-2", "question": "What color is the dresser in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-3", "question": "On what side of the window are the white curtains hung?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-4", "question": "What color is the dresser in the right corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-5", "question": "What color is the desk in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-6", "question": "What is pulled to the sides of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-7", "question": "The ladder is leaning in front of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-8", "question": "What is in front of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-9", "question": "What is in the corner next to a desk and beside a window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-10", "question": "The dresser is in the corner next to a desk and beside what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-11", "question": "What size is the window above a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-12", "question": "On what side of a door is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-13", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-14", "question": "Where is the brown desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-15", "question": "What color is the dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-16", "question": "How many empty white bookcases are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-17", "question": "What color is the ladder?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-18", "question": "Where is the brown ladder located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-19", "question": "What color is the office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-20", "question": "Where is the black office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-21", "question": "What color is the desk in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-22", "question": "What does a brown wooden ladder lead to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-23", "question": "Where is the ladder located when facing the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-24", "question": "What kind of shelves are on the wall to the left of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-25", "question": "Where are the shelves located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-26", "question": "What color is the curtain on the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-27", "question": "What color is the wooden ladder?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-28", "question": "What is next to a brown wooden desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-29", "question": "What are the drawers across from?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-30", "question": "Where is the white curtain hanging on the window above the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-31", "question": "What type of book shelf is located against the wall to the left of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-32", "question": "Where is the white bookshelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-33", "question": "To what side of the door is the bookshelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-34", "question": "On which side of the room is the bookshelf located when you walk through the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-35", "question": "What is in front of the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-36", "question": "Where does the black chair sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-37", "question": "When you walk through the door, the black chair would be on what side?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-38", "question": "What sits in front of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-39", "question": "What is behind the black chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-40", "question": "What is on the right side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-41", "question": "Where is the curtain located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-42", "question": "What color is the dresser to the right of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-43", "question": "What is to the left of the white dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-44", "question": "Where is the black office chair with wheels located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-45", "question": "Is the chair under desk ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-46", "question": "What is pushed out of the brown desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-47", "question": "How are the bookshelves located in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0712-48", "question": "What is to the right of the bookshelves?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.763834, 0.127803, -0.632633, 3.40055], [0.645359, -0.163924, 0.746084, 1.40738], [-0.00835164, -0.978159, -0.20769, 1.56776], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.762913, 0.16977, -0.623813, 3.39332], [0.646479, -0.19224, 0.738315, 1.41683], [0.00542158, -0.966551, -0.256415, 1.57211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.766768, 0.163254, -0.620819, 3.39105], [0.641911, -0.188525, 0.743242, 1.42028], [0.00429722, -0.968404, -0.24935, 1.571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.767831, 0.163083, -0.619548, 3.38909], [0.640619, -0.185502, 0.745115, 1.41414], [0.00658858, -0.969017, -0.246908, 1.57292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.780571, 0.167614, -0.602175, 3.36996], [0.625016, -0.196876, 0.755378, 1.40857], [0.00805793, -0.965994, -0.258437, 1.56889], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.808632, 0.154177, -0.567753, 3.32185], [0.588311, -0.215453, 0.779404, 1.3994], [-0.00215751, -0.964266, -0.264926, 1.56835], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.811371, 0.155444, -0.563484, 3.30099], [0.584529, -0.218906, 0.781285, 1.46259], [-0.00190408, -0.963285, -0.268476, 1.56317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.758741, 0.180944, -0.625757, 3.31085], [0.650563, -0.162021, 0.741968, 1.59674], [0.0328688, -0.970056, -0.240647, 1.57754], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.759313, 0.17333, -0.627216, 3.29648], [0.650297, -0.167153, 0.741063, 1.69146], [0.0236075, -0.970575, -0.239638, 1.58468], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.81584, 0.117057, -0.566307, 3.18637], [0.578099, -0.140638, 0.803756, 1.83513], [0.0144409, -0.983117, -0.182408, 1.61428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.78219, 0.108614, -0.6135, 3.17976], [0.622938, -0.154178, 0.766928, 1.86536], [-0.011289, -0.982055, -0.188256, 1.62442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.677803, 0.138472, -0.722087, 3.35088], [0.735172, -0.113877, 0.668248, 1.88225], [0.0103043, -0.983797, -0.178987, 1.62551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.642291, 0.0914143, -0.76099, 3.49066], [0.766371, -0.0613182, 0.639466, 1.90499], [0.0117938, -0.993923, -0.109441, 1.6398], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.631371, 0.05515, -0.773518, 3.5186], [0.775388, -0.0604014, 0.628591, 1.89451], [-0.0120548, -0.996649, -0.0808983, 1.64133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.555206, 0.0174729, -0.83153, 3.52388], [0.831519, -0.0333135, 0.554498, 1.85519], [-0.0180124, -0.999292, -0.0330248, 1.66338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.560496, -0.0396116, -0.82721, 3.54377], [0.828132, 0.0189795, 0.560212, 1.85372], [-0.0064908, -0.999035, 0.0434415, 1.6713], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.561195, -0.0883066, -0.82296, 3.55619], [0.827681, 0.057155, 0.558281, 1.84914], [-0.00226355, -0.994452, 0.105165, 1.67959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.565625, -0.101694, -0.818369, 3.55469], [0.824657, 0.0737191, 0.56081, 1.85135], [0.00329829, -0.99208, 0.12556, 1.67921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.647605, -0.0878393, -0.756897, 3.55881], [0.761421, 0.112549, 0.638413, 1.86764], [0.02911, -0.989756, 0.13977, 1.68631], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.667597, -0.121904, -0.734475, 3.56842], [0.74449, 0.118599, 0.657016, 1.86467], [0.0070158, -0.985431, 0.169932, 1.69258], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.601652, -0.147883, -0.78495, 3.55746], [0.798757, 0.109149, 0.591671, 1.8475], [-0.00182172, -0.982963, 0.183791, 1.68782], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.56468, -0.114839, -0.817282, 3.53503], [0.825185, 0.0612567, 0.561532, 1.85888], [-0.0144216, -0.991494, 0.129353, 1.67812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.497431, 0.0162413, -0.867352, 3.46834], [0.867185, -0.0364217, 0.496653, 1.86697], [-0.0235241, -0.999204, -0.0322015, 1.63677], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.344376, 0.0487, -0.937568, 3.49643], [0.938562, -0.0418089, 0.34257, 1.80434], [-0.0225155, -0.997938, -0.0601059, 1.62772], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.279974, 0.0763124, -0.95697, 3.51349], [0.959836, -0.0411365, 0.277532, 1.75017], [-0.0181872, -0.996235, -0.0847644, 1.60285], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.286086, 0.0135233, -0.958109, 3.5343], [0.957862, -0.0307563, 0.285578, 1.68543], [-0.0256058, -0.999435, -0.0217524, 1.59099], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.191381, 0.131063, -0.972726, 3.59238], [0.981431, -0.0386293, 0.187888, 1.71109], [-0.0129504, -0.990621, -0.136022, 1.56377], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.0320816, 0.225925, -0.973616, 3.6802], [0.999258, -0.0280514, 0.026417, 1.73434], [-0.021343, -0.973741, -0.226657, 1.55753], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.144111, 0.202957, -0.968525, 3.72383], [0.989065, -0.00146058, -0.147474, 1.69495], [-0.0313454, -0.979187, -0.200527, 1.56491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.339036, 0.128236, -0.931993, 3.75697], [0.940323, 0.0155312, -0.339929, 1.66702], [-0.029116, -0.991622, -0.125849, 1.59431], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.383322, 0.102226, -0.91794, 3.78027], [0.923591, 0.0353261, -0.381748, 1.69636], [-0.00659733, -0.994134, -0.107956, 1.59269], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.285305, 0.137642, -0.948502, 3.70554], [0.958175, 0.017809, -0.28563, 1.72076], [-0.0224229, -0.990322, -0.136966, 1.57768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.198806, 0.312228, -0.928973, 3.63759], [0.979734, 0.0396587, -0.19634, 1.69154], [-0.024461, -0.949179, -0.313785, 1.53882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.189293, 0.449316, -0.873088, 3.69883], [0.98006, 0.0317447, -0.196149, 1.68933], [-0.0604173, -0.892808, -0.446366, 1.48461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.200413, 0.523487, -0.828128, 3.7239], [0.976257, 0.0357842, -0.213641, 1.68522], [-0.0822044, -0.851282, -0.518229, 1.45394], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.16013, 0.549229, -0.820186, 3.74835], [0.985098, 0.0360829, -0.168165, 1.67927], [-0.0627664, -0.834892, -0.546823, 1.44156], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.168486, 0.643611, -0.746577, 3.74667], [0.98003, 0.0282252, -0.196838, 1.66631], [-0.105615, -0.764832, -0.635513, 1.41411], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.215377, 0.631139, -0.745169, 3.73728], [0.972347, 0.068043, -0.223408, 1.64938], [-0.090298, -0.77268, -0.628341, 1.42303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.215769, 0.537968, -0.814883, 3.72761], [0.975014, 0.0735363, -0.209622, 1.64278], [-0.0528465, -0.839752, -0.540393, 1.4373], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.143273, 0.464166, -0.874084, 3.69887], [0.989374, 0.0450794, -0.138232, 1.64561], [-0.0247596, -0.8846, -0.465692, 1.46359], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.121938, 0.44775, -0.885806, 3.59918], [0.99249, -0.0462009, 0.11327, 1.63556], [0.0097916, -0.892965, -0.45002, 1.46244], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.426072, 0.40902, -0.806948, 3.43892], [0.904334, -0.217556, 0.367219, 1.58028], [-0.0253568, -0.886212, -0.462585, 1.4597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.597426, 0.419656, -0.683353, 3.42505], [0.801819, -0.326401, 0.500549, 1.57522], [-0.0129888, -0.846966, -0.531488, 1.42765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.637228, 0.360889, -0.680956, 3.38578], [0.769306, -0.350532, 0.534131, 1.63135], [-0.0459352, -0.864226, -0.501003, 1.43077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.462835, 0.334209, -0.821029, 3.277], [0.883678, -0.247074, 0.397578, 1.77849], [-0.0699806, -0.909538, -0.409688, 1.46562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.159605, 0.384901, -0.909053, 3.17698], [0.986719, -0.0903747, 0.134975, 1.81549], [-0.0302035, -0.918522, -0.394213, 1.48269], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.0716581, 0.366743, -0.927559, 3.02549], [0.997041, 0.0523032, -0.0563462, 1.8452], [0.0278498, -0.928851, -0.369405, 1.48162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.302694, 0.369327, -0.87862, 2.97171], [0.953044, 0.126176, -0.275296, 1.87302], [0.00918607, -0.920694, -0.390178, 1.48612], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.663395, 0.308223, -0.68184, 2.95363], [0.747139, 0.322929, -0.580948, 2.03468], [0.0411245, -0.894827, -0.444515, 1.50919], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.914118, 0.1509, -0.376322, 3.02699], [0.404566, 0.400721, -0.82204, 2.10365], [0.026754, -0.903688, -0.427355, 1.53012], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.960386, 0.114261, -0.254173, 3.10354], [0.278225, 0.444941, -0.851246, 2.22554], [0.0158277, -0.888241, -0.459105, 1.53915], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.954999, 0.101284, -0.278782, 3.1047], [0.292558, 0.476495, -0.829073, 2.37056], [0.0488663, -0.873324, -0.484683, 1.53037], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.982731, 0.0478654, -0.178742, 3.10305], [0.180136, 0.468385, -0.864966, 2.63377], [0.042318, -0.882227, -0.468919, 1.53643], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.962639, 0.089459, -0.255585, 3.16971], [0.268113, 0.447235, -0.853286, 2.79286], [0.0379722, -0.889932, -0.45451, 1.54037], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.931444, 0.176878, -0.318003, 3.28478], [0.363028, 0.51163, -0.778746, 2.92563], [0.0249566, -0.840803, -0.540766, 1.51303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.908473, 0.183254, -0.375627, 3.31655], [0.414829, 0.50489, -0.756969, 2.99861], [0.0509332, -0.843507, -0.534698, 1.50253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.920325, 0.148756, -0.361767, 3.38046], [0.387107, 0.47911, -0.787783, 3.1155], [0.0561393, -0.865058, -0.498521, 1.51165], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.809447, 0.241555, -0.535208, 3.48829], [0.585913, 0.392428, -0.709018, 3.11245], [0.0387634, -0.887497, -0.45918, 1.5286], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.750877, 0.317634, -0.579045, 3.61512], [0.659189, 0.41443, -0.62747, 3.14018], [0.040668, -0.852852, -0.520567, 1.50678], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.722682, 0.32673, -0.60908, 3.60489], [0.690265, 0.386511, -0.611673, 3.18194], [0.0355643, -0.862471, -0.504855, 1.51198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.583514, 0.397706, -0.708055, 3.51394], [0.811435, 0.320884, -0.488473, 3.22477], [0.0329348, -0.859571, -0.509953, 1.50341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.346036, 0.417098, -0.84041, 3.53436], [0.937216, 0.195123, -0.289056, 3.26579], [0.0434183, -0.887669, -0.45843, 1.5182], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.288338, 0.39294, -0.873189, 3.56473], [0.957315, 0.137581, -0.254205, 3.2881], [0.0202469, -0.909214, -0.415837, 1.52188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.474872, 0.263116, -0.839802, 3.58552], [0.879963, 0.155766, -0.448779, 3.23971], [0.0127315, -0.952107, -0.305501, 1.59559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.766802, 0.13838, -0.62679, 3.6005], [0.641771, 0.147006, -0.752674, 3.21509], [-0.0120128, -0.979408, -0.201532, 1.67489], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.844099, 0.0508613, -0.53377, 3.60288], [0.535729, 0.121147, -0.835654, 3.23478], [0.0221621, -0.991331, -0.129508, 1.70351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.877706, -0.0038128, -0.479185, 3.63554], [0.478598, 0.0431168, -0.876975, 3.2508], [0.0240047, -0.999063, -0.036019, 1.71843], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.876051, -0.0604756, -0.478412, 3.64791], [0.48178, -0.067427, -0.873695, 3.26329], [0.0205794, -0.99589, 0.0882054, 1.72582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.867241, -0.108558, -0.48591, 3.64729], [0.497214, -0.138013, -0.856581, 3.28061], [0.025927, -0.984463, 0.173666, 1.7621], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.847963, -0.184084, -0.497064, 3.67026], [0.526599, -0.185652, -0.829594, 3.28202], [0.0604343, -0.965218, 0.254365, 1.77869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.808865, -0.2722, -0.521195, 3.72349], [0.581761, -0.241758, -0.7766, 3.2918], [0.0853877, -0.931375, 0.353905, 1.77739], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.794188, -0.290511, -0.533731, 3.7412], [0.601408, -0.249974, -0.75883, 3.2933], [0.0870301, -0.923643, 0.373242, 1.76511], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.717524, -0.32878, -0.614055, 3.72018], [0.692007, -0.236144, -0.682175, 3.27992], [0.0792798, -0.914407, 0.396957, 1.78138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.605926, -0.396021, -0.689944, 3.69681], [0.792456, -0.224409, -0.567147, 3.26467], [0.0697722, -0.890398, 0.449804, 1.78904], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.435856, -0.460767, -0.773126, 3.67884], [0.898108, -0.166749, -0.406937, 3.2614], [0.0585853, -0.871716, 0.486496, 1.80573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.287929, -0.521729, -0.803055, 3.67357], [0.9565, -0.115565, -0.267866, 3.27299], [0.0469487, -0.845248, 0.532308, 1.83882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.174639, -0.566118, -0.805613, 3.65266], [0.984327, -0.0799883, -0.157171, 3.29096], [0.0245377, -0.820434, 0.571214, 1.86507], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.208829, -0.598649, -0.773311, 3.66662], [0.976824, -0.0897136, -0.194336, 3.26497], [0.0469627, -0.795972, 0.603509, 1.88593], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.257847, -0.609106, -0.750004, 3.68182], [0.96428, -0.113495, -0.23934, 3.25175], [0.0606612, -0.784926, 0.616612, 1.89301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.410736, -0.544981, -0.730953, 3.70307], [0.907984, -0.171658, -0.382229, 3.22854], [0.0828336, -0.820689, 0.56534, 1.88086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.547412, -0.477885, -0.686998, 3.71887], [0.831055, -0.213875, -0.513426, 3.22009], [0.0984273, -0.851988, 0.514226, 1.8576], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.680196, -0.380046, -0.626816, 3.71642], [0.727802, -0.248187, -0.639303, 3.22316], [0.0873967, -0.891049, 0.445414, 1.8475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.79221, -0.272148, -0.546204, 3.67912], [0.605496, -0.239065, -0.759093, 3.22903], [0.0760075, -0.932086, 0.354174, 1.82436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.846195, -0.132003, -0.516265, 3.5981], [0.52952, -0.0997754, -0.84241, 3.21969], [0.0596903, -0.986215, 0.154328, 1.79026], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.877007, -0.0470034, -0.478173, 3.51121], [0.477787, 0.0198597, -0.878251, 3.22107], [0.0507772, -0.998697, 0.00504046, 1.74772], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.925552, 0.00422936, -0.378598, 3.45372], [0.376942, 0.104376, -0.920337, 3.09433], [0.0356241, -0.994529, -0.0981993, 1.7173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.957307, 0.0206533, -0.288337, 3.37503], [0.288612, 0.124719, -0.949288, 2.9621], [0.0163552, -0.991977, -0.125355, 1.69221], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.986185, 0.0188834, -0.16457, 3.16801], [0.164048, 0.249144, -0.954472, 2.98858], [0.0229779, -0.968282, -0.2488, 1.64674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.996447, 0.0382892, -0.0750185, 3.00559], [0.0842163, 0.465553, -0.881004, 3.02008], [0.0011922, -0.884191, -0.467124, 1.5845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.989482, 0.0501731, -0.135679, 2.94069], [0.141256, 0.537346, -0.831449, 2.95684], [0.0311904, -0.841868, -0.538781, 1.52224], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.996024, -0.0807301, 0.0376658, 2.79842], [-0.077856, 0.583354, -0.808479, 2.9017], [0.0432961, -0.808196, -0.587319, 1.47675], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.991187, -0.131404, -0.0167867, 2.67731], [-0.0646236, 0.59025, -0.80463, 2.87485], [0.115639, -0.796453, -0.59354, 1.45521], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.98337, -0.178983, 0.0308038, 2.72132], [-0.123359, 0.53378, -0.836578, 2.81996], [0.133291, -0.826465, -0.546982, 1.46677], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.975639, -0.196473, 0.0976123, 2.79158], [-0.193823, 0.563502, -0.803056, 2.73754], [0.102774, -0.802411, -0.587855, 1.45688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.877927, -0.301166, 0.372214, 2.82615], [-0.475155, 0.45236, -0.754717, 2.76676], [0.0589206, -0.839446, -0.54024, 1.47109], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.736646, -0.399536, 0.545641, 2.79532], [-0.672683, 0.34979, -0.652032, 2.81103], [0.0696507, -0.84736, -0.526432, 1.47418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.692861, -0.358478, 0.62565, 2.72526], [-0.718631, 0.271952, -0.64001, 2.7998], [0.0592828, -0.893049, -0.446038, 1.53047], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.68309, -0.302556, 0.664717, 2.7097], [-0.727412, 0.200504, -0.656255, 2.8114], [0.0652754, -0.931804, -0.357044, 1.56633], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.611158, -0.324538, 0.721915, 2.7273], [-0.789219, 0.180529, -0.586979, 2.88864], [0.0601705, -0.928485, -0.366463, 1.56124], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.681117, -0.353302, 0.641295, 2.76799], [-0.730787, 0.274111, -0.625152, 2.94757], [0.0450817, -0.89445, -0.44489, 1.53189], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.81683, -0.339935, 0.466083, 2.80338], [-0.576753, 0.464374, -0.672096, 3.04693], [0.0120325, -0.817802, -0.575373, 1.47481], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.866513, -0.343687, 0.361986, 2.78291], [-0.496207, 0.514417, -0.699395, 3.04685], [0.0541612, -0.785655, -0.616289, 1.46992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.904229, -0.252199, 0.344623, 2.7557], [-0.420151, 0.380932, -0.823628, 2.97829], [0.0764404, -0.889543, -0.450412, 1.55447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.862774, -0.199923, 0.464384, 2.74944], [-0.500721, 0.210702, -0.839574, 3.00436], [0.0700038, -0.956888, -0.281894, 1.64603], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.792537, -0.162797, 0.587692, 2.77599], [-0.60677, 0.114175, -0.786636, 3.0836], [0.0609623, -0.980031, -0.189268, 1.68914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.730404, -0.128942, 0.670734, 2.78373], [-0.680535, 0.0537677, -0.73074, 3.15577], [0.058159, -0.990193, -0.127021, 1.70572], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.718106, -0.0994695, 0.68879, 2.77678], [-0.69379, 0.0246711, -0.719756, 3.17197], [0.0546005, -0.994735, -0.0867272, 1.72992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.815862, -0.0881318, 0.571492, 2.74117], [-0.573001, -0.00961045, -0.819498, 3.11275], [0.0777162, -0.996062, -0.0426589, 1.75087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.906164, -0.077561, 0.415754, 2.73918], [-0.415701, -0.0176065, -0.909331, 3.05321], [0.0778485, -0.996832, -0.0162878, 1.74155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.918593, -0.0871739, 0.385473, 2.7232], [-0.392061, 0.0781733, -0.916612, 3.01634], [0.0497709, -0.993121, -0.105987, 1.7305], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.962311, -0.0736163, 0.261798, 2.70609], [-0.267561, 0.0840055, -0.959872, 2.97169], [0.0486698, -0.993742, -0.100536, 1.7226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.976315, 0.00353588, 0.216329, 2.66579], [-0.216352, -0.00840275, -0.97628, 2.9671], [-0.00163423, -0.999958, 0.00896879, 1.78841], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.937275, 0.012688, 0.348361, 2.71758], [-0.347123, -0.125615, -0.929369, 3.01019], [0.0319675, -0.991998, 0.12214, 1.86062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.833437, 0.0730596, 0.547764, 2.71807], [-0.552311, -0.142952, -0.82129, 3.0704], [0.018301, -0.987029, 0.159493, 1.90187], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.737333, 0.0952254, 0.668785, 2.70876], [-0.675149, -0.137156, -0.724819, 3.12598], [0.0227067, -0.985962, 0.165421, 1.90488], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.646513, 0.15282, 0.747441, 2.70239], [-0.762884, -0.136391, -0.631985, 3.18618], [0.00536427, -0.978797, 0.204763, 1.92939], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.527007, 0.18122, 0.830316, 2.69328], [-0.849837, -0.104997, -0.516481, 3.25072], [-0.00641603, -0.977821, 0.209342, 1.9373], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.41809, 0.212994, 0.883083, 2.69213], [-0.908315, -0.111768, -0.403078, 3.3379], [0.0128477, -0.97064, 0.240194, 1.92354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.251827, 0.268314, 0.929834, 2.67406], [-0.967683, -0.0828385, -0.238174, 3.42883], [0.0131206, -0.959763, 0.280504, 1.90655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.0791871, 0.30619, 0.948672, 2.65381], [-0.994925, -0.0835463, -0.0560827, 3.46942], [0.062086, -0.948297, 0.311251, 1.86197], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[0.0109913, 0.198351, 0.98007, 2.7025], [-0.997486, -0.0664526, 0.0246359, 3.50193], [0.0700146, -0.977876, 0.197121, 1.78538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.0434668, 0.0475747, 0.997922, 2.75293], [-0.998148, -0.0446123, -0.0413495, 3.48631], [0.0425523, -0.997871, 0.0494257, 1.75368], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.31286, -0.03196, 0.949262, 2.82051], [-0.949799, 0.00962266, -0.312713, 3.43331], [0.000859924, -0.999443, -0.0333662, 1.78106], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.413653, -0.0844595, 0.906509, 2.8715], [-0.910433, 0.0362094, -0.41207, 3.41777], [0.00197906, -0.995769, -0.0918728, 1.75989], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.446785, -0.177512, 0.876854, 2.90664], [-0.894463, 0.0690593, -0.441776, 3.4086], [0.0178656, -0.981693, -0.189633, 1.70201], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.458203, -0.279001, 0.843924, 2.90237], [-0.888839, 0.139557, -0.436452, 3.39314], [0.00399528, -0.950096, -0.311933, 1.65059], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[-0.468506, -0.379586, 0.797758, 2.90147], [-0.883455, 0.198146, -0.424553, 3.37776], [0.00308211, -0.903689, -0.428179, 1.5958], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.502008, -0.468559, 0.72694, 2.899], [-0.864646, 0.253048, -0.433999, 3.33965], [0.0194034, -0.846416, -0.532169, 1.52309], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[-0.598799, -0.519783, 0.609317, 2.86343], [-0.799677, 0.345988, -0.490724, 3.28743], [0.0442539, -0.781101, -0.622834, 1.44593], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[-0.765097, -0.409862, 0.49663, 2.82441], [-0.643883, 0.479099, -0.596556, 3.13966], [0.00657089, -0.776194, -0.63046, 1.45872], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[-0.683499, -0.357503, 0.636413, 2.86676], [-0.729925, 0.327212, -0.600119, 2.98415], [0.00630199, -0.874714, -0.484599, 1.53464], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.611589, -0.302377, 0.731114, 2.90224], [-0.790779, 0.204341, -0.576987, 2.86161], [0.0250706, -0.931028, -0.364086, 1.58974], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.601534, -0.301046, 0.739952, 3.0872], [-0.793766, 0.120933, -0.59608, 2.66909], [0.0899622, -0.945911, -0.311705, 1.59804], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.316452, -0.29619, 0.901183, 3.16692], [-0.947505, 0.0528772, -0.315339, 2.61263], [0.045748, -0.953664, -0.297374, 1.58801], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.141165, -0.288893, 0.946897, 3.11536], [-0.987154, -0.113377, 0.112576, 2.525], [0.0748339, -0.950624, -0.301187, 1.62532], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.342441, -0.207351, 0.916373, 3.07099], [-0.937634, -0.137505, 0.319272, 2.57081], [0.0598048, -0.968554, -0.241507, 1.65564], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.474115, -0.0685558, 0.87779, 3.12653], [-0.8784, -0.105045, 0.46624, 2.69599], [0.060244, -0.992102, -0.110023, 1.6908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[0.577438, -0.00361556, 0.816427, 3.11735], [-0.815232, -0.0568217, 0.576341, 2.71437], [0.0443069, -0.998378, -0.0357585, 1.71995], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.619481, 0.128109, 0.774488, 3.17498], [-0.782821, 0.0271537, 0.621655, 2.58873], [0.0586092, -0.991388, 0.117108, 1.78802], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[0.489023, 0.195378, 0.850109, 3.23851], [-0.86919, 0.0273028, 0.493725, 2.45784], [0.0732523, -0.980348, 0.183172, 1.82362], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[0.287727, 0.244007, 0.926107, 3.26062], [-0.95748, 0.0519849, 0.283777, 2.39426], [0.0211, -0.968379, 0.248589, 1.85954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[0.14321, 0.275697, 0.950517, 3.28633], [-0.989137, 0.0720431, 0.128133, 2.3331], [-0.0331525, -0.958541, 0.283019, 1.88842], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[0.348735, 0.262237, 0.899787, 3.27676], [-0.937079, 0.0808155, 0.339636, 2.33779], [0.0163482, -0.961614, 0.273919, 1.89019], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[0.643234, 0.218865, 0.733722, 3.22112], [-0.762882, 0.101492, 0.638523, 2.35591], [0.0652836, -0.970462, 0.232251, 1.84852], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[0.725812, 0.271428, 0.63208, 3.17262], [-0.683736, 0.183787, 0.706207, 2.3493], [0.075516, -0.944748, 0.31898, 1.86377], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[0.711819, 0.343427, 0.612676, 3.16602], [-0.698013, 0.248957, 0.671416, 2.32369], [0.0780526, -0.905582, 0.416929, 1.87743], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[0.716016, 0.256392, 0.649296, 3.15742], [-0.687367, 0.0965838, 0.719861, 2.37775], [0.121855, -0.961735, 0.245391, 1.80608], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[0.784832, 0.0500586, 0.617684, 3.15369], [-0.612717, -0.0866166, 0.785542, 2.43665], [0.0928247, -0.994983, -0.0373077, 1.75388], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[0.830973, -0.0386365, 0.55497, 3.11202], [-0.547418, -0.234475, 0.80334, 2.48776], [0.0990886, -0.971354, -0.215993, 1.67487], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[0.815915, -0.128973, 0.563603, 3.05899], [-0.568232, -0.358851, 0.740499, 2.54648], [0.106745, -0.924442, -0.366078, 1.63837], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[0.828896, -0.215433, 0.516257, 2.97762], [-0.549435, -0.486976, 0.678953, 2.54542], [0.105136, -0.84643, -0.522018, 1.56344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[0.882912, -0.217226, 0.416268, 2.87874], [-0.458227, -0.592053, 0.66295, 2.51038], [0.102443, -0.776071, -0.622269, 1.49068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[0.963447, -0.125563, 0.236654, 2.98479], [-0.261609, -0.631281, 0.7301, 2.20216], [0.0577218, -0.765322, -0.641054, 1.49955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[0.868126, -0.28137, 0.408887, 3.17356], [-0.496061, -0.519652, 0.695618, 2.17549], [0.016753, -0.806717, -0.5907, 1.53883], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[0.753245, -0.256405, 0.605706, 3.29812], [-0.656905, -0.339654, 0.673135, 2.24019], [0.0331349, -0.904926, -0.424276, 1.59172], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[0.834021, -0.107483, 0.541162, 3.35152], [-0.550708, -0.221916, 0.804658, 2.19242], [0.0336055, -0.969124, -0.244274, 1.65132], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[0.965263, 0.046547, 0.257102, 3.415], [-0.246202, -0.167415, 0.95465, 1.99594], [0.0874788, -0.984787, -0.150139, 1.66515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[0.999597, 0.0248221, 0.0137643, 3.49821], [-0.0048472, -0.328523, 0.944484, 1.97962], [0.0279659, -0.94417, -0.32827, 1.64784], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[0.998945, -0.0308318, 0.0340335, 3.67994], [-0.0449536, -0.505106, 0.861886, 1.8823], [-0.0093829, -0.862506, -0.505959, 1.56542], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[0.98296, 0.0156866, -0.183153, 3.72325], [0.167861, -0.482702, 0.859548, 1.74623], [-0.0749247, -0.875644, -0.477109, 1.54631], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[0.869612, 0.135887, -0.474669, 3.795], [0.489981, -0.355866, 0.795788, 1.68845], [-0.0607813, -0.924605, -0.376047, 1.49662], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[0.796572, 0.175706, -0.578447, 3.76542], [0.603793, -0.278902, 0.746758, 1.6421], [-0.0301196, -0.944109, -0.328255, 1.47305], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[0.697301, 0.180387, -0.693709, 3.72594], [0.716319, -0.140726, 0.683435, 1.58675], [0.0256597, -0.973477, -0.227343, 1.4885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[0.779566, 0.0543608, -0.623957, 3.73577], [0.626069, -0.0394266, 0.77877, 1.61338], [0.017734, -0.997743, -0.0647692, 1.54834], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[0.799271, -0.0320811, -0.600114, 3.73546], [0.600899, 0.027203, 0.798862, 1.62017], [-0.00930353, -0.999115, 0.0410201, 1.60012], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[0.81654, -0.0510994, -0.575023, 3.72365], [0.577244, 0.059809, 0.814379, 1.63589], [-0.00722283, -0.996901, 0.0783333, 1.64819], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[0.822295, -0.0249638, -0.568515, 3.71211], [0.568752, 0.00304111, 0.822504, 1.65708], [-0.018804, -0.999684, 0.0166989, 1.63326], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[0.741922, -0.15432, -0.652486, 3.70779], [0.669436, 0.116039, 0.733751, 1.59726], [-0.037519, -0.981183, 0.189399, 1.72098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[0.710616, -0.236091, -0.662787, 3.71873], [0.702843, 0.195079, 0.684073, 1.58453], [-0.0322082, -0.951948, 0.304561, 1.76202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[0.688625, -0.301332, -0.659542, 3.73305], [0.72493, 0.265349, 0.635663, 1.55851], [-0.0165363, -0.915854, 0.40117, 1.79302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[0.638445, -0.376357, -0.671375, 3.76212], [0.769085, 0.278017, 0.575513, 1.50832], [-0.0299448, -0.883777, 0.466949, 1.79341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3460", "pose": [[0.51532, -0.428983, -0.741903, 3.7648], [0.856793, 0.238957, 0.456952, 1.43814], [-0.0187419, -0.871133, 0.490689, 1.80858], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3480", "pose": [[0.467584, -0.490089, -0.735648, 3.77885], [0.883913, 0.251775, 0.39409, 1.4037], [-0.00792115, -0.834519, 0.550922, 1.81995], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3500", "pose": [[0.361121, -0.537592, -0.761963, 3.79064], [0.932419, 0.220152, 0.286582, 1.36004], [0.0136835, -0.813958, 0.580762, 1.81839], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3520", "pose": [[0.210757, -0.560528, -0.800869, 3.79089], [0.976865, 0.151181, 0.151261, 1.32584], [0.0362899, -0.814219, 0.579422, 1.80843], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3540", "pose": [[0.0932923, -0.577183, -0.811268, 3.79595], [0.993032, 0.112869, 0.0338921, 1.3053], [0.0720055, -0.808777, 0.583691, 1.81133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3560", "pose": [[-0.0237655, -0.599903, -0.79972, 3.81139], [0.993662, 0.0737412, -0.0848454, 1.28163], [0.109871, -0.796667, 0.594348, 1.82426], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3580", "pose": [[-0.0728427, -0.626193, -0.776258, 3.82402], [0.983273, 0.085188, -0.160989, 1.24826], [0.166938, -0.775, 0.609514, 1.81893], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3600", "pose": [[-0.136288, -0.397793, -0.907296, 3.77117], [0.980314, 0.0779212, -0.18142, 1.23156], [0.142865, -0.91416, 0.379343, 1.7755], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3620", "pose": [[0.0591177, -0.251061, -0.966165, 3.70439], [0.995913, 0.0810338, 0.0398809, 1.25906], [0.0682795, -0.964573, 0.254825, 1.74874], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3640", "pose": [[0.342738, -0.0733239, -0.936565, 3.62108], [0.939429, 0.0246336, 0.341857, 1.35505], [-0.00199524, -0.997004, 0.0773254, 1.71683], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3660", "pose": [[0.588237, 0.0773795, -0.804978, 3.59169], [0.808477, -0.0790901, 0.58319, 1.48733], [-0.0185388, -0.99386, -0.109083, 1.65476], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3680", "pose": [[0.843923, 0.103451, -0.526396, 3.55884], [0.5363, -0.13833, 0.832615, 1.66159], [0.0133185, -0.984968, -0.172221, 1.62364], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3720", "pose": [[0.982024, -0.0458245, 0.183111, 3.37208], [-0.187925, -0.146332, 0.971222, 1.92687], [-0.0177107, -0.988174, -0.152313, 1.67275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3740", "pose": [[0.953999, -0.0974122, 0.283546, 3.47458], [-0.298082, -0.206734, 0.931884, 2.07097], [-0.0321585, -0.973536, -0.22626, 1.67553], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3760", "pose": [[0.874364, -0.204685, 0.439991, 3.47034], [-0.483766, -0.296298, 0.823516, 2.19211], [-0.0381926, -0.932905, -0.358092, 1.63779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3780", "pose": [[0.692279, -0.351101, 0.63046, 3.34598], [-0.719119, -0.262824, 0.643266, 2.30736], [-0.0601515, -0.898695, -0.43443, 1.61124], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3800", "pose": [[0.579709, -0.39948, 0.710179, 3.23984], [-0.813358, -0.23145, 0.533742, 2.28976], [-0.0488484, -0.887044, -0.459093, 1.61217], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3820", "pose": [[0.438439, -0.49881, 0.747636, 3.21897], [-0.894779, -0.164031, 0.41529, 2.29333], [-0.0845156, -0.851048, -0.518242, 1.60822], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3840", "pose": [[0.342903, -0.528118, 0.776859, 3.24944], [-0.932814, -0.0938891, 0.347914, 2.47242], [-0.110801, -0.843965, -0.52483, 1.59748], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3860", "pose": [[0.30481, -0.55131, 0.776626, 3.30947], [-0.945357, -0.0760565, 0.317043, 2.65416], [-0.115722, -0.830827, -0.544367, 1.58051], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3880", "pose": [[0.238489, -0.518409, 0.821204, 3.4507], [-0.965715, -0.0373023, 0.256909, 2.82269], [-0.102551, -0.854319, -0.509532, 1.58471], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3900", "pose": [[0.115046, -0.463368, 0.878667, 3.5484], [-0.989981, 0.0194138, 0.139859, 2.95879], [-0.0818644, -0.885953, -0.456492, 1.58901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3920", "pose": [[-0.174035, -0.537426, 0.825158, 3.65985], [-0.977227, 0.197565, -0.0774336, 3.08299], [-0.121407, -0.819842, -0.55957, 1.55215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3940", "pose": [[-0.26602, -0.650744, 0.711173, 3.66868], [-0.959793, 0.247389, -0.13265, 3.1156], [-0.0896147, -0.717866, -0.69039, 1.46872], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3960", "pose": [[-0.30336, -0.723761, 0.619793, 3.65489], [-0.951032, 0.270427, -0.149696, 3.08591], [-0.0592646, -0.634854, -0.770356, 1.39792], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3980", "pose": [[-0.517991, -0.635962, 0.572048, 3.71408], [-0.855375, 0.381604, -0.350304, 2.99615], [0.00448418, -0.67077, -0.741652, 1.39846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4000", "pose": [[-0.639181, -0.502381, 0.58229, 3.83873], [-0.768347, 0.449686, -0.455441, 2.93045], [-0.0330426, -0.73851, -0.673433, 1.43864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4020", "pose": [[-0.755822, -0.381437, 0.532204, 3.89753], [-0.653845, 0.483066, -0.582354, 2.90582], [-0.0349581, -0.788133, -0.614511, 1.48166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4040", "pose": [[-0.928336, -0.19236, 0.318106, 3.97986], [-0.370703, 0.543018, -0.753466, 2.98721], [-0.0277998, -0.817392, -0.575411, 1.50541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4060", "pose": [[-0.93304, -0.156633, 0.323887, 4.04702], [-0.359721, 0.390736, -0.847305, 3.05186], [0.0061618, -0.907078, -0.420917, 1.57901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4080", "pose": [[-0.916081, -0.141497, 0.3752, 4.06732], [-0.400287, 0.267158, -0.876583, 3.0619], [0.023796, -0.953208, -0.301377, 1.63284], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4100", "pose": [[-0.907175, -0.113088, 0.405272, 3.96863], [-0.420745, 0.250558, -0.871891, 3.00544], [-0.00294381, -0.961474, -0.274881, 1.68425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4120", "pose": [[-0.88199, -0.183155, 0.434221, 3.71234], [-0.470412, 0.286607, -0.834608, 2.85915], [0.0284121, -0.940378, -0.338943, 1.68611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4140", "pose": [[-0.890037, -0.215848, 0.401555, 3.56015], [-0.454892, 0.362189, -0.813569, 2.61047], [0.0301686, -0.906769, -0.420548, 1.63045], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4160", "pose": [[-0.798232, -0.315146, 0.513332, 3.52564], [-0.601868, 0.383169, -0.700669, 2.38743], [0.0241201, -0.868254, -0.495534, 1.60505], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4180", "pose": [[-0.63983, -0.459635, 0.615918, 3.48804], [-0.764484, 0.29866, -0.571285, 2.21278], [0.0786327, -0.836384, -0.542475, 1.54399], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4200", "pose": [[-0.499689, -0.570368, 0.651914, 3.54916], [-0.864295, 0.278353, -0.418944, 2.03251], [0.0574894, -0.772788, -0.632056, 1.48898], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4220", "pose": [[-0.410181, -0.638123, 0.651576, 3.65707], [-0.9072, 0.212248, -0.363236, 1.85812], [0.0934937, -0.740102, -0.665964, 1.44838], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4240", "pose": [[-0.189662, -0.593396, 0.782247, 3.65034], [-0.979162, 0.0553979, -0.195381, 1.74673], [0.0726036, -0.803002, -0.591537, 1.46377], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4260", "pose": [[-0.0452317, -0.544673, 0.837428, 3.61101], [-0.996762, -0.0311894, -0.0741234, 1.57614], [0.0664919, -0.838068, -0.541498, 1.47039], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4280", "pose": [[0.0210861, -0.544711, 0.838359, 3.56116], [-0.995978, -0.0844823, -0.0298404, 1.59099], [0.0870809, -0.834358, -0.544302, 1.46746], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4300", "pose": [[0.1098, -0.625896, 0.772139, 3.40717], [-0.988259, -0.151781, 0.0174989, 1.69529], [0.106244, -0.764995, -0.635212, 1.43101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4320", "pose": [[0.145635, -0.701594, 0.697536, 3.34244], [-0.983762, -0.177452, 0.0269105, 1.71865], [0.104899, -0.690128, -0.716044, 1.40055], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4340", "pose": [[0.0279773, -0.559745, 0.828192, 3.34735], [-0.995278, -0.0926391, -0.0289896, 1.7125], [0.0929498, -0.82347, -0.559693, 1.4467], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4360", "pose": [[-0.15259, -0.458108, 0.875702, 3.38367], [-0.981924, -0.0301314, -0.186862, 1.6317], [0.111989, -0.888386, -0.445229, 1.50621], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4380", "pose": [[-0.22241, -0.313695, 0.923109, 3.37014], [-0.970666, -0.0174607, -0.239801, 1.59395], [0.0913425, -0.949363, -0.300609, 1.5708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4400", "pose": [[-0.210529, -0.162038, 0.964065, 3.35145], [-0.975948, -0.0222588, -0.216865, 1.59905], [0.0565992, -0.986533, -0.153454, 1.65345], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4420", "pose": [[-0.277167, -0.010597, 0.960764, 3.33543], [-0.959403, -0.0512872, -0.27734, 1.58589], [0.0522139, -0.998628, 0.0040483, 1.72508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4440", "pose": [[-0.249165, 0.0341175, 0.96786, 3.31389], [-0.968339, -0.0246388, -0.24842, 1.58309], [0.0153714, -0.999114, 0.0391764, 1.75579], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4460", "pose": [[0.107532, -0.112004, 0.987873, 3.37863], [-0.994095, 0.00247483, 0.10849, 1.68698], [-0.0145962, -0.993705, -0.111076, 1.70246], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4480", "pose": [[0.638481, -0.169865, 0.750659, 3.4875], [-0.769481, -0.160626, 0.618142, 1.76078], [0.0155751, -0.972289, -0.233264, 1.67299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4500", "pose": [[0.891626, -0.159747, 0.423657, 3.39601], [-0.452774, -0.314317, 0.834387, 1.87804], [-0.000127628, -0.935781, -0.352582, 1.62246], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4520", "pose": [[0.964508, -0.105417, 0.242098, 3.38548], [-0.263753, -0.42832, 0.864278, 1.95598], [0.0125855, -0.897457, -0.440922, 1.59644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4540", "pose": [[0.988759, 0.081234, -0.125524, 3.51107], [0.148885, -0.45786, 0.876469, 1.85277], [0.0137268, -0.885305, -0.464808, 1.57397], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4560", "pose": [[0.771952, 0.270156, -0.575418, 3.70544], [0.635103, -0.366374, 0.680011, 1.64993], [-0.027109, -0.890385, -0.4544, 1.49997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4580", "pose": [[0.541776, 0.364633, -0.757313, 3.67702], [0.840502, -0.241456, 0.485031, 1.50223], [-0.00599976, -0.899301, -0.437289, 1.50729], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4600", "pose": [[0.373791, 0.308824, -0.87459, 3.69748], [0.927433, -0.136879, 0.348043, 1.41366], [-0.0122292, -0.941218, -0.337577, 1.55346], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4620", "pose": [[0.30098, 0.164768, -0.939288, 3.71275], [0.953631, -0.0526773, 0.296335, 1.38036], [-0.000652589, -0.984925, -0.172983, 1.62506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4640", "pose": [[0.18189, 0.062845, -0.981309, 3.72782], [0.983292, -0.00423007, 0.181987, 1.32515], [0.00728603, -0.998014, -0.0625644, 1.67278], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4660", "pose": [[-0.0080738, -0.0269684, -0.999604, 3.78143], [0.999955, 0.00484595, -0.00820761, 1.2765], [0.00506543, -0.999624, 0.0269281, 1.71348], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4680", "pose": [[0.0386037, -0.184878, -0.982003, 3.81719], [0.999236, 0.00112363, 0.0390694, 1.29649], [-0.00611956, -0.982761, 0.18478, 1.73407], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4700", "pose": [[0.131061, -0.299017, -0.945205, 3.83263], [0.991095, 0.0168855, 0.132082, 1.32971], [-0.0235344, -0.954098, 0.298567, 1.76133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4720", "pose": [[0.300779, -0.275324, -0.913087, 3.8074], [0.953449, 0.06511, 0.294442, 1.36694], [-0.0216155, -0.959144, 0.282091, 1.766], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4740", "pose": [[0.422709, -0.166657, -0.89081, 3.76436], [0.906066, 0.0570994, 0.419266, 1.41669], [-0.0190087, -0.98436, 0.175138, 1.7642], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4760", "pose": [[0.527893, -0.0026912, -0.849307, 3.73077], [0.849209, -0.0138133, 0.527876, 1.45938], [-0.0131523, -0.999901, -0.00500657, 1.71729], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4780", "pose": [[0.595871, 0.12363, -0.793507, 3.71746], [0.802816, -0.117043, 0.584626, 1.52186], [-0.0205971, -0.985402, -0.168995, 1.6563], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0712_00"}, {"annotation": [{"question_id": "test-scene0713-0", "question": "What is on the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-1", "question": "Where is the white sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-2", "question": "Where is the trashan sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-3", "question": "Where is the white metal radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-4", "question": "To the right of what is the radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-5", "question": "What is in the corner to the left of the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-6", "question": "What is on the wall between the toilet and the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-7", "question": "Where is the metal paper towel dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-8", "question": "What is sitting in front of the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-9", "question": "What is on the right side of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-10", "question": "What is attached to the wall in the corner and on the left side of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-11", "question": "What color is the soap on the left side of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-12", "question": "What is in the center of the room on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-13", "question": "What material is the paper towel dispenser made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-14", "question": "The paper towel dispenser is higher than what on the tile wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-15", "question": "Where do the towels come out of the paper towel dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-16", "question": "What type of sink is attached to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-17", "question": "How is the sink connected to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-18", "question": "Where is the radiator connected to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-19", "question": "What does the top of the radiator have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-20", "question": "How tall is the radiator compared to the waste can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-21", "question": "What color is the door with a bag leaning against it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-22", "question": "Where is the door to the bathroom located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-23", "question": "What color sink is to the left of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-24", "question": "What color is the paper towel dispenser on the middle of the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-25", "question": "What color is the door with a label above the handle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-26", "question": "What is to the left of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-27", "question": "What is on the wall in front of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-28", "question": "What color is the trash can on the wall in front of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-29", "question": "Where is a heater on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-30", "question": "What shape is the heater on the wall near the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-31", "question": "What is standing in front of the heater?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-32", "question": "What color is the bathroom door ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-33", "question": "Where is the sink located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-34", "question": "What is laying against the bathroom door ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-35", "question": "What is located between the toilet and the sink in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0713-36", "question": "What kind of trash can is in front of the white heater?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.109686, -0.710473, 0.695124, 1.00903], [-0.99374, 0.0634748, -0.091929, 0.810553], [0.0211903, -0.700856, -0.712988, 1.33031], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.146931, -0.663027, 0.734035, 0.969113], [-0.988809, 0.0790696, -0.126508, 0.855658], [0.0258387, -0.744408, -0.667225, 1.32282], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.222046, -0.640308, 0.735323, 1.0175], [-0.974796, -0.129049, 0.181986, 0.819591], [-0.0216348, -0.7572, -0.652825, 1.34539], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.579717, -0.550897, 0.600367, 1.09806], [-0.814645, -0.376696, 0.440969, 0.825711], [-0.0167725, -0.744723, -0.667163, 1.36735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.828509, -0.326107, 0.455221, 1.26757], [-0.558019, -0.548705, 0.622526, 0.99365], [0.046772, -0.76979, -0.636581, 1.31413], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.989612, -0.13232, 0.0562193, 1.644], [-0.112081, -0.465159, 0.878103, 1.02125], [-0.09004, -0.875282, -0.475157, 0.920964], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.984742, -0.173332, -0.0154565, 1.81205], [-0.0263059, -0.236071, 0.97138, 1.02699], [-0.17202, -0.956152, -0.237028, 0.469093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.989236, -0.144027, 0.0258491, 1.84022], [-0.0616179, -0.249783, 0.966339, 0.9939], [-0.132722, -0.95753, -0.255969, 0.452188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.97801, -0.161434, 0.132046, 1.68765], [-0.201037, -0.561209, 0.802887, 1.11115], [-0.0555077, -0.811778, -0.581322, 1.00569], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.885026, -0.273066, 0.377045, 1.34363], [-0.459558, -0.641872, 0.613846, 1.33473], [0.0743942, -0.716544, -0.693563, 1.29478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.683028, -0.467021, 0.561572, 1.03655], [-0.728272, -0.494006, 0.474951, 1.61101], [0.0556078, -0.733382, -0.677539, 1.15619], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.386041, -0.514048, 0.765981, 0.747576], [-0.922442, -0.207448, 0.325677, 1.74475], [-0.00851274, -0.832298, -0.554263, 0.735311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.340724, -0.477214, 0.810045, 0.690376], [-0.934628, -0.0785705, 0.346838, 1.7338], [-0.101871, -0.875267, -0.472789, 0.813623], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.418298, -0.561533, 0.713938, 0.871446], [-0.908267, -0.250965, 0.334764, 1.65306], [-0.00880766, -0.788478, -0.615, 1.28436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.763722, -0.48432, 0.426804, 1.20386], [-0.644461, -0.610314, 0.460637, 1.5939], [0.0373886, -0.626857, -0.778237, 1.47445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.978811, -0.117898, 0.167419, 1.57341], [-0.190936, -0.820889, 0.538224, 1.66978], [0.0739772, -0.558786, -0.826006, 1.51839], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.997107, 0.0371328, 0.0663252, 1.84555], [0.000111945, -0.873276, 0.487226, 1.46481], [0.0760123, -0.485809, -0.870753, 1.4541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.912812, -0.309214, 0.266759, 1.84579], [-0.404414, -0.775255, 0.48521, 1.31074], [0.0567729, -0.550786, -0.832713, 1.36411], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.607742, -0.514145, 0.60523, 1.63567], [-0.791981, -0.448487, 0.414277, 1.17311], [0.0584394, -0.731105, -0.679758, 1.32498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.418978, -0.495529, 0.76086, 1.39189], [-0.907432, -0.198965, 0.370108, 1.14653], [-0.0320147, -0.845496, -0.533021, 1.29184], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.0718134, -0.442656, 0.893811, 1.15754], [-0.996823, -0.000891518, 0.0796482, 1.51387], [-0.0344598, -0.896691, -0.441314, 1.21613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.164665, -0.519114, 0.838693, 1.243], [-0.984023, 0.144826, -0.103557, 1.92307], [-0.0677064, -0.842345, -0.534668, 1.24433], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.0876117, -0.568696, 0.817868, 1.31605], [-0.996055, -0.0384238, 0.0799817, 2.06138], [-0.0140596, -0.82165, -0.569819, 1.29566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.614104, -0.598246, 0.51476, 1.37851], [-0.786743, -0.41235, 0.459351, 1.69717], [-0.0625435, -0.687073, -0.723892, 1.3692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.90854, -0.288248, 0.302436, 1.57765], [-0.414259, -0.715524, 0.562508, 1.5867], [0.0542579, -0.636348, -0.769492, 1.32882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.939705, 0.273888, -0.204791, 1.65016], [0.340105, -0.81116, 0.47576, 1.41893], [-0.0358135, -0.516725, -0.855402, 1.34712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.845334, 0.427866, -0.319907, 1.43909], [0.533877, -0.698542, 0.47646, 1.40379], [-0.0196075, -0.573559, -0.81893, 1.36818], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.873399, 0.402361, -0.274372, 1.24181], [0.486954, -0.72966, 0.480075, 1.52815], [-0.00703502, -0.552904, -0.833215, 1.34489], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.981428, 0.17223, -0.0844714, 1.06741], [0.190168, -0.815695, 0.546331, 1.70144], [0.0251916, -0.552248, -0.833299, 1.2443], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.961462, -0.192751, 0.196053, 0.731509], [-0.271041, -0.784111, 0.558307, 1.78077], [0.0461134, -0.58993, -0.806137, 1.1613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.994871, 0.0820759, -0.0591154, 0.692494], [0.100298, -0.876116, 0.471552, 1.7324], [-0.0130889, -0.475062, -0.879855, 1.31819], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.998524, 0.0227286, -0.0493252, 0.64122], [0.0440545, -0.870105, 0.490895, 1.69558], [-0.0317607, -0.492343, -0.869822, 1.42266], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.997072, -0.0756321, -0.0113117, 0.626642], [-0.0583993, -0.848541, 0.525897, 1.67907], [-0.0493731, -0.523696, -0.850473, 1.44206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.92309, 0.284217, -0.259088, 0.884703], [0.37622, -0.807089, 0.455045, 1.74357], [-0.0797754, -0.517522, -0.851943, 1.44015], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.647733, 0.585957, -0.486926, 1.1831], [0.754465, -0.582209, 0.30301, 1.87059], [-0.105942, -0.563638, -0.8192, 1.36988], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.414225, 0.411906, -0.811634, 1.39829], [0.874532, -0.427222, 0.22951, 1.94446], [-0.252212, -0.804869, -0.537192, 0.998772], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.350341, 0.162018, -0.922503, 1.29488], [0.906925, -0.304733, 0.290905, 1.8156], [-0.233985, -0.938557, -0.253698, 0.69057], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.495121, 0.19318, -0.847076, 1.32379], [0.864403, -0.207764, 0.457867, 1.77233], [-0.0875409, -0.958914, -0.269854, 0.715769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.672629, 0.242119, -0.699249, 1.24501], [0.739955, -0.212318, 0.638269, 1.53896], [0.0060738, -0.946731, -0.321969, 0.746114], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.94702, 0.203817, -0.248217, 0.787082], [0.288489, -0.200137, 0.936333, 1.28523], [0.141163, -0.958334, -0.248333, 0.756086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.977921, -0.0282229, 0.20706, 0.387236], [-0.204758, -0.327444, 0.922418, 1.31905], [0.0417672, -0.944449, -0.325994, 0.754887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.837824, -0.170786, 0.51854, 0.182944], [-0.545925, -0.254793, 0.798152, 1.42694], [-0.00419319, -0.951794, -0.306708, 0.753307], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.915122, -0.0827684, 0.39459, 0.198006], [-0.377421, -0.520063, 0.766217, 1.46269], [0.141793, -0.850108, -0.507159, 0.907006], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.929904, -0.132576, 0.343077, 0.279997], [-0.331816, -0.704798, 0.627023, 1.50455], [0.158672, -0.69691, -0.699386, 1.15199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.912288, -0.126287, 0.389592, 0.213898], [-0.339584, -0.765016, 0.547205, 1.67208], [0.228939, -0.631508, -0.7408, 1.24604], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.913232, -0.0454284, 0.4049, 0.187763], [-0.258359, -0.832995, 0.489255, 1.83679], [0.315054, -0.551412, -0.772454, 1.27453], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.925387, -0.16687, 0.340314, 0.287979], [-0.31047, -0.848748, 0.428059, 1.81076], [0.217411, -0.501778, -0.837228, 1.34309], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.846905, -0.359932, 0.391408, 0.44665], [-0.51324, -0.745803, 0.42469, 1.61619], [0.139053, -0.560559, -0.816357, 1.39417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.714393, -0.442961, 0.541689, 0.515126], [-0.693397, -0.552169, 0.462937, 1.50846], [0.0940411, -0.706325, -0.701614, 1.46249], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.660768, -0.393866, 0.638948, 0.531158], [-0.746576, -0.432797, 0.505283, 1.53213], [0.0775213, -0.810898, -0.58003, 1.5107], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.64407, -0.25928, 0.719686, 0.548544], [-0.760858, -0.314513, 0.567606, 1.58288], [0.0791814, -0.913157, -0.399844, 1.55243], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.633698, -0.181096, 0.752085, 0.54483], [-0.769936, -0.241918, 0.590486, 1.64504], [0.0750082, -0.953247, -0.292735, 1.57594], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.552348, -0.201987, 0.808772, 0.538907], [-0.828075, -0.244604, 0.504441, 1.79105], [0.095938, -0.948351, -0.302367, 1.56016], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.454572, -0.218912, 0.86339, 0.482054], [-0.884638, -0.223953, 0.408975, 1.92959], [0.103829, -0.949696, -0.295461, 1.5525], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.438322, -0.219718, 0.871549, 0.476154], [-0.889879, -0.242499, 0.386406, 1.98009], [0.12645, -0.944944, -0.301815, 1.53959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.586125, -0.232031, 0.776285, 0.546879], [-0.808962, -0.220979, 0.544747, 1.83356], [0.0451445, -0.947275, -0.317226, 1.55379], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.797075, -0.129408, 0.589852, 0.711622], [-0.60383, -0.183439, 0.775719, 1.59298], [0.00781792, -0.974476, -0.224355, 1.51442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.917489, -0.100352, 0.384895, 0.9089], [-0.397365, -0.274447, 0.87566, 1.6178], [0.0177591, -0.956352, -0.291678, 1.55896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.971637, -0.0566277, 0.229595, 1.09819], [-0.225938, -0.508905, 0.830643, 1.69196], [0.0698049, -0.858958, -0.507266, 1.76566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.990775, -0.0790469, 0.110073, 1.0936], [-0.135497, -0.564378, 0.814321, 1.75413], [-0.00224701, -0.821723, -0.569883, 1.82836], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.982381, -0.0921397, 0.162595, 1.2061], [-0.186445, -0.543008, 0.818768, 1.78244], [0.0128492, -0.834657, -0.55062, 1.69042], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.991833, -0.0822071, 0.0975136, 1.41149], [-0.126764, -0.719682, 0.682633, 1.74646], [0.0140615, -0.68942, -0.724226, 1.49548], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.999567, -0.027263, 0.0110548, 1.55417], [-0.0286525, -0.816945, 0.576003, 1.70284], [-0.00667244, -0.57607, -0.817373, 1.3706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.850057, 0.340468, -0.401852, 1.66228], [0.513879, -0.7034, 0.491077, 1.54024], [-0.115467, -0.623947, -0.772889, 1.36577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.744718, 0.409705, -0.526818, 1.65183], [0.661899, -0.554383, 0.504529, 1.40603], [-0.0853509, -0.724432, -0.684042, 1.387], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.379678, 0.534579, -0.75503, 1.63822], [0.918218, -0.317263, 0.23711, 1.40417], [-0.11279, -0.783307, -0.611317, 1.41209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.143849, 0.506948, -0.849889, 1.65676], [0.982983, -0.172344, 0.063575, 1.41197], [-0.114244, -0.844572, -0.523113, 1.43757], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.0084617, 0.445341, -0.895321, 1.65036], [0.99746, -0.0595671, -0.0390561, 1.38392], [-0.070725, -0.893377, -0.443706, 1.45765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.133006, 0.39918, -0.907174, 1.57897], [0.990669, 0.0261014, -0.133762, 1.33847], [-0.0297168, -0.916501, -0.398928, 1.46229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.382809, 0.470998, -0.794744, 1.44852], [0.923827, 0.194604, -0.329655, 1.29317], [-0.000606552, -0.860401, -0.509617, 1.44345], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.720512, 0.480153, -0.500315, 1.26313], [0.690865, 0.434901, -0.577552, 1.37059], [-0.059726, -0.761784, -0.645073, 1.36556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.921597, 0.257959, -0.290029, 0.849819], [0.387479, 0.655311, -0.648404, 1.3412], [0.022798, -0.709947, -0.703886, 1.18825], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.966758, 0.211476, -0.143724, 0.597359], [0.25565, 0.789207, -0.558386, 1.21102], [-0.00465688, -0.576567, -0.817037, 1.16683], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.900918, 0.398646, -0.171548, 0.555225], [0.433635, 0.810887, -0.392968, 0.666107], [-0.0175491, -0.428421, -0.903409, 1.32877], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.600173, 0.723556, -0.340968, 0.600352], [0.799619, 0.532045, -0.278457, 0.474283], [-0.0200687, -0.439767, -0.897888, 1.2663], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.239005, 0.732234, -0.637739, 1.06474], [0.970109, 0.208478, -0.124198, 0.427703], [0.0420121, -0.64836, -0.760174, 1.14396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.444324, 0.587644, -0.676203, 1.32256], [0.892944, 0.351418, -0.281347, 0.642897], [0.0722985, -0.728821, -0.680877, 1.15922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.751651, 0.442704, -0.488911, 1.54192], [0.659518, 0.496051, -0.564773, 0.979302], [-0.00750282, -0.746958, -0.664829, 1.30466], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.97043, 0.181213, -0.15946, 1.64452], [0.236714, 0.585136, -0.775617, 1.26887], [-0.0472463, -0.790429, -0.61073, 1.32926], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.952527, -0.146411, 0.26694, 1.58328], [-0.297482, 0.634147, -0.713696, 1.41253], [-0.0647863, -0.759224, -0.647597, 1.28689], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.976224, -0.127541, 0.175269, 1.94185], [-0.215433, 0.660301, -0.719438, 1.3356], [-0.0239726, -0.740092, -0.672078, 1.21173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.941985, -0.240969, 0.233664, 1.87484], [-0.335361, 0.70483, -0.625098, 1.17848], [-0.0140635, -0.667195, -0.744751, 1.23789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.730904, -0.4591, 0.504982, 1.42402], [-0.68091, 0.540693, -0.493976, 0.979686], [-0.0462557, -0.704896, -0.7078, 1.1955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.402174, -0.676084, 0.617387, 1.23491], [-0.914836, 0.323601, -0.241571, 0.662743], [-0.0364652, -0.661962, -0.74865, 1.16865], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.104622, -0.777527, 0.620085, 1.37525], [-0.993982, 0.0613962, -0.0907216, 0.572939], [0.0324677, -0.625845, -0.779272, 1.29817], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.110733, -0.906229, 0.408029, 1.76338], [-0.989158, 0.060647, -0.133747, 0.57654], [0.0964594, -0.418415, -0.903119, 1.32406], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.177556, -0.941923, 0.285052, 1.97947], [-0.982085, 0.151021, -0.112699, 0.547035], [0.0631055, -0.299956, -0.951864, 1.28942], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.797785, -0.558683, 0.226744, 2.05012], [-0.601613, 0.712638, -0.360844, 0.744826], [0.0400113, -0.424288, -0.904643, 1.28516], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.97221, -0.121725, 0.199976, 1.94238], [-0.219047, 0.774422, -0.593539, 0.969975], [-0.0826171, -0.620849, -0.779565, 1.33917], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.980556, 0.147803, -0.129086, 2.02706], [0.192351, 0.593654, -0.781394, 1.11893], [-0.0388599, -0.791031, -0.610541, 1.39559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.883042, 0.214174, -0.417573, 2.03311], [0.46927, 0.412246, -0.780922, 1.17995], [0.00488946, -0.885541, -0.464536, 1.49439], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.772085, 0.2624, -0.578819, 1.92315], [0.634408, 0.264373, -0.726384, 1.1784], [-0.0375786, -0.928037, -0.370587, 1.58164], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.710422, 0.213477, -0.670617, 1.84968], [0.700045, 0.116362, -0.704555, 1.1752], [-0.0723723, -0.969994, -0.232109, 1.64692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.516148, 0.362473, -0.776018, 1.67018], [0.851593, 0.120339, -0.510205, 1.10925], [-0.0915504, -0.924193, -0.370792, 1.58191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.251294, 0.391912, -0.885017, 1.63998], [0.967906, 0.104609, -0.228506, 0.938241], [0.00302599, -0.914036, -0.405622, 1.52962], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.00472258, 0.288046, -0.957605, 1.54934], [0.999746, -0.019758, -0.0108734, 0.784132], [-0.0220524, -0.957413, -0.28788, 1.5368], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.14244, 0.285341, -0.947782, 1.40221], [0.989543, -0.0630165, 0.129744, 0.702622], [-0.0227046, -0.956352, -0.291333, 1.53992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.360731, 0.39253, -0.846046, 1.31025], [0.930645, -0.211235, 0.298797, 0.587344], [-0.0614278, -0.895154, -0.441505, 1.49393], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.470821, 0.405222, -0.78366, 1.21747], [0.8718, -0.349872, 0.342861, 0.678276], [-0.135246, -0.844621, -0.518, 1.46746], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.539722, 0.43528, -0.720577, 1.16242], [0.829478, -0.421135, 0.366895, 0.750636], [-0.143758, -0.795724, -0.588351, 1.43822], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.792887, 0.321939, -0.517383, 0.943997], [0.600555, -0.556716, 0.573934, 0.792461], [-0.103264, -0.765782, -0.634755, 1.42272], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.941603, 0.178427, -0.285567, 0.764485], [0.329543, -0.662539, 0.672639, 0.896375], [-0.0691823, -0.727465, -0.682648, 1.37752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.998774, -0.0494947, 0.000187039, 0.666111], [-0.0329577, -0.662235, 0.748571, 1.07025], [-0.0369265, -0.74766, -0.663055, 1.35649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.920272, -0.279235, 0.274092, 0.581069], [-0.39067, -0.616681, 0.683433, 1.16807], [-0.0218109, -0.736025, -0.676603, 1.36009], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.784292, -0.41249, 0.463397, 0.627123], [-0.619633, -0.483903, 0.617975, 1.1903], [-0.0306695, -0.771809, -0.635114, 1.38312], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.701577, -0.370845, 0.608492, 0.59031], [-0.712269, -0.339193, 0.614509, 1.20502], [-0.0214912, -0.864536, -0.502112, 1.41762], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.703378, -0.226401, 0.673797, 0.592325], [-0.710652, -0.203574, 0.673448, 1.22449], [-0.0153016, -0.952523, -0.304081, 1.51178], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.609603, -0.25214, 0.751538, 0.63868], [-0.791681, -0.145425, 0.593374, 1.27238], [-0.040321, -0.956701, -0.288266, 1.52136], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.314869, -0.343587, 0.884763, 0.640843], [-0.948857, -0.0913695, 0.302196, 1.50662], [-0.02299, -0.934666, -0.354784, 1.49543], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.00850387, -0.397688, 0.917481, 0.709346], [-0.99867, 0.0500378, 0.0124326, 1.69166], [-0.0508529, -0.916155, -0.397584, 1.45169], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.347767, -0.382097, 0.856189, 0.670255], [-0.937547, 0.133997, -0.321014, 1.78168], [0.00793185, -0.914356, -0.404834, 1.43937], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.557066, -0.290658, 0.777943, 0.655657], [-0.830373, 0.18077, -0.52707, 1.74067], [0.0125679, -0.939596, -0.342055, 1.46352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.572967, -0.421087, 0.703132, 0.636695], [-0.81918, 0.267497, -0.507335, 1.7126], [0.0255464, -0.866678, -0.498213, 1.43294], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.453932, -0.611859, 0.647746, 0.624683], [-0.890943, 0.3222, -0.320013, 1.7253], [-0.0129005, -0.722369, -0.691388, 1.41711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.39779, -0.716325, 0.573273, 0.61875], [-0.917244, 0.32457, -0.230907, 1.70689], [-0.0206626, -0.617684, -0.786155, 1.40876], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.33949, -0.792667, 0.506385, 0.612139], [-0.940261, 0.300634, -0.159773, 1.70427], [-0.0255896, -0.530376, -0.847376, 1.38968], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.24316, -0.81943, 0.519045, 0.61059], [-0.969464, 0.22287, -0.10232, 1.73429], [-0.0318359, -0.528075, -0.848601, 1.38873], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0713_00"}, {"annotation": [{"question_id": "test-scene0714-0", "question": "How many seats is the sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-1", "question": "Where is the sofa chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-2", "question": "What color is the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-3", "question": "What is next to the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-4", "question": "What color are the couches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-5", "question": "What is the color of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-6", "question": "What color is the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-7", "question": "What is the couch next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-8", "question": "What kind of legs does the coffee table have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-9", "question": "The coffee table is located within the center of how many couches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-10", "question": "The coffee table is right next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-11", "question": "What red object is next to the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-12", "question": "How many seats are in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-13", "question": "What is in the middle of the room between the sofa chair and a long sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-14", "question": "Where is the couch sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-15", "question": "What is the coffee table sitting in front of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-16", "question": "What shape is the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-17", "question": "What is the sofa chair facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-18", "question": "The sofa chair is big enough to fit how many people?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-19", "question": "Is there a door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-20", "question": "The door is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-21", "question": "How many couch cushions does the light green couch have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-22", "question": "What is right beside the light green couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-23", "question": "What is the light colored sofa chair against?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-24", "question": "What color is the vacuum cleaner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-25", "question": "The light colored sofa chair is in front of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-26", "question": "What color is the wall to the right of the sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-27", "question": "What is in front of the sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-28", "question": "What color is the couch against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0714-29", "question": "What color vacuum cleaner is on the right of the couch?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.832173, 0.288256, -0.473705, 3.38725], [0.554483, -0.423381, 0.716447, 3.45895], [0.00596262, -0.85887, -0.512159, 1.49101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.838355, 0.287349, -0.46324, 3.35498], [0.544039, -0.387436, 0.744255, 3.42818], [0.034385, -0.875971, -0.481138, 1.49625], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.88654, 0.230103, -0.401373, 3.29314], [0.462156, -0.400249, 0.791336, 3.40594], [0.0214398, -0.887047, -0.46118, 1.48366], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.928074, 0.199506, -0.314443, 3.12637], [0.372123, -0.464605, 0.803534, 3.46045], [0.014218, -0.862751, -0.505429, 1.44581], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.988185, 0.0626935, -0.139855, 2.8587], [0.150275, -0.575685, 0.803743, 3.63865], [-0.0301229, -0.815264, -0.578305, 1.41879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.978176, -0.137548, 0.155731, 2.59343], [-0.207085, -0.584262, 0.784699, 3.7629], [-0.0169464, -0.799824, -0.599996, 1.40545], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.890798, -0.282234, 0.356122, 2.49944], [-0.452324, -0.475936, 0.754247, 4.06825], [-0.0433824, -0.832964, -0.551624, 1.42945], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.69711, -0.369327, 0.61452, 2.47663], [-0.716831, -0.342524, 0.607314, 4.34035], [-0.0138099, -0.863872, -0.503522, 1.43226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.533612, -0.465878, 0.705844, 2.68987], [-0.845549, -0.27663, 0.456643, 4.59978], [-0.0174823, -0.840496, -0.541536, 1.43176], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.299439, -0.491728, 0.817643, 2.84264], [-0.953941, -0.137919, 0.266411, 4.86728], [-0.018233, -0.859757, -0.510378, 1.44553], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.185129, -0.510588, 0.839659, 3.0061], [-0.981157, -0.0479629, 0.187161, 5.13523], [-0.0552897, -0.858487, -0.509847, 1.45362], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.0820099, -0.517661, 0.851646, 3.09255], [-0.996418, 0.0602517, -0.0593276, 5.39681], [-0.0206015, -0.853462, -0.520748, 1.45084], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.264201, -0.457824, 0.848879, 3.22515], [-0.964249, 0.144139, -0.222369, 5.50296], [-0.0205509, -0.877281, -0.479538, 1.45399], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.566601, -0.392388, 0.724565, 3.26904], [-0.823988, 0.272554, -0.496747, 5.46297], [-0.00256543, -0.878491, -0.477752, 1.47667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.730505, -0.290346, 0.618111, 3.24797], [-0.682495, 0.341841, -0.646022, 5.31981], [-0.0237262, -0.893781, -0.447877, 1.4985], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.799831, -0.24991, 0.545725, 3.30636], [-0.600002, 0.357691, -0.715579, 4.98954], [-0.0163702, -0.899779, -0.436039, 1.51222], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.947958, -0.11408, 0.297257, 3.42708], [-0.317998, 0.385886, -0.866008, 4.67014], [-0.0159129, -0.915466, -0.402081, 1.53056], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.964878, -0.108256, 0.239353, 3.53859], [-0.262524, 0.364399, -0.893473, 4.33136], [0.00950354, -0.924929, -0.38002, 1.52072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.998558, 0.00947294, -0.0528461, 3.74975], [0.0519044, 0.421965, -0.905125, 4.0601], [0.013725, -0.906562, -0.421848, 1.49541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.964244, 0.100881, -0.245064, 3.86066], [0.261402, 0.514238, -0.81684, 3.73503], [0.043617, -0.851694, -0.522222, 1.41012], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.798543, 0.313956, -0.513576, 3.9167], [0.600233, 0.479481, -0.640171, 3.39364], [0.0452642, -0.81947, -0.571333, 1.41194], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.57812, 0.469798, -0.667133, 3.78132], [0.815831, 0.346898, -0.46269, 3.20092], [0.0140565, -0.811758, -0.583825, 1.40087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.177849, 0.571754, -0.800916, 3.86435], [0.983274, 0.135736, -0.121444, 2.95331], [0.039277, -0.809118, -0.586332, 1.43882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.247027, 0.534942, -0.807969, 4.05873], [0.968995, -0.140689, 0.203111, 2.86826], [-0.00501987, -0.833093, -0.553111, 1.478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.52459, 0.441261, -0.728076, 4.09944], [0.850939, -0.29848, 0.432217, 2.76876], [-0.0265962, -0.846285, -0.532066, 1.49563], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.67239, 0.385774, -0.63172, 4.05778], [0.740089, -0.364985, 0.564849, 3.01209], [-0.0126646, -0.847328, -0.530919, 1.46307], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.8217, 0.331185, -0.463816, 3.86959], [0.56952, -0.446676, 0.69002, 3.26413], [0.0213488, -0.831142, -0.55565, 1.42166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.886738, 0.26366, -0.379708, 3.65954], [0.462268, -0.502167, 0.730847, 3.50351], [0.00201866, -0.823597, -0.567172, 1.4054], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.939831, 0.199169, -0.277577, 3.55093], [0.34159, -0.561605, 0.753602, 3.76046], [-0.00579404, -0.803076, -0.595848, 1.41561], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.98569, 0.103775, -0.132841, 3.45696], [0.168527, -0.588767, 0.790538, 3.83909], [0.00382569, -0.801613, -0.597831, 1.41812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.9356, 0.232558, -0.265647, 3.40339], [0.352364, -0.56782, 0.743922, 3.81876], [0.0221657, -0.789618, -0.613198, 1.39985], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.867376, 0.35595, -0.34779, 3.14329], [0.495654, -0.555339, 0.667777, 3.72826], [0.0445537, -0.751597, -0.658116, 1.36619], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.829125, 0.394888, -0.395746, 2.90487], [0.557584, -0.532636, 0.636709, 3.76957], [0.0406402, -0.748573, -0.661806, 1.37105], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.845528, 0.343439, -0.408818, 2.59949], [0.53299, -0.49745, 0.684445, 3.80574], [0.0316985, -0.796613, -0.603658, 1.40292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.912533, 0.256485, -0.318588, 2.3493], [0.408886, -0.553519, 0.725554, 3.7794], [0.00974956, -0.792359, -0.609978, 1.40738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.976769, 0.12222, -0.176022, 2.20149], [0.214274, -0.567952, 0.794681, 3.78362], [-0.00284621, -0.813937, -0.580947, 1.42783], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.998696, -0.0298773, 0.0413809, 2.21238], [-0.0510174, -0.608209, 0.792135, 3.72283], [0.00150141, -0.793214, -0.608941, 1.4316], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.979015, -0.128564, 0.158114, 2.28116], [-0.203632, -0.587063, 0.783511, 3.72726], [-0.00790855, -0.799267, -0.600924, 1.44116], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.924664, -0.21931, 0.311286, 2.40021], [-0.380611, -0.507766, 0.772857, 3.86961], [-0.0114349, -0.833113, -0.552985, 1.46827], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.812339, -0.303857, 0.497772, 2.53209], [-0.583083, -0.407174, 0.70301, 4.11054], [-0.0109349, -0.861325, -0.507937, 1.46896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.567839, -0.447692, 0.690746, 2.60592], [-0.822342, -0.271601, 0.499987, 4.33589], [-0.0362332, -0.851942, -0.522382, 1.47703], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.478957, -0.46207, 0.746386, 2.73289], [-0.876065, -0.197579, 0.439855, 4.4], [-0.0557731, -0.864554, -0.499435, 1.49685], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.273901, -0.423487, 0.863503, 2.71762], [-0.961101, -0.0873424, 0.262023, 4.43817], [-0.0355429, -0.901682, -0.430937, 1.52913], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.100653, -0.400875, 0.910587, 2.68227], [-0.994277, -0.00758173, 0.106566, 4.41542], [-0.0358158, -0.916101, -0.399344, 1.5301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.0363888, -0.426889, 0.903572, 2.73641], [-0.998752, 0.0464828, -0.0182611, 4.3356], [-0.034205, -0.903109, -0.428048, 1.52418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.0696599, -0.445305, 0.892665, 2.90678], [-0.997463, 0.044236, -0.0557707, 4.02234], [-0.0146528, -0.894286, -0.447257, 1.49017], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.115165, -0.490763, 0.863648, 3.19802], [-0.993237, 0.0439856, -0.10745, 3.72961], [0.0147446, -0.870182, -0.49251, 1.40821], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.0169964, -0.548754, 0.835811, 3.48412], [-0.998716, 0.0492119, 0.0120014, 3.46243], [-0.0477177, -0.834534, -0.548886, 1.38696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.0936221, -0.548656, 0.83079, 3.82359], [-0.995587, -0.0461758, 0.0816988, 3.11098], [-0.0064621, -0.834772, -0.550558, 1.37241], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.424148, -0.514283, 0.745393, 4.11017], [-0.905134, -0.214545, 0.36702, 2.82114], [-0.0288322, -0.830351, -0.556494, 1.38561], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.679792, -0.47953, 0.554919, 4.43974], [-0.731665, -0.391321, 0.558153, 2.77634], [-0.0504993, -0.785442, -0.616872, 1.38438], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.898852, -0.220019, 0.37902, 4.59118], [-0.437727, -0.408385, 0.80101, 2.5949], [-0.0214513, -0.885897, -0.463386, 1.45734], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0714_00"}, {"annotation": [{"question_id": "test-scene0715-0", "question": "What is next to the fire extinguisher?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-1", "question": "What is right below the fire extinguisher?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-2", "question": "Where is the coach located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-3", "question": "What color is the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-4", "question": "What is hanging on the wall next to the vacuum cleaner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-5", "question": "Where can you see the vacuum cleaner when you walk in the front door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-6", "question": "What color case is fire extinguisher in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-7", "question": "What color is fire extinguisher in white case?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-8", "question": "What color case is the fire extinguisher in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-9", "question": "Fire extinguisher is behind what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-10", "question": "What color is the vacuum cleaner in front of a white case?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-11", "question": "What color case is in front of the vacuum cleaner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-12", "question": "What is to the right of the sofa chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-13", "question": "What color is the bulletin board on the wall above the sofa chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-14", "question": "What is located on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-15", "question": "Where is the case is located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-16", "question": "Where is a fire extinguisher located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-17", "question": "What is located next to the vacuum cleaner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-18", "question": "What is located next to the sofa chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-19", "question": "Where is a vacuum cleaner located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0715-20", "question": "What type of bulletin board is located above the sofa chairs?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.742175, 0.322138, -0.587711, 3.81951], [0.669784, -0.387644, 0.633342, 3.62639], [-0.0237994, -0.863689, -0.503462, 1.72051], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.811135, 0.276657, -0.515288, 3.76484], [0.584443, -0.416698, 0.696269, 3.58719], [-0.0220916, -0.865924, -0.499688, 1.70994], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.895617, 0.202451, -0.396086, 3.67278], [0.444212, -0.453855, 0.772459, 3.72683], [-0.023381, -0.867773, -0.496411, 1.69861], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.978632, 0.0587049, -0.197065, 3.58766], [0.202906, -0.431001, 0.879243, 3.68325], [-0.0333195, -0.90044, -0.433703, 1.76483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.991357, 0.0214626, -0.129425, 3.62015], [0.128839, -0.345324, 0.929598, 3.51567], [-0.0247422, -0.938238, -0.345105, 1.80193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.997106, -0.0199955, -0.0733443, 3.66309], [0.0631806, -0.318589, 0.945785, 3.38534], [-0.0422782, -0.947682, -0.316404, 1.81063], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.992514, -0.0898717, 0.0827066, 3.5245], [-0.104679, -0.277047, 0.955138, 3.44237], [-0.0629263, -0.956644, -0.284381, 1.81006], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.961889, -0.135464, 0.237529, 3.50023], [-0.265952, -0.261558, 0.927824, 3.67342], [-0.0635593, -0.955634, -0.287617, 1.76998], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.789341, -0.212059, 0.576171, 3.60418], [-0.613774, -0.295382, 0.732142, 3.91159], [0.0149335, -0.931547, -0.363313, 1.73813], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.54486, -0.310976, 0.778731, 3.66187], [-0.83846, -0.213794, 0.501276, 4.05511], [0.0106032, -0.926059, -0.377229, 1.72282], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.35595, -0.350041, 0.866471, 3.86316], [-0.934482, -0.139911, 0.327367, 4.18657], [0.0066365, -0.926227, -0.376908, 1.70984], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.00402212, -0.372555, 0.928002, 4.08933], [-0.999991, 0.00261858, -0.0032829, 4.35276], [-0.00120699, -0.928006, -0.372562, 1.71184], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.245299, -0.310396, 0.918413, 4.37987], [-0.969447, 0.0800003, -0.231892, 4.41041], [-0.00149497, -0.947235, -0.320536, 1.71779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.512601, -0.272224, 0.814331, 4.6892], [-0.858623, 0.165434, -0.485178, 4.53518], [-0.00264084, -0.947906, -0.318539, 1.71162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.698812, -0.215745, 0.681995, 4.92086], [-0.714766, 0.247638, -0.654053, 4.6077], [-0.0277796, -0.944526, -0.32726, 1.68709], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.921053, -0.131604, 0.366529, 5.05024], [-0.389114, 0.349483, -0.852322, 4.57131], [-0.015927, -0.927654, -0.3731, 1.6724], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.973169, -0.072387, 0.218408, 5.05698], [-0.229204, 0.388245, -0.892599, 4.62493], [-0.0201831, -0.918709, -0.394419, 1.66966], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.999059, 0.0314718, -0.0298359, 4.98189], [0.0395228, 0.377594, -0.925128, 4.43214], [-0.0178496, -0.925436, -0.378483, 1.67253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.900818, 0.199045, -0.385887, 4.9827], [0.431458, 0.310653, -0.846959, 4.31561], [-0.0487061, -0.929449, -0.365721, 1.68746], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.77201, 0.274958, -0.573061, 4.91244], [0.633564, 0.260591, -0.728485, 4.24854], [-0.0509684, -0.925468, -0.375383, 1.67736], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.668379, 0.302336, -0.679606, 4.66528], [0.740233, 0.180711, -0.647611, 4.08481], [-0.072984, -0.935915, -0.344582, 1.68654], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.382025, 0.358838, -0.851641, 4.47108], [0.922693, 0.0963311, -0.373308, 3.89167], [-0.0519175, -0.928416, -0.367898, 1.67723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.193785, 0.370123, -0.908546, 4.30669], [0.978414, 0.00513723, -0.206595, 3.75726], [-0.071798, -0.928968, -0.363129, 1.67777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.00207588, 0.272582, -0.962131, 4.21762], [0.997339, -0.070686, -0.0178743, 3.65742], [-0.0728813, -0.959532, -0.272003, 1.77311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.331461, 0.229246, -0.915194, 4.17101], [0.941099, -0.149052, 0.303507, 3.5938], [-0.0668332, -0.961889, -0.265148, 1.80221], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.587792, 0.194133, -0.785375, 4.07856], [0.808654, -0.16987, 0.563226, 3.76108], [-0.0240708, -0.966155, -0.256835, 1.77599], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.868963, 0.149496, -0.471757, 4.02732], [0.494821, -0.247974, 0.832864, 3.92558], [0.00752664, -0.957162, -0.289453, 1.7742], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.971285, 0.056438, -0.231128, 4.02552], [0.237756, -0.266224, 0.934129, 3.83478], [-0.00881159, -0.962257, -0.271998, 1.80457], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.980703, 0.0616519, -0.185529, 4.11066], [0.19532, -0.35017, 0.916096, 3.70239], [-0.00848761, -0.934655, -0.355454, 1.76594], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.989752, -0.0611011, 0.129069, 4.29445], [-0.142763, -0.402561, 0.904192, 3.66465], [-0.00328907, -0.913351, -0.407159, 1.75709], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.834563, -0.207247, 0.510444, 4.37491], [-0.550184, -0.361169, 0.752898, 3.69952], [0.0283202, -0.909179, -0.415442, 1.75987], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.618594, -0.27079, 0.737574, 4.44702], [-0.784156, -0.271812, 0.55787, 3.71769], [0.0494158, -0.923467, -0.380482, 1.75052], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.453174, -0.311911, 0.835072, 4.51802], [-0.888759, -0.23045, 0.396233, 3.6999], [0.0688528, -0.92174, -0.381647, 1.74707], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0715_00"}, {"annotation": [{"question_id": "test-scene0716-0", "question": "How many white clothes dryers are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-1", "question": "What is the shelf on the left of the sink in the alcove near the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-2", "question": "What are the washing machines under?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-3", "question": "What type of window is above the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-4", "question": "Where is the slatted window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-5", "question": "What color is the single-basin sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-6", "question": "What type of table is in the corner beneath the window and to the left of the ironing board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-7", "question": "The metal table under the window is to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-8", "question": "Where is the white single-basin sink mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-9", "question": "How many pictures are on the wall to the right of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-10", "question": "Where are the washing machines located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-11", "question": "What is the window directly above?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-12", "question": "What is sitting on top of a radiator and under a window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-13", "question": "What is the table under?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-14", "question": "What is under a window and across from an ironing board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-15", "question": "What is next to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-16", "question": "Where is the table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-17", "question": "How many clothes dryers are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-18", "question": "How many dryers are stacked in a row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-19", "question": "How many washing machines are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-20", "question": "Where are the front-load machines placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-21", "question": "What does the grey, metallic-looking table sit under?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-22", "question": "What is the grey table used for?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-23", "question": "What row of dryers are stacked?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-24", "question": "How many front-load washing machines are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-25", "question": "What objects are on the front-load washing machines?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-26", "question": "What color shelf is located beside the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-27", "question": "What color shelf is located beside a sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-28", "question": "What color is the grate over the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-29", "question": "What color sink is on the wall next to the wooden door with a square window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0716-30", "question": "The two rectangular windows on the wall are located above what?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.173486, -0.274393, 0.945839, 5.39624], [-0.98459, -0.0268482, 0.172805, 3.68705], [-0.0220224, -0.961243, -0.274822, 1.54792], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.107969, -0.260197, 0.9595, 5.49807], [-0.994154, -0.0292045, 0.103949, 3.79812], [0.000974579, -0.965114, -0.261829, 1.53168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.216566, -0.136448, 0.966685, 5.77368], [-0.975477, 0.00960187, 0.219891, 3.82427], [-0.0392857, -0.990601, -0.131023, 1.58468], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.22229, 0.0195356, 0.974785, 6.03901], [-0.973766, 0.0543461, 0.220969, 3.94367], [-0.0486589, -0.998331, 0.0311037, 1.66488], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.0524123, -0.0295944, 0.998187, 6.3877], [-0.995552, 0.0799062, -0.0499049, 3.97798], [-0.0782844, -0.996363, -0.0336509, 1.62781], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.335321, -0.116085, 0.934924, 6.72997], [-0.940861, 0.0922186, -0.326, 3.94141], [-0.0483739, -0.988949, -0.140142, 1.55371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.612499, -0.0671627, 0.787613, 6.91153], [-0.788346, 0.124916, -0.602417, 3.77978], [-0.0579257, -0.989891, -0.129459, 1.56016], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.688558, -0.0648858, 0.722272, 7.04625], [-0.721539, 0.161, -0.673395, 3.43189], [-0.072592, -0.984819, -0.157675, 1.57736], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.816089, -0.0555508, 0.57525, 7.25333], [-0.576957, 0.135924, -0.805385, 3.14373], [-0.0334505, -0.989161, -0.142977, 1.5346], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.889545, 0.0179383, 0.456495, 7.40633], [-0.45558, 0.0395337, -0.889316, 2.89515], [-0.0339997, -0.999057, -0.0269947, 1.61755], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.987858, 0.0346786, 0.151441, 7.43251], [-0.149786, 0.0462004, -0.987638, 2.90547], [-0.0412466, -0.99833, -0.0404451, 1.64463], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.975805, 0.0783088, -0.204138, 7.35089], [0.210201, 0.0790584, -0.974456, 2.86919], [-0.0601697, -0.993789, -0.0936062, 1.64572], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.922465, 0.125023, -0.365277, 7.19056], [0.383055, 0.178156, -0.906383, 2.68992], [-0.048242, -0.976027, -0.212234, 1.585], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.801223, 0.204531, -0.562324, 7.08968], [0.598342, 0.265557, -0.755953, 2.41369], [-0.00528695, -0.94215, -0.33515, 1.49482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.556747, 0.216978, -0.801844, 6.87589], [0.8298, 0.100795, -0.548883, 2.14925], [-0.038274, -0.970959, -0.236166, 1.54757], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.252895, 0.213811, -0.943572, 6.6136], [0.967489, 0.0588253, -0.245976, 1.88], [0.00291348, -0.975102, -0.221737, 1.56396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.0680209, 0.208537, -0.975646, 6.22188], [0.996043, -0.0418803, -0.0783945, 1.72577], [-0.0572085, -0.977117, -0.204863, 1.7048], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.0566306, 0.241514, -0.968744, 5.99522], [0.99517, -0.0915908, 0.0353412, 1.59275], [-0.0801927, -0.966065, -0.245534, 1.92886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.0624327, 0.165959, -0.984154, 5.93633], [0.990522, -0.131178, 0.040716, 1.60524], [-0.122342, -0.977369, -0.172576, 2.03665], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.104918, 0.0586339, -0.992751, 5.85855], [0.993267, -0.05548, 0.101696, 1.72269], [-0.049115, -0.996737, -0.06406, 1.98089], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.208003, 0.209593, -0.955408, 5.55362], [0.971091, -0.16121, 0.176051, 1.88655], [-0.117122, -0.964408, -0.237066, 1.76857], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.240562, 0.331408, -0.912304, 5.3189], [0.967591, -0.156246, 0.198381, 2.07878], [-0.0767984, -0.93046, -0.358254, 1.61001], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.0929359, 0.364961, -0.926373, 4.95645], [0.99477, -0.0736293, 0.0707903, 2.23834], [-0.0423726, -0.928107, -0.369895, 1.58239], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.133503, 0.163341, -0.977495, 4.66294], [0.989478, -0.0774776, 0.122193, 2.42053], [-0.0557748, -0.983523, -0.171966, 1.62094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.435762, -0.0442814, -0.898972, 4.45323], [0.893278, -0.101127, 0.437983, 2.39824], [-0.110305, -0.993888, -0.00451149, 1.72645], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.53018, -0.00651128, -0.84786, 4.31218], [0.846877, -0.0446775, 0.529909, 2.36475], [-0.0413307, -0.99898, -0.0181729, 1.76509], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.696286, 0.0523705, -0.715851, 4.16885], [0.717761, -0.0536894, 0.694216, 2.43103], [-0.00207721, -0.997183, -0.0749728, 1.77117], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.894661, 0.073921, -0.440588, 4.21349], [0.446743, -0.144215, 0.882962, 2.46813], [0.00172991, -0.986781, -0.162047, 1.75979], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.995944, 0.00962764, -0.0894629, 4.32166], [0.0897652, -0.174855, 0.980494, 2.55341], [-0.00620317, -0.984547, -0.17501, 1.75106], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.947866, -0.116655, 0.296548, 4.53953], [-0.309008, -0.109083, 0.944783, 2.74046], [-0.0778653, -0.987164, -0.139444, 1.7343], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.771662, -0.238455, 0.589641, 4.72972], [-0.635651, -0.257011, 0.727938, 2.98613], [-0.0220364, -0.936528, -0.3499, 1.61646], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.505267, -0.263571, 0.821727, 4.91872], [-0.861907, -0.107024, 0.495644, 3.21446], [-0.0426931, -0.958685, -0.281249, 1.59752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.396363, -0.232802, 0.888087, 5.17361], [-0.9171, -0.0554026, 0.394789, 3.37507], [-0.0427053, -0.970945, -0.235462, 1.65793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.0221312, -0.209089, 0.977646, 5.47104], [-0.999496, 0.0268789, -0.0168773, 3.42556], [-0.0227492, -0.977527, -0.209579, 1.6096], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0716_00"}, {"annotation": [{"question_id": "test-scene0717-0", "question": "What color is the office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-1", "question": "What type of chair is on wheels?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-2", "question": "To what side of the ladder is the office chair on wheels?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-3", "question": "What type of ladder is it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-4", "question": "What color is the shelf near the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-5", "question": "Near what part of the bed is the shelf mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-6", "question": "What color is the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-7", "question": "The door is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-8", "question": "Where is the brown wood cabinet mounted next to the exit hallway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-9", "question": "Where is the desktop location?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-10", "question": "What color is the desk underneath the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-11", "question": "What is on the wall between two beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-12", "question": "Where is a high bed placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-13", "question": "What is placed behind a bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-14", "question": "A large window is placed behind what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-15", "question": "What is placed on the wall in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-16", "question": "What is directly in front of you as you enter the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-17", "question": "What is placed on the bed frame?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-18", "question": "What is placed in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-19", "question": "Where is a large cabinet placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-20", "question": "Where is the window with blinds located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-21", "question": "Where is the window with white blinds located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-22", "question": "What is underneath the mirror and behind the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-23", "question": "Where is the small radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-24", "question": "What is attached to the wall, beneath the mirror and behind the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-25", "question": "The small radiator is attached to the wall, beneath what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-26", "question": "The small radiator is attached to the wall, beneath the mirror and behind what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-27", "question": "What color is the office chair on wheels?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-28", "question": "On which side of the desk is the black office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-29", "question": "What is the window to the right of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-30", "question": "Is the window next to the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-31", "question": "What color are the cabinets to the right of the mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-32", "question": "Where are the wooden cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-33", "question": "What color is the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-34", "question": "What type of bed is above the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-35", "question": "Where is the elevated wooden bed located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-36", "question": "What is to the left of the window and leaning against the top bunk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-37", "question": "Where is the ladder on the poster on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-38", "question": "What is the ladder leaning against?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-39", "question": "The ladder is to the left of what on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-40", "question": "What color radiator is located between the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-41", "question": "Where is the small metal radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-42", "question": "What is to the left of the door on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-43", "question": "Where is the black office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-44", "question": "Where is the window with open blinds located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-45", "question": "Where are the brown cabinets when you walk in the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-46", "question": "How many cabinets are beside each other?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-47", "question": "What color are the two cabinets beside each other?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-48", "question": "How many levels of shelving does the shelf have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-49", "question": "What color is the shelving in the bunk beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-50", "question": "What kind of unit is on the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-51", "question": "What color is the wall mounted shelving unit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-52", "question": "Where is the wall mounted shelving unit located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-53", "question": "What color is the computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-54", "question": "What color is the back pack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-55", "question": "Where is the red back pack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-56", "question": "What type of blind is on the window next to the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-57", "question": "What is directly in front of you when you enter the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-58", "question": "What type of bed is closest to a wardrobe?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-59", "question": "What is the wooden bed closest to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-60", "question": "Where is the bed from the door to the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-61", "question": "What is partially under a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-62", "question": "Where is the black swivel chair from the entrance to the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-63", "question": "Where is the radiator on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-64", "question": "What color towel is next to the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-65", "question": "The door is directly across from a set of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-66", "question": "What is the shape of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-67", "question": "What sits underneath the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-68", "question": "What color is the towel on the rack that is attached to the short cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-69", "question": "What is the door that is open and directly across from an elavated bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-70", "question": "The door is directly across from what type of bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-71", "question": "What is the brown desk under?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-72", "question": "How many drawers are on the right side of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-73", "question": "What color is the window on the wall to the left of the loft bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-74", "question": "What is to the left of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-75", "question": "Where is the brown desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-76", "question": "What is to the left of a window behind the loft bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-77", "question": "What color is the door that is open down a miniature hallway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-78", "question": "What is parallel to the open door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-79", "question": "What is to the right of the door at the end of the small hallway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-80", "question": "Where is the black desk chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-81", "question": "Where is the black desk chair sitting in front of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-82", "question": "What color is the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-83", "question": "What is in front of the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-84", "question": "What color is the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-85", "question": "Where is the bed located when you walk in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-86", "question": "The bed is spaced along the corner of the room on top of a work desk beside what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-87", "question": "What is the color of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-88", "question": "Where is the chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-89", "question": "What color are the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-90", "question": "What is the cabinet to the left of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-91", "question": "What color are the bed sheets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-92", "question": "Where is a window with blinds located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-93", "question": "How many ladders are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-94", "question": "Where is the ladder located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-95", "question": "What type of chair is located under the desk with a jacket on its back?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-96", "question": "Where is a computer chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-97", "question": "What is located next to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0717-98", "question": "The computer chair is to the right of what?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.887203, 0.0342291, -0.460108, 3.63375], [0.461017, 0.026238, -0.887004, 3.3311], [-0.018289, -0.99907, -0.0390586, 1.65837], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.850938, 0.0641535, -0.521333, 3.6417], [0.52498, 0.0711596, -0.848135, 3.29999], [-0.0173129, -0.9954, -0.0942317, 1.63614], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.801711, 0.0956176, -0.590015, 3.565], [0.597358, 0.0941621, -0.796428, 3.189], [-0.0205954, -0.990954, -0.132609, 1.59533], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.621239, 0.154395, -0.768261, 3.46822], [0.783027, 0.0841302, -0.616272, 3.01128], [-0.0305151, -0.984421, -0.17316, 1.59097], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.390181, 0.188142, -0.901311, 3.44303], [0.919455, 0.0279491, -0.392202, 2.83145], [-0.0485985, -0.981744, -0.183893, 1.5911], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.200066, 0.162349, -0.966238, 3.29289], [0.977547, -0.0335059, -0.208037, 2.70229], [-0.0661494, -0.986164, -0.152001, 1.58819], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.109996, 0.133754, -0.984891, 3.26873], [0.990185, -0.100712, 0.0969098, 2.63567], [-0.0862286, -0.985884, -0.143519, 1.57209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.316296, 0.0821748, -0.945095, 3.14518], [0.946995, -0.086359, 0.309424, 2.62022], [-0.0561906, -0.992869, -0.105134, 1.57589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.63359, 0.0858527, -0.768891, 3.10746], [0.771175, -0.149819, 0.618744, 2.62843], [-0.0620736, -0.984979, -0.161131, 1.60205], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.786474, 0.04734, -0.615806, 3.17197], [0.615387, -0.144844, 0.774803, 2.73319], [-0.0525167, -0.988321, -0.143048, 1.62076], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.860929, 0.0168659, -0.508445, 3.21291], [0.502391, -0.185408, 0.844528, 2.87935], [-0.0800262, -0.982517, -0.168097, 1.61347], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.899087, -0.00863433, -0.437685, 3.10112], [0.428151, -0.191095, 0.883272, 2.78109], [-0.0912656, -0.981534, -0.168114, 1.61079], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.946774, -0.0695939, -0.314286, 2.88088], [0.296286, -0.19325, 0.935344, 2.7142], [-0.12583, -0.978678, -0.162345, 1.60463], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.977922, -0.0507787, -0.202705, 2.61434], [0.19273, -0.155745, 0.968813, 2.73376], [-0.0807654, -0.986491, -0.14252, 1.60638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.995155, -0.087802, 0.0442469, 2.49126], [-0.0529317, -0.0991895, 0.99366, 2.76282], [-0.0828565, -0.991187, -0.103356, 1.61275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.953008, -0.0748482, 0.293555, 2.42437], [-0.293815, 0.0077584, 0.955831, 2.89676], [-0.0738197, -0.997165, -0.0145977, 1.67205], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.817608, -0.0924439, 0.568305, 2.35487], [-0.572807, -0.0305211, 0.819121, 2.85341], [-0.0583775, -0.99525, -0.0779068, 1.65514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.684403, -0.094128, 0.723003, 2.38957], [-0.728851, -0.0622112, 0.68184, 2.78526], [-0.0192014, -0.993614, -0.111183, 1.59831], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.555904, -0.140252, 0.81933, 2.43734], [-0.83117, -0.080418, 0.550172, 2.763], [-0.0112737, -0.986845, -0.161278, 1.56052], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.396509, -0.221045, 0.891022, 2.58169], [-0.917941, -0.0818513, 0.388183, 2.69424], [-0.0128746, -0.971823, -0.235361, 1.5091], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.164872, -0.265543, 0.949897, 2.78417], [-0.986297, -0.0501719, 0.157165, 2.63506], [0.00592429, -0.962793, -0.270176, 1.45145], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.185202, -0.301323, 0.935364, 2.98565], [-0.982505, 0.0377544, -0.182374, 2.63366], [0.0196393, -0.952774, -0.303044, 1.40988], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.342658, -0.213694, 0.914834, 3.32761], [-0.938297, 0.126296, -0.321945, 2.56558], [-0.0467417, -0.968703, -0.243784, 1.44449], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.374239, -0.18329, 0.909038, 3.66055], [-0.924758, 0.146768, -0.351117, 2.73117], [-0.0690616, -0.972041, -0.224425, 1.49711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.639688, -0.133511, 0.756951, 4.01395], [-0.761498, 0.243969, -0.600499, 2.83393], [-0.104499, -0.960549, -0.257733, 1.51144], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.89389, -0.0776781, 0.441505, 4.06359], [-0.440536, 0.334563, -0.833064, 2.94655], [-0.0830005, -0.939167, -0.333282, 1.49211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.944353, -0.0117476, 0.328723, 3.90785], [-0.316192, 0.307872, -0.897351, 3.01188], [-0.0906629, -0.951355, -0.294454, 1.5051], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.980649, 0.0329046, 0.192991, 3.82349], [-0.171768, 0.328388, -0.928794, 3.01817], [-0.0939376, -0.94397, -0.316381, 1.49297], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.996764, 0.0795524, 0.0115727, 3.8152], [0.0102461, 0.268504, -0.963224, 3.04038], [-0.0797342, -0.959988, -0.26845, 1.50936], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.984146, 0.0698117, -0.163043, 3.76206], [0.169595, 0.101386, -0.980285, 3.0413], [-0.051905, -0.992395, -0.111618, 1.58175], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.938381, 0.103208, -0.329832, 3.69062], [0.338871, 0.0873276, -0.936771, 3.03245], [-0.0678787, -0.990819, -0.116921, 1.6047], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.815407, 0.222973, -0.534224, 3.66336], [0.578127, 0.266328, -0.771259, 3.02933], [-0.029691, -0.937738, -0.346072, 1.46583], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.659206, 0.344632, -0.668339, 3.63248], [0.751855, 0.287086, -0.593545, 2.94375], [-0.0126838, -0.893762, -0.448362, 1.39743], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.511275, 0.409516, -0.755576, 3.49188], [0.858376, 0.200063, -0.472405, 2.63355], [-0.0422945, -0.890096, -0.453806, 1.41895], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.189767, 0.429497, -0.882905, 3.40246], [0.979159, 0.0165099, -0.202424, 2.36732], [-0.072364, -0.902917, -0.423679, 1.45563], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.0452007, 0.371943, -0.927155, 3.27738], [0.991768, -0.128016, -0.00300504, 2.20579], [-0.119808, -0.919386, -0.374668, 1.46182], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.512254, 0.345616, -0.786223, 3.26961], [0.858834, -0.206874, 0.468623, 2.17488], [-0.00068517, -0.915289, -0.402798, 1.41639], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.676693, 0.279672, -0.68108, 3.38176], [0.736156, -0.272987, 0.619317, 2.15408], [-0.0127201, -0.920468, -0.390611, 1.41325], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.779146, 0.227392, -0.584144, 3.45661], [0.626492, -0.313671, 0.713526, 2.22794], [-0.0209792, -0.921902, -0.386854, 1.40998], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.764755, 0.222941, -0.604523, 3.29097], [0.643848, -0.300383, 0.703726, 2.35634], [-0.024699, -0.927398, -0.373259, 1.43791], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.767617, 0.187272, -0.612939, 2.96895], [0.638163, -0.311782, 0.703947, 2.46063], [-0.0592732, -0.931516, -0.358839, 1.44178], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.790694, 0.103907, -0.60333, 2.63733], [0.607522, -0.254919, 0.752286, 2.47017], [-0.0756322, -0.961364, -0.264688, 1.45848], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.817006, 0.0123474, -0.576498, 2.39754], [0.567408, -0.195307, 0.79994, 2.5588], [-0.102717, -0.980664, -0.166573, 1.56735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.859231, -0.0282243, -0.510809, 2.34886], [0.50357, -0.129431, 0.854204, 2.55619], [-0.0902239, -0.991187, -0.0969981, 1.66201], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.882348, 0.0173508, -0.470277, 2.36943], [0.465566, -0.177921, 0.866945, 2.57974], [-0.0686301, -0.983892, -0.165067, 1.62639], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.903674, 0.0525765, -0.424981, 2.47863], [0.423892, -0.250592, 0.870356, 2.57373], [-0.0607366, -0.966664, -0.24874, 1.54692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.890431, 0.0718576, -0.44941, 2.85398], [0.450747, -0.275767, 0.848988, 2.59248], [-0.0629263, -0.958535, -0.277941, 1.534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.941265, 0.0426338, -0.334968, 3.13189], [0.332268, -0.293667, 0.896302, 2.71303], [-0.0601562, -0.954957, -0.290584, 1.51054], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.917091, 0.093882, -0.387466, 3.29644], [0.394043, -0.361205, 0.84514, 2.98213], [-0.0606111, -0.927749, -0.368251, 1.47203], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.818811, 0.186964, -0.542764, 3.408], [0.573477, -0.309119, 0.758663, 3.25722], [-0.0259358, -0.932464, -0.36033, 1.46712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.924898, 0.0856672, -0.370438, 3.33573], [0.379249, -0.277249, 0.882781, 3.61902], [-0.0270782, -0.956971, -0.288917, 1.46944], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.974077, 0.00796815, -0.226075, 3.31362], [0.223019, -0.20122, 0.95382, 3.95319], [-0.0378906, -0.979514, -0.197781, 1.49536], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.998512, -0.0193741, 0.0509727, 3.24428], [-0.0523563, -0.0793091, 0.995474, 4.3048], [-0.0152438, -0.996662, -0.0802054, 1.51896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.950664, -0.0606561, 0.304235, 3.21163], [-0.30963, -0.12493, 0.942615, 4.74313], [-0.0191672, -0.99031, -0.137548, 1.55122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.659673, -0.190441, 0.727024, 3.15871], [-0.751553, -0.167861, 0.637959, 5.07936], [0.000545991, -0.967241, -0.25386, 1.52842], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.209426, -0.373611, 0.903635, 3.16955], [-0.976675, -0.124723, 0.174787, 5.21488], [0.0474019, -0.919162, -0.391016, 1.51243], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0717_00"}, {"annotation": [{"question_id": "test-scene0718-0", "question": "To what side of the glass door is the dark colored chair in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-1", "question": "What is on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-2", "question": "Where is the light colored chair located when entering the front entrance?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-3", "question": "Where can the light colored chair be seen from the bottom of the stairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-4", "question": "What color is the fire extinguisher?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-5", "question": "What color is the vacuum cleaner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-6", "question": "Where is a red vacuum cleaner placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-7", "question": "What color are the stairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-8", "question": "What color cage is the fire extinguisher placed in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-9", "question": "In what color cage is the fire extinguisher placed next to the vacuum cleaner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-10", "question": "What color is the chair under the bulletin board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-11", "question": "The light colored chair is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-12", "question": "When facing the front entrance door, where is the light colored chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-13", "question": "What color fire extinguisher is placed in a white cupboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-14", "question": "What color label is on the fire extinguisher?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-15", "question": "What color cupboard is the fire extinguisher placed in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-16", "question": "The soft white sofa is placed next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-17", "question": "What color is vaccum cleaner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-18", "question": "What color is the sofa chair in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-19", "question": "On what side of the entrance is the sofa chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-20", "question": "What color is the sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-21", "question": "When coming down the stairs which direction is the red vacuum?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-22", "question": "What color is the vacuum?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-23", "question": "Where is the dark grey chair in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-24", "question": "What is in a box mounted to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-25", "question": "To what side of the vacuum cleaner is the fire extinguisher mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-26", "question": "What color is the vacuum cleaner next to the fire extinguisher?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-27", "question": "What is next to the vacuum cleaner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-28", "question": "Where is the red vacuum cleaner located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0718-29", "question": "How many grey chairs are to the right of the fire extinguisher?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.163792, 0.39777, -0.902747, 4.84982], [0.986419, 0.0774199, -0.14486, 3.42129], [0.0122696, -0.914213, -0.405048, 2.18829], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.14704, 0.349928, -0.925165, 4.64457], [0.989121, 0.056285, -0.135916, 3.41481], [0.00451207, -0.935084, -0.354397, 2.2202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.145482, 0.39289, -0.908005, 4.49212], [0.989308, 0.0482189, -0.137644, 3.43694], [-0.0102959, -0.91832, -0.395704, 2.22199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.158271, 0.374918, -0.913448, 4.32582], [0.987083, -0.0833584, 0.136816, 3.40063], [-0.0248488, -0.923303, -0.383268, 2.24417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.509724, 0.289858, -0.81004, 3.98702], [0.860249, -0.185273, 0.475022, 3.46408], [-0.01239, -0.938965, -0.343788, 2.25422], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.855073, 0.170943, -0.48952, 3.63974], [0.517384, -0.343435, 0.783816, 3.6624], [-0.0341302, -0.923489, -0.382104, 2.23226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.983859, 0.014961, -0.17832, 3.61422], [0.172233, -0.349561, 0.920947, 3.82523], [-0.0485552, -0.936794, -0.346495, 2.25554], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.97127, -0.123808, 0.20324, 3.61879], [-0.236233, -0.398251, 0.886336, 4.01415], [-0.028795, -0.908883, -0.416056, 2.24215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.836787, -0.240133, 0.492061, 3.69581], [-0.547373, -0.345408, 0.762284, 4.0246], [-0.0130877, -0.90721, -0.420475, 2.23372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.707732, -0.279392, 0.648888, 3.80547], [-0.706448, -0.271075, 0.653796, 4.02375], [-0.00676829, -0.921118, -0.389224, 2.22915], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.457186, -0.348285, 0.81834, 4.14567], [-0.889339, -0.171001, 0.424072, 4.01618], [-0.00776108, -0.921659, -0.387922, 2.2188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.0339544, -0.437715, 0.898473, 4.38808], [-0.998715, 0.0189896, 0.046994, 4.0538], [-0.0376316, -0.898913, -0.436508, 2.19964], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.24171, -0.457418, 0.855772, 4.61606], [-0.970326, 0.107958, -0.216361, 4.03934], [0.00658011, -0.882674, -0.469939, 2.15245], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.755261, -0.359643, 0.54794, 4.77694], [-0.653354, 0.346706, -0.672997, 3.98345], [0.0520641, -0.866286, -0.496827, 2.11751], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.989996, -0.107486, 0.0914051, 4.69098], [-0.134419, 0.521546, -0.842569, 3.81259], [0.0428923, -0.846426, -0.530777, 2.12947], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.951878, 0.119286, -0.282312, 4.57833], [0.30406, 0.483061, -0.821097, 3.6475], [0.0384287, -0.867423, -0.496085, 2.13551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.754801, 0.292494, -0.587132, 4.62684], [0.655431, 0.372069, -0.657249, 3.66036], [0.0262115, -0.880916, -0.472547, 2.15362], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0718_00"}, {"annotation": [{"question_id": "test-scene0719-0", "question": "What color is the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-1", "question": "What type of desk is next to the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-2", "question": "The monitor appears to be what size?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-3", "question": "Which monitor is to the right of the chair on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-4", "question": "Where is the door placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-5", "question": "The door appears to be what shape?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-6", "question": "Where is the chair placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-7", "question": "What shape does the trash can appear to be?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-8", "question": "Where is the bed placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-9", "question": "What color is the radiator on the wall underneath the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-10", "question": "How many monitors are on the desk next to the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-11", "question": "What color bookshelf is under the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-12", "question": "How many monitors are on the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-13", "question": "What color is the desk under the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-14", "question": "How many monitors does the desk have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-15", "question": "What color is the dresser at the foot of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-16", "question": "Where is the dresser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-17", "question": "What color is the blind in the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-18", "question": "Where is the window with white blind located when you enter the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-19", "question": "What color is the radiator ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-20", "question": "How many monitors are on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-21", "question": "What color is the wooden dresser at the foot of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-22", "question": "What color is the cabinet that has a printer on top ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-23", "question": "Where is the printer located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-24", "question": "What is to the right of a black swivel chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-25", "question": "What is the monitor sitting on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-26", "question": "What is sitting on the wall with some boxes and bags to the left of it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-27", "question": "What type of cabinet is it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-28", "question": "What is the brown cabinet next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-29", "question": "Is the light brown door close or close to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-30", "question": "What is located next to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-31", "question": "Where is the wooden closet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-32", "question": "What is next to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-33", "question": "What is located next to the desk and bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-34", "question": "What is sitting in front of the desk ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-35", "question": "What color is the monitor on the desk under the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-36", "question": "The monitor is on the left hand side closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-37", "question": "What is located at the head of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-38", "question": "What color is the wooden desk under the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-39", "question": "What color is the mini fridge next to a blue bag?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-40", "question": "Where is the mini fridge located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-41", "question": "How many computer monitors are on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-42", "question": "On what side of the desk is the monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-43", "question": "How many wooden cabinets are at the foot of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-44", "question": "What color is the window shade on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-45", "question": "How many monitors are on top of the light brown desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-46", "question": "What is next to the small white garbage bin on the ground?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-47", "question": "What is next to the brown bookcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-48", "question": "What is on the middle back wall of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-49", "question": "The fridge is across from what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-50", "question": "What are white blinders drawn through?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-51", "question": "How many wheels does the chair have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-52", "question": "What color monitor is to the left of the complimentary monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-53", "question": "The monitor sits on top of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-54", "question": "What is located between a printer stand and a bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-55", "question": "Where is the tall brown portable closet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-56", "question": "How many clothes hangers does the closet have on its door handles?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-57", "question": "What color is the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-58", "question": "Where is a white radiator sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-59", "question": "What is on the computer desk on the right side of the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-60", "question": "To what side of the radiator is a small brown cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-61", "question": "Where is the radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-62", "question": "Where is the brown wooden door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-63", "question": "Where is the brown wooden dresser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-64", "question": "What color is the standard office chair without armrests?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-65", "question": "Where is the black standard office chair sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-66", "question": "What type of door is located to the right of the dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-67", "question": "Where is the wooden door in relation to the dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-68", "question": "What color is the office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-69", "question": "Where is the black office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-70", "question": "What color are the sheets on the raised bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-71", "question": "What is stored underneath the raised bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-72", "question": "What is at the end of the bed in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-73", "question": "Where is the little wood cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-74", "question": "The larger wood cabinet is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-75", "question": "To what side of the monitors is the window above the monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-76", "question": "The closet is to what direction when you open the door and walk into the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-77", "question": "Where is the desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-78", "question": "How many monitors sit on top of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-79", "question": "To what side of the desk is the bookshelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-80", "question": "What is on top of the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-81", "question": "What part of the wall is the bed pushed against?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-82", "question": "Where is the small bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-83", "question": "Where is the large brown door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-84", "question": "What is next to the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-85", "question": "Where is the large square window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0719-86", "question": "Where is the cabinet located in the room?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.983768, -0.0933534, 0.153245, 2.61833], [-0.179293, 0.476765, -0.860551, 2.99678], [0.00727347, -0.87406, -0.485764, 1.40176], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.9949, -0.057919, 0.0825765, 2.65354], [-0.0989211, 0.400401, -0.910984, 2.9727], [0.0196996, -0.914508, -0.404089, 1.43073], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.996723, -0.0582864, 0.0560712, 2.58371], [-0.0744039, 0.389021, -0.918219, 2.82086], [0.0317068, -0.919383, -0.392084, 1.40775], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.998475, -0.00103338, -0.0551924, 2.61117], [0.0478426, 0.482582, -0.874543, 2.61044], [0.0275386, -0.87585, -0.481797, 1.36235], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.969309, 0.0945564, -0.226931, 2.65731], [0.243601, 0.493786, -0.834765, 2.39924], [0.0331229, -0.864427, -0.501666, 1.35354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.891283, 0.198117, -0.407877, 2.50145], [0.45165, 0.467865, -0.75968, 2.26788], [0.0403259, -0.861308, -0.50648, 1.35519], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.761327, 0.304386, -0.572475, 2.44853], [0.648274, 0.372284, -0.664187, 2.22555], [0.010954, -0.876786, -0.480756, 1.38554], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.595157, 0.357532, -0.719693, 2.39474], [0.803607, 0.262856, -0.533967, 2.19502], [-0.001735, -0.896146, -0.443757, 1.41634], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.406621, 0.452862, -0.793457, 2.25419], [0.913195, 0.175737, -0.367682, 2.21248], [-0.0270688, -0.87409, -0.48501, 1.39659], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.297546, 0.46493, -0.83385, 2.17229], [0.954429, 0.123783, -0.271556, 2.12813], [-0.0230383, -0.876652, -0.480574, 1.41005], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.117582, 0.461352, -0.87939, 2.17941], [0.992119, 0.0159835, -0.12427, 2.06917], [-0.0432765, -0.887073, -0.459596, 1.42419], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.191193, 0.496856, -0.846509, 2.10966], [0.980792, -0.130633, 0.144848, 2.18593], [-0.0386132, -0.857944, -0.51229, 1.40651], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.26823, 0.450356, -0.851605, 2.05712], [0.963154, -0.143369, 0.227547, 2.26541], [-0.019616, -0.881263, -0.472219, 1.42237], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.200478, 0.52769, -0.82544, 2.04741], [0.979601, -0.119844, 0.161305, 2.34371], [-0.0138057, -0.84094, -0.540952, 1.36701], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.200052, 0.586041, -0.785196, 2.08312], [0.979643, -0.105995, 0.170482, 2.31434], [0.016683, -0.803318, -0.595316, 1.31455], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.277092, 0.491487, -0.825627, 2.04241], [0.960735, -0.128824, 0.24575, 2.31662], [0.0144224, -0.861304, -0.507885, 1.3904], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.407376, 0.444702, -0.797674, 1.97528], [0.91325, -0.202429, 0.353547, 2.45363], [-0.00424898, -0.872504, -0.48859, 1.41311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.63939, 0.371875, -0.67297, 1.87157], [0.768861, -0.315792, 0.555993, 2.58046], [-0.00575858, -0.872917, -0.487835, 1.41558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.867671, 0.257091, -0.425501, 1.79283], [0.496965, -0.425963, 0.756029, 2.70257], [0.0131207, -0.867444, -0.497361, 1.38649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.927082, 0.178986, -0.329367, 1.68111], [0.37431, -0.394527, 0.83919, 2.9189], [0.0202592, -0.901284, -0.432755, 1.41876], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.985987, 0.0541215, -0.157799, 1.5895], [0.166821, -0.315518, 0.934141, 2.93304], [0.000768607, -0.947375, -0.320125, 1.50742], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.998388, 0.0205748, -0.0528994, 1.58395], [0.0565209, -0.275, 0.959781, 2.94681], [0.00520001, -0.961224, -0.275719, 1.53238], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.992749, -0.0363484, 0.114577, 1.6825], [-0.120193, -0.313294, 0.942019, 3.10218], [0.00165531, -0.94896, -0.315391, 1.49143], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.932637, -0.146855, 0.329574, 1.80059], [-0.360765, -0.364643, 0.858419, 3.29429], [-0.00588672, -0.919494, -0.39306, 1.45758], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.76693, -0.291242, 0.571834, 1.8621], [-0.641598, -0.366012, 0.674082, 3.46597], [0.0129769, -0.883863, -0.467567, 1.40626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.545409, -0.461473, 0.699693, 2.05735], [-0.838167, -0.302129, 0.454084, 3.66983], [0.00185052, -0.834123, -0.551576, 1.36955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.11892, -0.580518, 0.805516, 2.10925], [-0.992866, -0.0765981, 0.0913759, 3.78442], [0.00865555, -0.810636, -0.585486, 1.35151], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.0129698, -0.569979, 0.821556, 2.20165], [-0.999799, 0.0199492, -0.00194356, 3.74507], [-0.0152816, -0.821417, -0.570123, 1.37161], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.326588, -0.527333, 0.784384, 2.30267], [-0.944152, 0.220453, -0.244901, 3.75366], [-0.0437753, -0.820561, -0.56988, 1.38686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.491688, -0.488585, 0.720782, 2.31403], [-0.870769, 0.274104, -0.408201, 3.76685], [0.00187126, -0.828343, -0.560219, 1.40706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.568372, -0.569329, 0.593983, 2.31567], [-0.821192, 0.34784, -0.452383, 3.72871], [0.0509434, -0.744897, -0.665232, 1.30416], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.672692, -0.479397, 0.563616, 2.38378], [-0.739146, 0.400512, -0.541528, 3.53053], [0.0338715, -0.780877, -0.623766, 1.30833], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.679034, -0.507101, 0.530811, 2.51627], [-0.733902, 0.451889, -0.507132, 3.38493], [0.0172995, -0.733924, -0.679011, 1.35737], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.680638, -0.587247, 0.438031, 2.82514], [-0.731961, 0.519749, -0.44056, 3.36467], [0.0310511, -0.620484, -0.783604, 1.34122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.798996, -0.407949, 0.441793, 2.87884], [-0.601304, 0.549492, -0.580079, 3.18531], [-0.00611942, -0.729134, -0.684344, 1.41048], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.918131, -0.233279, 0.320337, 2.79278], [-0.393147, 0.434845, -0.810151, 3.0185], [0.0496943, -0.869765, -0.490958, 1.45129], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.955962, -0.151562, 0.251327, 2.74758], [-0.289609, 0.348336, -0.891509, 2.95346], [0.0475726, -0.925036, -0.376889, 1.47749], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.965288, -0.167938, 0.200038, 2.62261], [-0.255987, 0.45624, -0.852241, 2.87314], [0.0518579, -0.873866, -0.483393, 1.36931], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.959566, -0.207543, 0.190151, 2.4271], [-0.270089, 0.48864, -0.829628, 2.64524], [0.0792687, -0.847441, -0.524938, 1.31884], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.947436, -0.254983, 0.193255, 2.44518], [-0.305385, 0.540579, -0.783909, 2.29127], [0.0954143, -0.801722, -0.590033, 1.30727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.863365, -0.277915, 0.421144, 2.48114], [-0.502908, 0.541815, -0.673438, 2.06305], [-0.0410237, -0.793221, -0.607551, 1.38213], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.883473, -0.273973, 0.380017, 2.5019], [-0.462649, 0.637829, -0.615735, 2.05129], [-0.0736914, -0.7198, -0.690259, 1.41003], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.913234, -0.251486, 0.320558, 2.66342], [-0.407434, 0.564843, -0.7176, 2.33666], [-0.000598639, -0.785943, -0.618298, 1.33081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.935695, -0.285394, 0.207424, 2.6875], [-0.34031, 0.574981, -0.744033, 2.44508], [0.0930774, -0.766777, -0.63513, 1.2667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.996388, -0.0840946, -0.0117556, 2.51166], [-0.0490076, 0.682592, -0.729154, 2.30524], [0.0693423, -0.725945, -0.684249, 1.25617], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.923181, 0.196293, -0.330461, 2.52637], [0.381533, 0.572149, -0.726001, 2.14742], [0.0465646, -0.796313, -0.60309, 1.28798], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.798301, 0.309024, -0.516932, 2.45764], [0.602174, 0.423902, -0.676529, 2.00529], [0.0100653, -0.851358, -0.524488, 1.36454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.574011, 0.37912, -0.725795, 2.35674], [0.818775, 0.25403, -0.514854, 1.82], [-0.0108182, -0.889796, -0.456231, 1.41397], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.333719, 0.397541, -0.854746, 2.29931], [0.942616, 0.130849, -0.307168, 1.74748], [-0.0102696, -0.908207, -0.418396, 1.4562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.14163, 0.430472, -0.891422, 2.22935], [0.989519, 0.0359593, -0.139851, 1.81084], [-0.028147, -0.901887, -0.431054, 1.44798], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.0188736, 0.477684, -0.878328, 2.1591], [0.998538, -0.0535008, -0.00763983, 1.89194], [-0.0506409, -0.876901, -0.477996, 1.4357], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.0674063, 0.435759, -0.897535, 2.03733], [0.997294, -0.0558643, 0.047776, 1.98047], [-0.0293215, -0.898328, -0.438346, 1.45212], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.0874994, 0.420828, -0.90291, 1.94672], [0.993976, -0.0969295, 0.0511477, 2.05397], [-0.0659943, -0.901947, -0.426774, 1.46222], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.35466, 0.379031, -0.854722, 1.85042], [0.933346, -0.197779, 0.299578, 2.15849], [-0.0554969, -0.904001, -0.423912, 1.46748], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.685247, 0.258197, -0.681006, 1.77856], [0.726789, -0.302806, 0.61651, 2.22887], [-0.0470319, -0.917411, -0.395153, 1.48038], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.792496, 0.185015, -0.581135, 1.75418], [0.607596, -0.321835, 0.726119, 2.38449], [-0.0526869, -0.928543, -0.367467, 1.48095], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.846969, 0.22517, -0.481602, 1.73599], [0.53138, -0.386922, 0.753608, 2.54252], [-0.0166525, -0.894198, -0.447363, 1.4414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.942877, 0.15535, -0.294699, 1.75586], [0.331291, -0.530273, 0.78042, 2.74356], [-0.0350328, -0.833472, -0.551449, 1.36819], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.895834, 0.163746, -0.41312, 1.87269], [0.439577, -0.462944, 0.76971, 3.02672], [-0.0652144, -0.871131, -0.486701, 1.41423], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.895796, 0.147016, -0.419445, 1.84107], [0.437422, -0.45892, 0.773339, 3.25714], [-0.0787989, -0.87623, -0.475407, 1.42466], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.744494, 0.28222, -0.605045, 2.03967], [0.662493, -0.424478, 0.617187, 3.51862], [-0.0826458, -0.860332, -0.50299, 1.42112], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.67726, 0.330616, -0.657275, 2.10585], [0.728367, -0.427461, 0.535497, 3.61655], [-0.103916, -0.84141, -0.530313, 1.40366], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0719_00"}, {"annotation": [{"question_id": "test-scene0720-0", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-1", "question": "Which side of the bed is the nightstand on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-2", "question": "What is open in the picture?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-3", "question": "What color is pillow at top left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-4", "question": "Where is a light grey pillow placed in a bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-5", "question": "What is hung on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-6", "question": "On what part of the bed board is a painting of a tree hung?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-7", "question": "What color is the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-8", "question": "Where is the chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-9", "question": "What color is the leftmost pillow on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-10", "question": "What is the tv mounted on the wall and has 3 round pictures hanging to the right of it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-11", "question": "Where is the tv mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-12", "question": "The painting above the bed has what colors mostly?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-13", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-14", "question": "What is in front of the dark table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-15", "question": "The green pillow by headboard is close to what item on right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-16", "question": "What colors does the painting above the bed have in it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-17", "question": "What does the brown piece of artwork have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-18", "question": "What object is on the wall above the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-19", "question": "In what part of the wall is the square artwork located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-20", "question": "What color is the ajar door to a bedroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-21", "question": "What color does the light pillow look?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-22", "question": "What is above the bed on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-23", "question": "What is the painting on the wall above the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-24", "question": "Where is the painting of a tree located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-25", "question": "The light that is on in the room is to what side of the bed as you look at it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-26", "question": "What color is the pillow on the left side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-27", "question": "What color is the computer chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-28", "question": "Where is the black computer chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-29", "question": "Where is the tree painting located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-30", "question": "How large is the painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-31", "question": "What kind of painting is closest to the bed headboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-32", "question": "Where is the painting closest to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-33", "question": "What is the largest and darkest pillow on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-34", "question": "On what side of the edge of the bed is the dark brown pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-35", "question": "What is hanging on the wall of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-36", "question": "The brown square picture is closest to what corner of the room if you are standing at the foot of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-37", "question": "What is sitting on the left edge of desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-38", "question": "What color is the desk near the foot of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-39", "question": "What is sitting on top of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-40", "question": "What color is the door for the bedroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-41", "question": "What is by the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-42", "question": "Where is the tv located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-43", "question": "What color is the nightstand in a bedroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-44", "question": "Where is the black nightstand when you face the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-45", "question": "What is above the black nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-46", "question": "What color is the painting above the black nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-47", "question": "Where is the painting located on the wall above the black nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-48", "question": "What color is the pillow on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-49", "question": "What color is next to the brown pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-50", "question": "On what side of the bed is the green pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-51", "question": "What color is the picture frame?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-52", "question": "What is on the left side of the bed as you face the headboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-53", "question": "What color is the pillow at the head of the bed on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-54", "question": "What is sitting on the left side of the computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-55", "question": "What is next to the laptop computer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-56", "question": "What is on the wall in the right corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-57", "question": "The window blind is next to which picture hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-58", "question": "What color is the pillow on the right side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-59", "question": "What is a fluffy pillow next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-60", "question": "What type of door is open to the hallway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-61", "question": "The wooden door is open to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-62", "question": "What color pillow is located on a bed next to a black backpack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-63", "question": "What is next to the grey pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-64", "question": "What is located on a bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-65", "question": "Where is the green pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-66", "question": "What type of desk is located near a computer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-67", "question": "Where is a computer desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-68", "question": "How many paintings are on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-69", "question": "What is the picture on the wall that is in the center?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-70", "question": "Where is the brown pillow sitting on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-71", "question": "Where are the windows with white blinds located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-72", "question": "Where is the wall-mounted flat screen tv located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-73", "question": "What color is the office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-74", "question": "Where is the black office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-75", "question": "What is the painting in the middle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-76", "question": "Where is the rectangle window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-77", "question": "What is in the middle of the painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-78", "question": "Where is the small square painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-79", "question": "What is above the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-80", "question": "Where is the large painting located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-81", "question": "What is the painting on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-82", "question": "What is the small painting on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-83", "question": "What type of chair is under the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-84", "question": "Where is the rolly office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-85", "question": "What is on the side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-86", "question": "Where is the little night stand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-87", "question": "What is by the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-88", "question": "Where is the little desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-89", "question": "Where is the little laptop located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-90", "question": "What type of chair is in front of the desk with a jacket draped on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-91", "question": "What is draped on the back of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-92", "question": "What is on the wall next to the window with the blinds down?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-93", "question": "Where is the painting hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-94", "question": "What type of painting is on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0720-95", "question": "What type of device is on the desk?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.999114, 0.0144037, -0.0395363, 3.41418], [0.0406671, -0.571834, 0.81936, 1.31396], [-0.0108064, -0.820243, -0.571914, 1.46129], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.999553, 0.0184783, -0.0234956, 3.43537], [0.0298401, -0.662897, 0.748115, 1.32485], [-0.00175127, -0.748482, -0.663153, 1.43219], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.986615, 0.135839, -0.0902055, 3.44775], [0.161949, -0.751748, 0.639255, 1.28386], [0.0190243, -0.645308, -0.763686, 1.38005], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.950562, 0.227521, -0.211344, 3.38189], [0.309878, -0.650737, 0.693192, 1.27364], [0.020186, -0.724413, -0.68907, 1.42957], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.965826, 0.176941, -0.189399, 3.25248], [0.258048, -0.587877, 0.766688, 1.41198], [0.0243155, -0.789362, -0.613447, 1.45957], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.995719, 0.0280209, -0.0880736, 3.13107], [0.0889986, -0.547709, 0.831921, 1.60411], [-0.0249275, -0.836199, -0.547859, 1.49025], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.999432, 0.0210383, -0.0263029, 3.09906], [0.0331869, -0.48174, 0.875685, 1.84062], [0.00575187, -0.876061, -0.482165, 1.50005], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.98963, -0.0563023, 0.132147, 3.01631], [-0.141928, -0.524903, 0.839245, 2.00389], [0.0221127, -0.849298, -0.527451, 1.48799], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.922317, -0.202484, 0.329135, 2.94733], [-0.386296, -0.505721, 0.771376, 2.15228], [0.0102588, -0.838598, -0.544654, 1.48721], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.926494, -0.157292, 0.341858, 3.01624], [-0.375794, -0.434181, 0.818697, 2.33201], [0.0196543, -0.886987, -0.461376, 1.52298], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.923507, -0.135244, 0.358947, 2.99867], [-0.38358, -0.325815, 0.864124, 2.40588], [8.26567e-05, -0.93571, -0.35277, 1.61276], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.899755, -0.150547, 0.409605, 2.9658], [-0.434151, -0.213743, 0.875115, 2.40993], [-0.0441954, -0.96522, -0.257677, 1.66837], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.88581, -0.0762393, 0.457741, 2.95729], [-0.463519, -0.0983345, 0.880613, 2.3917], [-0.0221257, -0.992229, -0.122444, 1.70658], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.910725, -0.0887647, 0.40336, 2.92757], [-0.412861, -0.16934, 0.894912, 2.36537], [-0.0111316, -0.981552, -0.19087, 1.67978], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.93784, -0.126739, 0.323097, 2.94301], [-0.347066, -0.343806, 0.872549, 2.24263], [0.000496686, -0.930448, -0.366422, 1.58731], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.930483, -0.183141, 0.317269, 2.93218], [-0.366331, -0.462161, 0.807594, 2.14135], [-0.00127386, -0.867679, -0.497123, 1.50295], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.923584, -0.226025, 0.309684, 2.92866], [-0.383384, -0.538356, 0.750459, 2.11364], [-0.00290236, -0.811841, -0.583872, 1.4522], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.888491, -0.296091, 0.350589, 2.94164], [-0.45889, -0.570939, 0.680769, 2.17595], [-0.00140466, -0.76574, -0.643149, 1.417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.740996, -0.461695, 0.487608, 2.99843], [-0.67089, -0.477831, 0.567083, 2.40658], [-0.0288252, -0.747338, -0.663818, 1.40159], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.549765, -0.582905, 0.598313, 3.09894], [-0.835158, -0.369537, 0.407372, 2.48708], [-0.0163606, -0.723646, -0.689977, 1.39367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.471536, -0.593116, 0.652584, 3.21145], [-0.880548, -0.276534, 0.384921, 2.41049], [-0.0478413, -0.756137, -0.652663, 1.42749], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.592956, -0.455683, 0.663895, 3.31393], [-0.805071, -0.318866, 0.500184, 2.30317], [-0.016232, -0.83107, -0.55593, 1.48157], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.577111, -0.332255, 0.746022, 3.3496], [-0.816626, -0.243731, 0.523179, 2.32887], [0.00799978, -0.911154, -0.411988, 1.55738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.520849, -0.17532, 0.835451, 3.3339], [-0.85361, -0.116241, 0.507776, 2.39453], [0.0080905, -0.977625, -0.2102, 1.55878], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.52388, -0.0983473, 0.846095, 3.33966], [-0.851771, -0.0535821, 0.521167, 2.36224], [-0.00591978, -0.993709, -0.11184, 1.56192], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.700951, -0.127799, 0.701665, 3.40575], [-0.712457, -0.17064, 0.680651, 2.27167], [0.0327457, -0.97701, -0.210662, 1.58737], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.896471, -0.125394, 0.424988, 3.32897], [-0.443098, -0.257416, 0.85872, 2.19168], [0.00172049, -0.95813, -0.286328, 1.63781], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.971303, -0.0704854, 0.227159, 3.19691], [-0.237752, -0.261256, 0.935531, 2.01919], [-0.00659472, -0.962693, -0.270517, 1.66809], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.996282, -0.0235832, 0.0828521, 3.2475], [-0.0859336, -0.205063, 0.974969, 1.94562], [-0.006003, -0.978464, -0.206327, 1.68324], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.984746, 0.101802, -0.141109, 3.33474], [0.165643, -0.30021, 0.93938, 1.88118], [0.0532687, -0.948425, -0.312494, 1.62576], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.970856, 0.108325, -0.213786, 3.35352], [0.239001, -0.371274, 0.897237, 1.73488], [0.0178205, -0.922183, -0.386343, 1.55162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.953199, 0.159726, -0.256708, 3.39981], [0.302245, -0.481753, 0.822533, 1.55453], [0.00771001, -0.861627, -0.507483, 1.49906], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.861324, 0.299048, -0.41072, 3.41006], [0.507917, -0.487947, 0.709878, 1.52044], [0.0118777, -0.820047, -0.572172, 1.46175], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.664221, 0.438376, -0.605505, 3.4683], [0.74749, -0.380504, 0.544495, 1.54162], [0.00829634, -0.814275, -0.58042, 1.45421], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.518302, 0.532252, -0.669381, 3.46963], [0.854459, -0.289793, 0.431182, 1.49709], [0.0355153, -0.795442, -0.604989, 1.43894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.31883, 0.617825, -0.718776, 3.39868], [0.946938, -0.17509, 0.269538, 1.45854], [0.0406765, -0.766574, -0.640866, 1.42434], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.182777, 0.64008, -0.74625, 3.31023], [0.982698, -0.0958285, 0.158495, 1.4075], [0.0299372, -0.762309, -0.646521, 1.44086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.197236, 0.523604, -0.828816, 3.25831], [0.980239, -0.092278, 0.174974, 1.45936], [0.0151356, -0.846949, -0.531458, 1.50042], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.343714, 0.493398, -0.799011, 3.19701], [0.938672, -0.155638, 0.307685, 1.67894], [0.0274545, -0.855766, -0.516634, 1.50236], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.610993, 0.408284, -0.678226, 3.13932], [0.79078, -0.274968, 0.546862, 1.80801], [0.0367844, -0.870458, -0.490867, 1.51982], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.853974, 0.194615, -0.482547, 3.03493], [0.520196, -0.339066, 0.783855, 1.8887], [-0.0110655, -0.920412, -0.390792, 1.57861], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.936287, 0.0766158, -0.342776, 3.01261], [0.350949, -0.243376, 0.904214, 1.94759], [-0.0141461, -0.966901, -0.254758, 1.63483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.932538, 0.038427, -0.359021, 3.06089], [0.361051, -0.109863, 0.926051, 2.0917], [-0.00385751, -0.993204, -0.116326, 1.68744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.88303, 0.0670061, -0.464508, 3.07862], [0.468355, -0.0625052, 0.881326, 2.17261], [0.0300202, -0.995793, -0.0865768, 1.74105], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.812245, 0.140428, -0.56616, 2.93841], [0.582037, -0.130876, 0.802561, 2.209], [0.038605, -0.981403, -0.188038, 1.68009], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.78395, 0.23627, -0.574106, 2.76016], [0.620484, -0.267616, 0.737144, 2.28046], [0.020525, -0.934108, -0.356399, 1.60951], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.744945, 0.345955, -0.570412, 2.7111], [0.667104, -0.379491, 0.64106, 2.38919], [0.00531185, -0.85808, -0.513488, 1.53856], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.645474, 0.475658, -0.597588, 2.68514], [0.763632, -0.417396, 0.492591, 2.4552], [-0.0151264, -0.774293, -0.632647, 1.46328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.671838, 0.483777, -0.560885, 2.57229], [0.740681, -0.443787, 0.504424, 2.49963], [-0.00488442, -0.754329, -0.656478, 1.45989], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.57124, 0.46554, -0.675985, 2.51623], [0.82053, -0.344318, 0.456262, 2.55315], [-0.0203455, -0.815302, -0.578679, 1.50066], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.133207, 0.586592, -0.798852, 2.52173], [0.990368, -0.0480812, 0.129836, 2.69303], [0.0377511, -0.808454, -0.587348, 1.49097], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.121435, 0.528073, -0.840471, 2.52915], [0.992314, -0.0443122, 0.115532, 2.66042], [0.0237664, -0.848042, -0.529396, 1.54036], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.0127987, 0.343348, -0.939121, 2.43028], [0.999917, 0.00569971, -0.0115435, 2.76524], [0.00138924, -0.939191, -0.343393, 1.62319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.246959, 0.295713, -0.922803, 2.37441], [0.968422, 0.108941, -0.224257, 2.84083], [0.0342152, -0.949044, -0.313279, 1.66717], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.339574, 0.220458, -0.914378, 2.36172], [0.939252, 0.131104, -0.317202, 2.75786], [0.0499486, -0.966545, -0.251586, 1.67241], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.384411, 0.248917, -0.88897, 2.33604], [0.922469, 0.140864, -0.359454, 2.6488], [0.0357503, -0.958226, -0.283768, 1.65414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.511609, 0.309801, -0.801423, 2.41307], [0.857662, 0.240236, -0.454644, 2.65805], [0.0516809, -0.919951, -0.388612, 1.62812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.607043, 0.378477, -0.698752, 2.29729], [0.793929, 0.326782, -0.512728, 2.68064], [0.0342839, -0.866007, -0.498854, 1.54733], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.673326, 0.441701, -0.592901, 2.16354], [0.739317, 0.39532, -0.545097, 2.676], [-0.00638443, -0.805371, -0.592737, 1.48191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.770784, 0.388964, -0.504576, 1.89895], [0.6361, 0.514104, -0.575389, 2.73493], [0.0355993, -0.764463, -0.643684, 1.44705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.847276, 0.33098, -0.415422, 1.77135], [0.530455, 0.56735, -0.629866, 2.69024], [0.0272167, -0.754034, -0.656272, 1.43826], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.909829, 0.293494, -0.293382, 1.61692], [0.41454, 0.61008, -0.675247, 2.72376], [-0.0191948, -0.735978, -0.676733, 1.4293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.985745, 0.113243, -0.124429, 1.39939], [0.168113, 0.692287, -0.701767, 2.86222], [0.00667018, -0.712681, -0.701456, 1.40381], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.991853, 0.0927319, -0.0873415, 1.35896], [0.127278, 0.692954, -0.709657, 2.81839], [-0.00528425, -0.714993, -0.699112, 1.41503], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.997388, -0.0603952, 0.0396013, 1.24854], [-0.0678136, 0.594556, -0.801188, 2.7453], [0.0248427, -0.801782, -0.5971, 1.47533], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.994153, -0.0722962, 0.0802038, 1.25123], [-0.106779, 0.547807, -0.829762, 2.66951], [0.0160524, -0.833475, -0.552324, 1.51841], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.996585, -0.0329546, 0.0757116, 1.27518], [-0.0819942, 0.503304, -0.86021, 2.59467], [-0.00975816, -0.863481, -0.504288, 1.54914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.98655, -0.0794985, 0.14282, 1.23385], [-0.163412, 0.459563, -0.872982, 2.48758], [0.00376601, -0.88458, -0.466373, 1.56161], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.974833, -0.0860064, 0.205678, 1.25894], [-0.222765, 0.339675, -0.913781, 2.54506], [0.00872725, -0.936602, -0.350286, 1.64436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.979706, -0.0370857, 0.196979, 1.34451], [-0.200292, 0.218811, -0.954989, 2.70153], [-0.00768475, -0.975062, -0.221798, 1.71386], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.972684, -0.0371921, 0.229132, 1.39678], [-0.231903, 0.112036, -0.966265, 2.75249], [0.0102663, -0.993008, -0.117601, 1.7426], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.965153, -0.0764515, 0.25027, 1.40938], [-0.26079, 0.201913, -0.944044, 2.74817], [0.0216409, -0.976415, -0.214815, 1.68509], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.949888, -0.123646, 0.287096, 1.40245], [-0.312378, 0.341665, -0.886388, 2.72437], [0.0115077, -0.931652, -0.363169, 1.60486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.918171, -0.202001, 0.340817, 1.36933], [-0.395487, 0.416369, -0.818673, 2.6801], [0.0234671, -0.886472, -0.462187, 1.55589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.841114, -0.284018, 0.460284, 1.34124], [-0.540838, 0.434354, -0.720299, 2.65379], [0.00465128, -0.854793, -0.518949, 1.51879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.732969, -0.422573, 0.533093, 1.33498], [-0.680166, 0.468419, -0.563877, 2.69871], [-0.011432, -0.775897, -0.630756, 1.44884], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.735125, -0.412175, 0.53824, 1.34572], [-0.67748, 0.475597, -0.561095, 2.88365], [-0.0247164, -0.777122, -0.628864, 1.44623], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.764597, -0.424292, 0.485146, 1.31995], [-0.644372, 0.518701, -0.561901, 2.99504], [-0.0132361, -0.742243, -0.67, 1.40963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.779069, -0.37075, 0.505565, 1.31151], [-0.626924, 0.466074, -0.624292, 2.95055], [-0.00417462, -0.803318, -0.595536, 1.47299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.818518, -0.23196, 0.525568, 1.29587], [-0.573663, 0.378784, -0.726245, 2.8792], [-0.0306176, -0.895945, -0.443109, 1.56914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.789722, -0.221515, 0.572075, 1.31234], [-0.613075, 0.318227, -0.723097, 2.8423], [-0.0218734, -0.921771, -0.387116, 1.60681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.676202, -0.187471, 0.712463, 1.36368], [-0.736639, 0.158184, -0.657525, 2.90995], [0.0105667, -0.96945, -0.245063, 1.66293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.570002, -0.180498, 0.801572, 1.40308], [-0.821643, 0.124758, -0.556181, 3.00354], [0.000387043, -0.975631, -0.219417, 1.69135], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.5621, -0.0709365, 0.824021, 1.43652], [-0.827059, 0.0531303, -0.559598, 3.09], [-0.00408462, -0.996065, -0.0885333, 1.7206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.508047, -0.126138, 0.852042, 1.40672], [-0.861324, 0.0775929, -0.502095, 3.1205], [-0.00277936, -0.988973, -0.148067, 1.7184], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.305393, -0.277305, 0.910954, 1.37021], [-0.952034, 0.0697049, -0.297946, 3.10453], [0.0191239, -0.95825, -0.285291, 1.63452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.144289, -0.441089, 0.885788, 1.33036], [-0.988535, 0.0240021, -0.149073, 3.04946], [0.0444939, -0.897142, -0.439495, 1.53686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.197829, -0.55455, 0.808293, 1.29487], [-0.980206, 0.105455, -0.167554, 3.02857], [0.00767845, -0.825441, -0.564436, 1.45065], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.454985, -0.55352, 0.69757, 1.29836], [-0.890483, 0.28745, -0.35272, 3.0457], [-0.00527942, -0.781657, -0.623686, 1.41226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.663791, -0.511789, 0.545392, 1.28917], [-0.747857, 0.444927, -0.492696, 3.04566], [0.0094972, -0.734923, -0.678084, 1.36362], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.749331, -0.479876, 0.456313, 1.26903], [-0.66214, 0.534077, -0.525673, 2.97607], [0.00855166, -0.696047, -0.717946, 1.34534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.787084, -0.430184, 0.442084, 1.25621], [-0.616717, 0.534221, -0.578158, 2.78242], [0.0125441, -0.727701, -0.68578, 1.36927], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.844091, -0.362871, 0.394758, 1.22416], [-0.53588, 0.545526, -0.644386, 2.61042], [0.0184781, -0.755464, -0.654929, 1.38899], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.970736, -0.117273, 0.209568, 1.28114], [-0.237926, 0.588119, -0.772985, 2.6072], [-0.0326003, -0.800226, -0.598811, 1.46226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.999355, 0.0323231, 0.0156059, 1.30467], [0.00414285, 0.535754, -0.844363, 2.65597], [-0.0356534, -0.843755, -0.535543, 1.51411], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.997549, -0.00508416, 0.0697789, 1.34416], [-0.0619199, 0.528467, -0.846693, 2.69212], [-0.0325711, -0.848939, -0.527487, 1.50769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.931124, -0.191933, 0.310111, 1.38097], [-0.364198, 0.534009, -0.763016, 2.72247], [-0.0191543, -0.823405, -0.567131, 1.47741], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.655266, -0.461651, 0.597916, 1.31745], [-0.755398, 0.400669, -0.518496, 2.76454], [-0.000201911, -0.791418, -0.611275, 1.44473], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.4329, -0.60394, 0.669218, 1.30297], [-0.901333, 0.278501, -0.331714, 2.90071], [0.013958, -0.746788, -0.664915, 1.41411], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.203088, -0.65013, 0.732178, 1.30286], [-0.979138, 0.139909, -0.147357, 3.18421], [-0.00663701, -0.74683, -0.664981, 1.41975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.0200209, -0.639642, 0.768411, 1.36433], [-0.999727, 0.0220539, -0.00768967, 3.26064], [-0.0120279, -0.768356, -0.63991, 1.43456], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.0882893, -0.569998, 0.816888, 1.57635], [-0.99565, -0.0749893, 0.0552848, 3.18789], [0.0297457, -0.818217, -0.57414, 1.46618], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.0737801, -0.566769, 0.820566, 1.83123], [-0.996591, -0.0723486, 0.0396358, 3.19824], [0.0369026, -0.820694, -0.570175, 1.47992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.0246878, -0.54836, 0.835878, 2.07041], [-0.999688, -0.0105192, 0.0226252, 3.19942], [-0.00361407, -0.836176, -0.548449, 1.49504], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.115512, -0.558323, 0.821542, 2.27967], [-0.993304, -0.0663408, 0.0945775, 3.11906], [0.00169694, -0.826967, -0.562248, 1.494], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.0635432, -0.582653, 0.810233, 2.49894], [-0.997976, -0.0353787, 0.0528258, 3.12946], [-0.00211409, -0.811951, -0.583722, 1.47766], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.119588, -0.593231, 0.7961, 2.68478], [-0.992055, 0.102938, -0.0723178, 3.14344], [-0.0390477, -0.798424, -0.600829, 1.47328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.266784, -0.65063, 0.71099, 2.79556], [-0.96357, 0.194569, -0.183508, 3.04755], [-0.0189411, -0.734046, -0.678836, 1.42048], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.624524, -0.580913, 0.522024, 2.9408], [-0.780843, 0.478064, -0.402167, 2.97998], [-0.0159363, -0.658783, -0.752165, 1.37574], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.745958, -0.435835, 0.503582, 2.94626], [-0.665334, 0.521299, -0.534394, 2.91582], [-0.0296096, -0.733686, -0.678844, 1.42575], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.748631, -0.40479, 0.525068, 2.90074], [-0.662454, 0.488436, -0.567965, 2.85461], [-0.0265554, -0.77303, -0.633813, 1.42686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.875422, -0.330443, 0.352764, 2.95036], [-0.483356, 0.600469, -0.637027, 2.74429], [-0.00132294, -0.728179, -0.685386, 1.39367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.982474, -0.115957, 0.145936, 3.02211], [-0.185783, 0.672587, -0.716318, 2.60752], [-0.0150923, -0.730877, -0.682343, 1.42951], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.990891, -0.0418171, 0.128004, 2.95237], [-0.123548, 0.660446, -0.740639, 2.56135], [-0.0535683, -0.749708, -0.659597, 1.45055], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.995029, 0.0993561, 0.00665757, 2.97725], [0.0643916, 0.692984, -0.718071, 2.26642], [-0.0759584, -0.714074, -0.695938, 1.43679], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.995375, 0.0945825, -0.0167888, 3.00284], [0.0789988, 0.706547, -0.703243, 2.24364], [-0.0546525, -0.701317, -0.710751, 1.44148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.993708, 0.10168, -0.0469585, 3.06305], [0.107201, 0.742081, -0.661682, 2.03695], [-0.0324328, -0.662553, -0.748313, 1.40837], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.984296, 0.169047, -0.0508175, 3.07713], [0.160961, 0.741361, -0.651517, 1.87449], [-0.0724631, -0.649467, -0.75693, 1.41657], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.950964, 0.258953, -0.169147, 3.06378], [0.305768, 0.70465, -0.640292, 1.6673], [-0.0466164, -0.660614, -0.749277, 1.41934], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.70741, 0.556581, -0.435647, 3.12942], [0.704799, 0.509099, -0.49404, 1.48745], [-0.0531863, -0.656533, -0.75242, 1.42495], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.497389, 0.582716, -0.642686, 3.15831], [0.867014, 0.308433, -0.39135, 1.48037], [-0.0298208, -0.751871, -0.658635, 1.47368], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.179718, 0.561964, -0.807401, 3.13137], [0.983622, 0.0912066, -0.155461, 1.43036], [-0.0137236, -0.822118, -0.569152, 1.52328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[0.192909, 0.516252, -0.834427, 3.14206], [0.980283, -0.138489, 0.140948, 1.40155], [-0.042794, -0.845165, -0.532789, 1.52998], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[0.419994, 0.441611, -0.792833, 3.24078], [0.906623, -0.243147, 0.344839, 1.41445], [-0.0404904, -0.863631, -0.502495, 1.53145], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[0.657228, 0.349214, -0.667907, 3.26648], [0.753159, -0.337583, 0.564613, 1.44006], [-0.0283029, -0.874121, -0.484883, 1.53765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[0.836742, 0.234826, -0.49469, 3.24283], [0.546167, -0.423116, 0.722962, 1.47063], [-0.0395406, -0.875117, -0.482294, 1.53418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.951256, 0.103314, -0.290582, 3.25805], [0.303487, -0.48114, 0.822435, 1.50846], [-0.0548412, -0.870535, -0.489042, 1.52609], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[0.980379, 0.0496231, -0.190773, 3.28719], [0.189262, -0.507518, 0.840598, 1.65577], [-0.0551076, -0.860211, -0.506952, 1.50633], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.999853, 0.00214081, -0.0170046, 3.27391], [0.0154734, -0.539398, 0.841908, 1.77013], [-0.00736982, -0.842048, -0.539352, 1.49374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.95344, -0.207992, 0.218382, 3.17813], [-0.29742, -0.528613, 0.795052, 1.80723], [-0.0499247, -0.822987, -0.565862, 1.49375], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[0.929771, -0.245, 0.274775, 3.16214], [-0.367261, -0.5658, 0.738233, 1.77406], [-0.0253993, -0.787302, -0.616044, 1.45789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[0.921521, -0.278199, 0.270931, 3.16241], [-0.387626, -0.617078, 0.684806, 1.70167], [-0.0233271, -0.736084, -0.676489, 1.42701], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[0.701968, -0.519541, 0.487153, 3.09019], [-0.711316, -0.477206, 0.516045, 1.7173], [-0.0356341, -0.708767, -0.704542, 1.40731], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[0.453195, -0.651592, 0.60831, 3.13885], [-0.8914, -0.327989, 0.312774, 1.71414], [-0.00428143, -0.683996, -0.729473, 1.39986], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.356942, -0.683493, 0.636733, 3.19144], [-0.934111, -0.265066, 0.239116, 1.73144], [0.00534251, -0.68013, -0.733072, 1.3957], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.12486, -0.692392, 0.710635, 3.29332], [-0.991764, -0.107695, 0.0693251, 1.67214], [0.0285315, -0.713439, -0.700137, 1.40655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[-0.23666, -0.629974, 0.739678, 3.30144], [-0.970576, 0.1881, -0.150334, 1.76675], [-0.0444273, -0.753492, -0.655954, 1.43411], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[-0.4696, -0.52024, 0.71332, 3.36176], [-0.880664, 0.333223, -0.33674, 1.79771], [-0.0625089, -0.786328, -0.614638, 1.45672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[-0.644341, -0.468286, 0.604593, 3.4707], [-0.763188, 0.444081, -0.4694, 1.82639], [-0.0486745, -0.763872, -0.64353, 1.45076], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[-0.858102, -0.298881, 0.417529, 3.49881], [-0.510042, 0.590055, -0.625852, 1.95003], [-0.0593099, -0.750003, -0.65877, 1.4397], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[-0.906184, -0.239633, 0.348434, 3.45196], [-0.421669, 0.574423, -0.701593, 2.08573], [-0.0320239, -0.782696, -0.621579, 1.45465], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0720_00"}, {"annotation": [{"question_id": "test-scene0721-0", "question": "Which part of the house is farthest from the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-1", "question": "What piece of furniture, is in between the beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-2", "question": "What is furthest from the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-3", "question": "What color is on a picture above the bed on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-4", "question": "What is placed under a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-5", "question": "The rightmost pillow on the left bed is aligned with what that is sitting close to the edge of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-6", "question": "What is on the bed closest to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-7", "question": "What colors are on the pillows on the bed closest to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-8", "question": "Where is the curtain hung in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-9", "question": "In what corner of the wall is the dark brown wooden desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-10", "question": "Where is the desk located on the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-11", "question": "Where is the nightstand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-12", "question": "What color is the pillow on the bed furthest to the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-13", "question": "What is on the right side of the bed on the left side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-14", "question": "Where is the light on in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-15", "question": "What color is the lamp in the corner behind the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-16", "question": "What color are the doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-17", "question": "What is near the top of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-18", "question": "Where is the burgendy and white bed spread located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-19", "question": "What color are the pillows on the bed furthest to the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-20", "question": "Where is the picture facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-21", "question": "What is to the left of the picture when you are looking at it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-22", "question": "How many pictures are on the line above the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-23", "question": "What sits against the wall between 2 beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-24", "question": "What color is the is the arm chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-25", "question": "In what part of the room is the pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-26", "question": "Where is the pillow closest to the room corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-27", "question": "What color is the desk in the lefthand corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-28", "question": "Where is the brown desk located in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-29", "question": "What color is the pillow on the right hand side of the bed on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-30", "question": "How many parts is the abstract painting divided into?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-31", "question": "Where is the lamp located in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-32", "question": "What is in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-33", "question": "What color is the door leading into the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-34", "question": "Where is the brown door leading into the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-35", "question": "How many brown doors are to your left when you're facing into the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-36", "question": "Which of the two brown doors is closest to the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-37", "question": "How many pieces is the painting hung above the bed divided into?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-38", "question": "What is between the nightstand and the armchair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-39", "question": "Where are the off-white curtains located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-40", "question": "Where is the brown wooden nightstand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-41", "question": "The desk is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-42", "question": "What kind of wood door is located to the left of the closet at the end of the hall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-43", "question": "What is the right-most pillow on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-44", "question": "Which pillow is closest to the armchair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-45", "question": "The bed to the left that has top pillow on right is closest to what object between beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-46", "question": "What color is the office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-47", "question": "Where is the light brown office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-48", "question": "What color are the headboards behind the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-49", "question": "Where are white curtains located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-50", "question": "What color are the closet doors in a hotel room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-51", "question": "When entering a hotel room, what is the direction of the closet doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-52", "question": "How many beds are in the hotel room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-53", "question": "What does the large painting on the wall look like?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-54", "question": "What colors does the painting use?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-55", "question": "How many smaller paintings surround the painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-56", "question": "Where is the painting showing a person with her mouth open and face tilting up?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-57", "question": "Where is a row of paintings located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-58", "question": "Where is the big chair located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-59", "question": "What is the computer chair facing ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-60", "question": "What color is the picture on the tan wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-61", "question": "What color is the door in the center of the hall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-62", "question": "What type of door is to the left of the closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-63", "question": "How long are the curtains?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-64", "question": "The picture above a bed is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-65", "question": "What is a laptop sitting on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-66", "question": "What is sitting on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-67", "question": "What color is the dresser ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-68", "question": "Where is the dresser located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-69", "question": "What color is the cover on the pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-70", "question": "What colors does the abstract picture have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-71", "question": "The picture is centered on what part of the wall between the two beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-72", "question": "What color is the pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-73", "question": "What is in between the bed on the right and the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-74", "question": "What color is the lampshade above the armchair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-75", "question": "Where is the white pillow on the left side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-76", "question": "What type of painting hangs above the beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-77", "question": "What part of the triptych painting is hung above the beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-78", "question": "Where is the tv stand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-79", "question": "What color are the curtains on the right hand side of the large window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-80", "question": "Where are the white curtains located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-81", "question": "What color is the office chair in front of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-82", "question": "Where is the cream colored office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-83", "question": "Where is the brown luggage stand opposite?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-84", "question": "What is the right of a dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-85", "question": "How many pictures are above the beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-86", "question": "What color is the picture on the right hand of the 3 pictures above the beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-87", "question": "What is on the wall to the side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-88", "question": "What is on the wall above the beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-89", "question": "What is located above the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-90", "question": "Where is the large wide picture located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-91", "question": "What is located next to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-92", "question": "Where is a simple lamp located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-93", "question": "What is placed on the wall next to a larger picture?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-94", "question": "What is placed next to a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-95", "question": "What is a luggage stand placed next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-96", "question": "What color curtain is placed next to a window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-97", "question": "Where is a brown curtain placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-98", "question": "Where is the curtain set located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-99", "question": "What is the picture on the wall to the left of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-100", "question": "Where is the brown wooden dresser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-101", "question": "Where is the closet with a brown slatted door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-102", "question": "What is located next to a cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-103", "question": "Where is a luggage stand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-104", "question": "What is located in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-105", "question": "Where is a picture located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-106", "question": "What is between the two beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-107", "question": "Where is the empty bed with a red duvet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-108", "question": "What color is the pillow on the right and side of the right hand bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-109", "question": "What color painting is closest to the pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-110", "question": "What is on top of the brown dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-111", "question": "What color door has a sign on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-112", "question": "Where is the door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-113", "question": "What color sofa is to the right of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-114", "question": "What is closest to the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-115", "question": "How many pictures are on the wall above the beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-116", "question": "What type of chair is sitting between a bed and a window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-117", "question": "Where is the sofa chair sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-118", "question": "What is sitting against the wall between the two beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-119", "question": "Where is the nightstand sitting between the two beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-120", "question": "Where is the picture hung?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-121", "question": "What color is the curtain on the right of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-122", "question": "What color is the wooden desk with white swivel chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-123", "question": "Where is the desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-124", "question": "What color is the bed that does not have a laptop on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-125", "question": "What color is the pillow on the bed with a laptop on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-126", "question": "What is on the right hand white pillow on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-127", "question": "What is to the left of the bed side lamp?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-128", "question": "What is by the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-129", "question": "Where is the big closet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-130", "question": "What is by the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-131", "question": "Where is the small luggage stand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-132", "question": "What type of lamp is by the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-133", "question": "Where is the round lamp located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-134", "question": "The large door is by what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-135", "question": "What color is the door next to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-136", "question": "The large brown door is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-137", "question": "What is on the left side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-138", "question": "How many beds are in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-139", "question": "What side of the bed is the one with a laptop on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-140", "question": "On the left side of the room is the laptop on which of the two beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-141", "question": "What is on the right side of the nightstand on the left side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0721-142", "question": "Which of the two beds is the one on the left side of the room?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.697677, 0.236583, -0.676222, 8.38379], [0.71575, 0.189584, -0.672132, 3.82893], [-0.0308144, -0.952936, -0.301602, 1.59301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.769785, 0.0771712, -0.633622, 8.39835], [0.638192, 0.111639, -0.76174, 3.84828], [0.0119527, -0.990748, -0.135188, 1.5761], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.798548, -0.0182828, -0.601653, 8.43464], [0.601926, -0.0285104, -0.798043, 3.85778], [-0.00256281, -0.999426, 0.0337718, 1.64101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.79983, 0.0300825, -0.599473, 8.42346], [0.598212, 0.121737, -0.792038, 3.8285], [0.0491516, -0.992106, -0.115364, 1.59068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.779169, 0.129508, -0.613289, 8.4092], [0.624147, 0.250462, -0.740074, 3.81416], [0.0577603, -0.959425, -0.275984, 1.50509], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.75181, 0.358115, -0.553657, 8.37433], [0.658736, 0.370799, -0.654657, 3.80407], [-0.0291465, -0.856891, -0.514673, 1.45989], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.465386, 0.544701, -0.697652, 8.25429], [0.884287, 0.252183, -0.39299, 3.68792], [-0.0381264, -0.799816, -0.599033, 1.45958], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.126955, 0.568128, -0.813089, 8.2012], [0.99028, 0.0256451, -0.136702, 3.60015], [-0.0568126, -0.82254, -0.565862, 1.46703], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.097043, 0.58983, -0.801676, 8.21598], [0.993432, -0.106474, 0.0419175, 3.66566], [-0.060633, -0.800478, -0.596288, 1.42354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.147838, 0.681502, -0.716728, 8.24235], [0.985836, -0.159573, 0.0516168, 3.78705], [-0.079193, -0.714207, -0.69544, 1.35556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.203078, 0.726934, -0.655993, 8.24085], [0.976223, -0.202186, 0.0781607, 3.83401], [-0.0758149, -0.656268, -0.750709, 1.31489], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.35456, 0.69732, -0.622922, 8.23993], [0.931989, -0.317276, 0.175308, 3.91367], [-0.0753921, -0.642714, -0.762388, 1.29986], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.619029, 0.506755, -0.600002, 8.26685], [0.781798, -0.470377, 0.409314, 3.94578], [-0.0748053, -0.722457, -0.687357, 1.34698], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.531613, 0.584737, -0.612756, 8.24041], [0.842942, -0.435887, 0.31536, 3.89201], [-0.0826896, -0.684167, -0.724622, 1.32771], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.297414, 0.698226, -0.651172, 8.19037], [0.952492, -0.263856, 0.152116, 3.82066], [-0.0656042, -0.665478, -0.743529, 1.3173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.0416745, 0.681029, -0.73107, 8.15959], [0.998733, -0.0490703, 0.0112209, 3.78924], [-0.028232, -0.730611, -0.68221, 1.36138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.00749764, 0.577636, -0.81626, 8.09299], [0.999936, -0.00257823, -0.0110093, 3.79109], [-0.00846377, -0.816291, -0.577579, 1.44578], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.00504294, 0.491222, -0.87102, 7.92232], [0.999983, 0.00496538, -0.00298932, 3.77896], [0.00285658, -0.87102, -0.491239, 1.50443], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.0123545, 0.440869, -0.897487, 7.7291], [0.99943, -0.033655, -0.00277445, 3.79592], [-0.031428, -0.896941, -0.441033, 1.54644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.10258, 0.420716, -0.901374, 7.50334], [0.994653, 0.0324645, -0.0980429, 3.94231], [-0.0119856, -0.906611, -0.421797, 1.56405], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.0861033, 0.422326, -0.902346, 7.23458], [0.996211, 0.0253703, -0.0831861, 3.91252], [-0.0122388, -0.906089, -0.42291, 1.57535], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.0807, 0.429284, -0.899557, 7.04488], [0.995335, -0.0131775, -0.0955808, 3.91291], [-0.0528852, -0.903073, -0.426218, 1.55492], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.176236, 0.430839, -0.885054, 6.77087], [0.984115, 0.0575536, -0.167945, 3.9789], [-0.021419, -0.900592, -0.434138, 1.55317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.118349, 0.47959, -0.869476, 6.51496], [0.990873, 0.000129223, -0.134802, 3.92576], [-0.0645371, -0.877493, -0.475228, 1.52432], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.243586, 0.490755, -0.836556, 6.2529], [0.968933, 0.085042, -0.232242, 3.93658], [-0.0428317, -0.867138, -0.496224, 1.51116], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.441585, 0.492748, -0.749802, 6.03221], [0.897137, 0.231151, -0.376451, 3.8917], [-0.012178, -0.838909, -0.544135, 1.49104], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.527387, 0.504242, -0.683816, 5.80381], [0.848594, 0.272974, -0.453181, 3.8301], [-0.041849, -0.819283, -0.571859, 1.47281], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.780277, 0.371194, -0.503371, 5.58118], [0.625105, 0.436728, -0.646926, 3.82429], [-0.0202986, -0.819441, -0.572804, 1.47421], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.88023, 0.262674, -0.395219, 5.47694], [0.473728, 0.535314, -0.699301, 3.69691], [0.0278777, -0.802771, -0.595635, 1.47057], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.938363, 0.230758, -0.257345, 5.39672], [0.345063, 0.58191, -0.736419, 3.53702], [-0.0201833, -0.779828, -0.625669, 1.47905], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.98741, 0.0859014, -0.132823, 5.21639], [0.158171, 0.545371, -0.823136, 3.41972], [0.00172925, -0.833781, -0.552092, 1.52355], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.991173, 0.098024, -0.0892601, 5.08663], [0.128297, 0.539557, -0.832117, 3.33606], [-0.0334066, -0.836223, -0.547371, 1.53257], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.997599, 0.0692238, -0.00195271, 5.06385], [0.035958, 0.493687, -0.868896, 3.17975], [-0.0591844, -0.866881, -0.49499, 1.57426], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.971061, -0.0176606, 0.238179, 4.97961], [-0.218655, 0.466925, -0.856838, 3.18184], [-0.0960793, -0.884121, -0.457274, 1.61112], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.880385, -0.0946933, 0.464711, 4.9262], [-0.460874, 0.401985, -0.791204, 3.26105], [-0.111885, -0.910737, -0.397543, 1.6626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.812224, -0.0903935, 0.576301, 4.96731], [-0.56359, 0.376528, -0.735251, 3.34915], [-0.150531, -0.921985, -0.35677, 1.71876], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.737873, -0.126762, 0.662929, 4.86316], [-0.664006, 0.312415, -0.679333, 3.34582], [-0.120996, -0.94145, -0.314693, 1.75587], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.722847, -0.0469304, 0.689413, 4.78608], [-0.679588, 0.228923, -0.696962, 3.34152], [-0.125114, -0.972313, -0.197369, 1.81101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.743541, 0.01669, 0.668483, 4.77286], [-0.651965, 0.204103, -0.730263, 3.31981], [-0.148627, -0.978807, -0.140878, 1.8604], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.829989, 0.0633976, 0.554165, 4.77453], [-0.544626, 0.122377, -0.829703, 3.29023], [-0.120418, -0.990457, -0.0670435, 1.85959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.915121, 0.0776515, 0.395631, 4.79812], [-0.391689, 0.0613775, -0.918049, 3.28308], [-0.0955706, -0.99509, -0.0257526, 1.88562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.977185, 0.0593814, 0.203922, 4.83565], [-0.204263, 0.000327822, -0.978916, 3.28889], [-0.0581962, -0.998235, 0.011809, 1.91619], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.999217, 0.0339612, 0.0203093, 4.84132], [-0.0210654, -0.0220572, -0.999535, 3.28495], [-0.0334974, -0.99918, 0.0227553, 1.8984], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.996113, 0.0394568, -0.0787556, 4.7833], [0.0808612, 0.0549592, -0.995209, 3.28495], [-0.0349393, -0.997709, -0.0579361, 1.84251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.996667, 0.0333184, -0.0744625, 4.70725], [0.0790322, 0.168162, -0.982586, 3.24992], [-0.0202164, -0.985196, -0.170235, 1.74274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.993671, 0.0722691, -0.0859947, 4.61255], [0.101839, 0.256557, -0.961149, 3.238], [-0.0473988, -0.963823, -0.262293, 1.6644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.96849, 0.144003, -0.203202, 4.53866], [0.241251, 0.339812, -0.909025, 3.23287], [-0.0618519, -0.929404, -0.363845, 1.59194], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.904379, 0.235424, -0.355914, 4.55451], [0.422041, 0.370142, -0.827573, 3.1668], [-0.0630918, -0.898649, -0.434108, 1.52211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.837277, 0.339862, -0.428325, 4.43435], [0.541991, 0.412423, -0.732225, 3.19208], [-0.0722037, -0.845223, -0.529514, 1.46615], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.894634, 0.275617, -0.351663, 4.20966], [0.445572, 0.492009, -0.747926, 3.25039], [-0.0331199, -0.825811, -0.562974, 1.45881], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.934861, 0.201297, -0.292428, 3.98293], [0.354941, 0.513273, -0.781389, 3.14625], [-0.00719576, -0.834284, -0.551288, 1.45973], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.984442, 0.117332, -0.130798, 3.72867], [0.172756, 0.510308, -0.842462, 3.08845], [-0.0321004, -0.851951, -0.522638, 1.50095], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.997054, 0.0675286, -0.0363933, 3.54416], [0.0629095, 0.448309, -0.891662, 3.0194], [-0.0438973, -0.891324, -0.451236, 1.55423], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.999646, 0.0227062, 0.0138506, 3.46355], [-0.00524995, 0.34206, -0.939663, 2.82448], [-0.026074, -0.939404, -0.34182, 1.61799], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.994767, 0.0322467, 0.0969546, 3.31028], [-0.0875463, 0.22028, -0.9715, 2.7614], [-0.0526847, -0.974904, -0.216304, 1.67712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.999082, 0.00248381, 0.0427685, 3.10892], [-0.0417623, 0.166107, -0.985223, 2.7515], [-0.00955127, -0.986105, -0.165851, 1.71331], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.996493, -0.00226023, -0.0836513, 3.03365], [0.0831183, 0.0890748, -0.992551, 2.73397], [0.00969467, -0.996022, -0.0885745, 1.73525], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.978399, 0.00998801, -0.206488, 3.04501], [0.206183, -0.0253954, -0.978184, 2.71495], [-0.0150139, -0.999628, 0.0227874, 1.80353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.900699, -0.00671074, -0.434392, 3.02424], [0.43387, -0.0652512, -0.89861, 2.73472], [-0.0223141, -0.997846, 0.0616832, 1.80513], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.813002, 0.02037, -0.581904, 3.01674], [0.581738, -0.0139287, -0.813257, 2.74926], [-0.0246712, -0.999696, -0.000525981, 1.74462], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.773046, 0.125984, -0.621714, 2.95735], [0.63284, 0.0855896, -0.769538, 2.77898], [-0.0437372, -0.988333, -0.145893, 1.66755], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.77555, 0.233338, -0.58658, 2.95069], [0.629045, 0.20742, -0.749186, 2.79864], [-0.0531455, -0.950016, -0.307645, 1.5704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.839864, 0.269454, -0.471193, 2.91519], [0.541273, 0.350739, -0.764203, 2.97783], [-0.0406522, -0.896871, -0.440421, 1.49879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.869752, 0.2974, -0.393808, 2.8885], [0.490912, 0.439963, -0.751957, 3.12147], [-0.050371, -0.847341, -0.528655, 1.43923], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.906211, 0.277784, -0.318775, 2.8098], [0.422688, 0.614437, -0.666185, 3.12686], [0.0108117, -0.738447, -0.674225, 1.33379], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.912375, 0.316486, -0.259633, 2.63568], [0.407525, 0.642299, -0.649135, 3.20349], [-0.0386799, -0.698061, -0.714993, 1.31322], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.966592, 0.180057, -0.182428, 2.39937], [0.25632, 0.676325, -0.690569, 3.26197], [-0.000961408, -0.714258, -0.699882, 1.32854], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.944348, 0.231256, -0.23394, 2.12599], [0.328604, 0.630622, -0.70309, 3.11611], [-0.0150657, -0.740835, -0.671518, 1.3565], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.967265, 0.164583, -0.193161, 1.87134], [0.25364, 0.602685, -0.756596, 3.0465], [-0.0081073, -0.780822, -0.624701, 1.37764], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.982898, 0.13199, -0.128417, 1.68605], [0.182623, 0.608939, -0.771909, 2.95607], [-0.0236864, -0.782159, -0.622629, 1.39295], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.972938, 0.177427, -0.148025, 1.50714], [0.2254, 0.587756, -0.777005, 2.78382], [-0.050859, -0.789343, -0.611843, 1.37684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.996194, 0.0627148, -0.0605382, 1.24506], [0.0865516, 0.62932, -0.772312, 2.71854], [-0.0103377, -0.774612, -0.632352, 1.36809], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.999831, 0.00280318, -0.0181668, 1.06839], [0.0151535, 0.685117, -0.728276, 2.61181], [0.0104048, -0.728428, -0.685044, 1.34983], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.998857, -0.0150673, 0.045378, 0.901761], [-0.0421656, 0.725054, -0.6874, 2.52153], [-0.0225444, -0.688527, -0.72486, 1.34275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.975716, -0.153202, 0.156551, 0.782472], [-0.218996, 0.696767, -0.68305, 2.52184], [-0.00443485, -0.700746, -0.713397, 1.34351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.954722, -0.230603, 0.18796, 0.761733], [-0.295718, 0.666553, -0.684294, 2.41667], [0.0325148, -0.708893, -0.704566, 1.37374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.959386, -0.20276, 0.196132, 0.806039], [-0.281814, 0.657673, -0.698604, 2.2419], [0.0126587, -0.725503, -0.688102, 1.40686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.933022, -0.241271, 0.266943, 0.854526], [-0.359775, 0.637345, -0.681435, 2.07224], [-0.00572461, -0.731833, -0.68146, 1.428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.925071, -0.279334, 0.257327, 0.963647], [-0.379125, 0.638934, -0.669349, 2.13155], [0.0225569, -0.716754, -0.696961, 1.41883], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.970616, -0.169952, 0.170359, 1.16356], [-0.240629, 0.691111, -0.681516, 2.32269], [-0.00191173, -0.702483, -0.711698, 1.41752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.997559, -0.0353606, 0.0602202, 1.32343], [-0.06658, 0.741747, -0.667367, 2.28311], [-0.0210697, -0.669747, -0.74229, 1.38696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.984532, 0.166601, -0.0542366, 1.51129], [0.157065, 0.702057, -0.694584, 2.28117], [-0.0776416, -0.692359, -0.717364, 1.4001], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.947792, 0.268051, -0.172741, 1.65016], [0.308296, 0.631756, -0.711224, 2.35624], [-0.0815147, -0.727347, -0.681412, 1.41622], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.89685, 0.377727, -0.230181, 1.73431], [0.433154, 0.644473, -0.630105, 2.29721], [-0.0896622, -0.664813, -0.741609, 1.37885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.767697, 0.501506, -0.398916, 1.7497], [0.640661, 0.587079, -0.494866, 2.05163], [-0.0139831, -0.635476, -0.771994, 1.39379], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.661452, 0.579511, -0.476076, 1.72351], [0.749983, 0.513302, -0.417188, 1.842], [0.00260573, -0.632999, -0.774148, 1.40465], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.431185, 0.694813, -0.5756, 1.73043], [0.90105, 0.298515, -0.314641, 1.56498], [-0.0467913, -0.654312, -0.754775, 1.42087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.385218, 0.719263, -0.578159, 1.73153], [0.921677, 0.268626, -0.279913, 1.4901], [-0.0460226, -0.640704, -0.766408, 1.40331], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.679877, 0.559303, -0.474287, 1.72875], [0.730667, 0.461629, -0.503015, 1.75693], [-0.0623929, -0.688534, -0.722515, 1.41162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.840905, 0.408509, -0.354964, 1.7457], [0.53898, 0.573047, -0.617347, 1.97818], [-0.0487809, -0.710449, -0.702056, 1.43698], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.89167, 0.338394, -0.300689, 1.71068], [0.448948, 0.57586, -0.68325, 2.11283], [-0.0580529, -0.744228, -0.665399, 1.43704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.946668, 0.239575, -0.215464, 1.62751], [0.319494, 0.611244, -0.724089, 2.36611], [-0.0417728, -0.754311, -0.655187, 1.43612], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.923751, 0.298299, -0.240214, 1.6721], [0.372264, 0.551878, -0.746224, 2.58788], [-0.0900289, -0.778748, -0.620843, 1.45155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.928966, 0.27893, -0.243352, 1.71984], [0.357541, 0.505909, -0.784997, 2.77763], [-0.0958449, -0.816244, -0.569701, 1.47814], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.905839, 0.244601, -0.345869, 1.83519], [0.418021, 0.383797, -0.823382, 2.84834], [-0.0686568, -0.890433, -0.449907, 1.51303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.826423, 0.274275, -0.491732, 2.03501], [0.552514, 0.226865, -0.802036, 2.78885], [-0.108421, -0.934509, -0.339026, 1.60694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.83886, 0.193627, -0.508747, 2.15348], [0.537789, 0.150145, -0.829602, 2.81623], [-0.0842478, -0.969518, -0.230081, 1.66292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.791611, 0.173917, -0.585753, 2.3073], [0.608844, 0.143563, -0.780192, 2.79967], [-0.0515963, -0.97424, -0.219535, 1.66269], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.703284, 0.206643, -0.680214, 2.54523], [0.70588, 0.0893708, -0.702671, 2.70169], [-0.0844108, -0.974326, -0.208718, 1.65897], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.694152, 0.196379, -0.692524, 2.77817], [0.719282, 0.1517, -0.677954, 2.77877], [-0.0280799, -0.968722, -0.246554, 1.60912], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.590091, 0.178858, -0.787276, 3.04318], [0.807316, 0.137769, -0.573812, 2.6847], [0.00583069, -0.974182, -0.225691, 1.59736], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.486418, 0.180158, -0.854951, 3.18362], [0.873626, 0.085428, -0.479041, 2.52354], [-0.0132665, -0.979921, -0.198945, 1.59018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.396917, 0.175626, -0.900896, 3.23848], [0.917548, 0.101287, -0.384508, 2.26507], [0.0237194, -0.979233, -0.201347, 1.58763], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.319023, 0.230391, -0.919317, 3.32196], [0.947579, 0.0592691, -0.313977, 1.95063], [-0.0178505, -0.971292, -0.237222, 1.58861], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.300666, 0.214924, -0.929198, 3.21621], [0.953589, 0.0509922, -0.296764, 1.72209], [-0.0163999, -0.975299, -0.220281, 1.5725], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.282042, 0.213394, -0.93537, 3.11401], [0.9594, 0.0650249, -0.274453, 1.58118], [0.0022558, -0.9748, -0.223069, 1.59451], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.12977, 0.348976, -0.928103, 3.11744], [0.989609, -0.0128705, -0.143209, 1.36854], [-0.0619217, -0.937043, -0.34368, 1.57044], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.0723138, 0.444148, -0.893031, 3.15847], [0.995885, -0.0168822, -0.0890388, 1.29773], [-0.0546227, -0.895795, -0.4411, 1.48679], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.109697, 0.465502, -0.878223, 3.15811], [0.991941, -0.107625, 0.0668546, 1.38718], [-0.0633972, -0.878479, -0.473557, 1.44775], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.271462, 0.485715, -0.830897, 3.1615], [0.959837, -0.20019, 0.196563, 1.45838], [-0.0708633, -0.850885, -0.520551, 1.42099], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.448783, 0.447511, -0.773517, 3.16655], [0.889747, -0.304479, 0.340064, 1.51393], [-0.0833378, -0.840849, -0.534816, 1.41439], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.587955, 0.370714, -0.718944, 3.17195], [0.805252, -0.352492, 0.476781, 1.58818], [-0.0766721, -0.859256, -0.505767, 1.4309], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.593666, 0.335363, -0.731501, 3.15097], [0.801266, -0.330383, 0.498819, 1.76599], [-0.0743901, -0.882258, -0.464852, 1.44925], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.559123, 0.423677, -0.712657, 3.10869], [0.828217, -0.32475, 0.456722, 1.96554], [-0.0379323, -0.845598, -0.532472, 1.41982], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.612644, 0.430294, -0.66296, 2.97748], [0.790131, -0.353609, 0.500653, 2.10982], [-0.0190006, -0.830546, -0.556625, 1.42765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[0.627349, 0.408004, -0.663299, 2.98971], [0.777636, -0.373525, 0.505729, 2.27868], [-0.0414197, -0.833074, -0.551609, 1.43189], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.527994, 0.488248, -0.694865, 3.06523], [0.849248, -0.304379, 0.43143, 2.56293], [-0.000857592, -0.817905, -0.575353, 1.42991], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[0.51004, 0.502228, -0.698303, 2.93833], [0.860145, -0.300829, 0.411889, 2.85542], [-0.00320747, -0.810722, -0.585423, 1.43235], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[0.475853, 0.526445, -0.704571, 2.80493], [0.879099, -0.309629, 0.362375, 3.04776], [-0.0273849, -0.791825, -0.610135, 1.41808], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[0.286503, 0.64229, -0.710901, 2.72188], [0.957645, -0.214329, 0.192301, 3.08974], [-0.0288541, -0.735885, -0.676491, 1.35476], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[0.465024, 0.61829, -0.633617, 2.56245], [0.884501, -0.354856, 0.302881, 3.07724], [-0.0375743, -0.701281, -0.711894, 1.33089], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[0.690864, 0.524544, -0.497556, 2.3531], [0.721182, -0.548568, 0.423049, 3.04938], [-0.051035, -0.651097, -0.757277, 1.29442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[0.802253, 0.446833, -0.395893, 2.0697], [0.595897, -0.639398, 0.485878, 3.11458], [-0.0360264, -0.625708, -0.779225, 1.24378], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[0.947754, 0.201883, -0.246994, 1.81396], [0.313352, -0.734265, 0.602218, 3.15437], [-0.0597815, -0.64815, -0.759163, 1.14145], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[0.970415, 0.124531, -0.206852, 1.74379], [0.239657, -0.60089, 0.762559, 3.2353], [-0.029333, -0.789572, -0.612957, 0.876698], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[0.98306, 0.0776167, -0.166038, 1.76809], [0.179501, -0.590818, 0.786584, 3.26313], [-0.0370464, -0.803063, -0.594741, 0.831049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.985814, 0.0751916, -0.150057, 1.75458], [0.162713, -0.647468, 0.74452, 3.22804], [-0.0411756, -0.758375, -0.650517, 1.02812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[0.966623, 0.153157, -0.205386, 1.72296], [0.25519, -0.646813, 0.718688, 3.15273], [-0.0227742, -0.747112, -0.664308, 1.12879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.903982, 0.270296, -0.331296, 1.65951], [0.427115, -0.606631, 0.670501, 3.11092], [-0.01974, -0.747622, -0.663831, 1.18913], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.619068, 0.565741, -0.544695, 1.69948], [0.78506, -0.427361, 0.448379, 3.2146], [0.0208857, -0.705195, -0.708706, 1.22628], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[0.290247, 0.730656, -0.61798, 1.67614], [0.956779, -0.209282, 0.20193, 3.31027], [0.0182096, -0.64988, -0.759819, 1.25159], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.063316, 0.778899, -0.623946, 1.60521], [0.997436, 0.0702863, -0.0134749, 3.42083], [0.0333593, -0.623199, -0.781352, 1.29118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.391079, 0.722303, -0.570382, 1.5688], [0.920332, 0.311531, -0.236513, 3.57467], [0.00685749, -0.617435, -0.786592, 1.28654], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.545654, 0.680379, -0.489232, 1.4986], [0.837965, 0.449109, -0.310026, 3.61268], [0.00878314, -0.579126, -0.815191, 1.27826], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[-0.472538, 0.716019, -0.513834, 1.51455], [0.879525, 0.420229, -0.223256, 3.48781], [0.0560725, -0.557427, -0.82833, 1.3497], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[-0.0347384, 0.828801, -0.558465, 1.53863], [0.996669, 0.0699882, 0.0418711, 3.20957], [0.0737888, -0.55515, -0.828471, 1.37316], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.312773, 0.80604, -0.502467, 1.40226], [0.946533, -0.220475, 0.235513, 3.08908], [0.0790516, -0.549264, -0.831902, 1.34097], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[0.710791, 0.607542, -0.354501, 1.24729], [0.700414, -0.564888, 0.436261, 2.89434], [0.0647933, -0.558387, -0.827047, 1.3607], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.911014, 0.36469, -0.192497, 1.09906], [0.410093, -0.752149, 0.515846, 2.80085], [0.0433373, -0.548884, -0.834774, 1.33666], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[0.992964, 0.106064, -0.0526714, 0.837934], [0.116801, -0.803794, 0.58333, 2.87902], [0.0195335, -0.585377, -0.810526, 1.36351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[0.9812, -0.157701, 0.111253, 0.640913], [-0.192937, -0.787485, 0.585357, 2.95503], [-0.00470144, -0.595817, -0.803107, 1.37559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[0.932357, -0.286518, 0.220497, 0.696694], [-0.361537, -0.736064, 0.572277, 3.08717], [-0.00166793, -0.613284, -0.789861, 1.3695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[0.837381, -0.440714, 0.323366, 0.72986], [-0.546268, -0.695964, 0.466076, 3.14414], [0.0196449, -0.566927, -0.823533, 1.33637], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[0.923903, -0.273551, 0.267531, 0.718435], [-0.379514, -0.744148, 0.549739, 3.00468], [0.0487011, -0.609437, -0.791337, 1.26857], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[0.95654, -0.18205, 0.227793, 0.809423], [-0.287472, -0.719729, 0.631942, 2.79442], [0.0489045, -0.669962, -0.740783, 1.23317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[0.968319, -0.127352, 0.214802, 0.938275], [-0.244807, -0.653859, 0.715918, 2.63774], [0.0492762, -0.745822, -0.66432, 1.12155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[0.994447, 0.0470576, 0.0941314, 1.04163], [-0.0499943, -0.575839, 0.816033, 2.58322], [0.0926051, -0.816208, -0.570289, 0.877539], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[0.990455, 0.135942, 0.022762, 1.05542], [0.0386697, -0.432567, 0.900772, 2.58942], [0.132299, -0.891295, -0.433695, 0.68231], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[0.990069, 0.118292, 0.0759679, 1.06195], [-0.016341, -0.439873, 0.897911, 2.57529], [0.139632, -0.890235, -0.433571, 0.651845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[0.973512, 0.0279065, 0.226927, 1.10758], [-0.179065, -0.524079, 0.832633, 2.55653], [0.142163, -0.851213, -0.5052, 0.889198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[0.900503, -0.138909, 0.412067, 1.19843], [-0.411591, -0.578035, 0.704606, 2.5541], [0.140313, -0.804102, -0.577696, 1.06204], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[0.821214, -0.218199, 0.527254, 1.36494], [-0.551766, -0.539208, 0.636247, 2.62716], [0.145471, -0.813415, -0.5632, 1.18874], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[0.694316, -0.376012, 0.613629, 1.55195], [-0.718902, -0.40178, 0.567234, 2.7826], [0.0332567, -0.834978, -0.549278, 1.28603], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[0.701438, -0.348281, 0.62184, 1.81356], [-0.709996, -0.417806, 0.566873, 2.87006], [0.0623768, -0.83913, -0.540343, 1.35329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[0.67093, -0.296119, 0.679829, 1.95349], [-0.738762, -0.345951, 0.578403, 3.00102], [0.0639116, -0.890299, -0.45087, 1.44272], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[0.638871, -0.244855, 0.729308, 2.02187], [-0.767298, -0.271391, 0.581035, 3.21834], [0.055658, -0.930803, -0.36126, 1.51519], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[0.641931, -0.217995, 0.735122, 2.17656], [-0.760156, -0.30652, 0.572895, 3.40145], [0.100441, -0.926566, -0.362475, 1.50853], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[0.537205, -0.259734, 0.802465, 2.19941], [-0.832622, -0.315278, 0.455347, 3.66914], [0.13473, -0.912764, -0.385629, 1.5152], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[0.33547, -0.379451, 0.862251, 2.14912], [-0.940148, -0.193008, 0.28084, 3.98953], [0.0598561, -0.904856, -0.421489, 1.50764], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[0.184853, -0.390207, 0.90198, 2.17186], [-0.981576, -0.118466, 0.149916, 4.15575], [0.0483554, -0.913074, -0.404916, 1.47777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[0.139415, -0.356219, 0.923944, 2.18605], [-0.989632, -0.0826579, 0.117459, 4.24482], [0.0345304, -0.93074, -0.364049, 1.46458], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[0.171368, -0.364058, 0.915476, 2.18295], [-0.985169, -0.0551434, 0.162485, 4.25841], [-0.00867155, -0.929743, -0.368108, 1.46588], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[0.179905, -0.427084, 0.886135, 2.18164], [-0.9824, -0.0319794, 0.184036, 4.23142], [-0.0502606, -0.903647, -0.42532, 1.45648], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[0.297014, -0.482864, 0.823787, 2.1807], [-0.952024, -0.0831444, 0.294514, 4.02483], [-0.0737173, -0.871739, -0.484393, 1.46686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[0.523674, -0.369035, 0.767841, 2.21148], [-0.850481, -0.174112, 0.496354, 3.70659], [-0.0494814, -0.912961, -0.405035, 1.53009], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[0.591936, -0.328836, 0.735853, 2.29868], [-0.805031, -0.196818, 0.559631, 3.56765], [-0.0391974, -0.92365, -0.381227, 1.55636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[0.512893, -0.350326, 0.783718, 2.54751], [-0.855603, -0.134281, 0.499913, 3.54752], [-0.0698941, -0.926952, -0.368612, 1.56963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[0.550472, -0.338308, 0.763236, 2.80706], [-0.83413, -0.184809, 0.519686, 3.46293], [-0.0347612, -0.92271, -0.383925, 1.5267], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[0.585482, -0.35853, 0.727095, 3.02603], [-0.810554, -0.242748, 0.532987, 3.4212], [-0.0145906, -0.901404, -0.432733, 1.48712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[0.546044, -0.436305, 0.715175, 3.30676], [-0.837289, -0.25571, 0.48328, 3.43223], [-0.0279802, -0.8627, -0.504942, 1.44389], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[0.728697, -0.392742, 0.56103, 3.59025], [-0.684673, -0.435694, 0.584289, 3.42551], [0.0149622, -0.809892, -0.586389, 1.37193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[0.757128, -0.408653, 0.509669, 3.84465], [-0.650761, -0.540095, 0.533675, 3.58185], [0.0571817, -0.735731, -0.674855, 1.2925], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[0.853883, -0.353807, 0.381715, 4.01415], [-0.516461, -0.666802, 0.537255, 3.66037], [0.0644439, -0.655893, -0.752098, 1.24159], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3460", "pose": [[0.85252, -0.368319, 0.370879, 4.10325], [-0.519655, -0.673647, 0.525508, 3.69216], [0.0562875, -0.640735, -0.765696, 1.25171], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3480", "pose": [[0.522666, -0.617877, 0.587409, 4.14073], [-0.851906, -0.351987, 0.387766, 3.79174], [-0.0328315, -0.703089, -0.710344, 1.32049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3500", "pose": [[0.233854, -0.612022, 0.755475, 4.23178], [-0.971788, -0.122621, 0.201476, 3.80727], [-0.0306705, -0.781277, -0.623431, 1.39055], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3520", "pose": [[0.132902, -0.530505, 0.837198, 4.47074], [-0.991092, -0.0637704, 0.116923, 3.74025], [-0.00863959, -0.84528, -0.534255, 1.45521], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3540", "pose": [[0.0955254, -0.451216, 0.887288, 4.68599], [-0.995135, -0.0216856, 0.0961085, 3.7556], [-0.0241244, -0.892151, -0.451092, 1.5354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3560", "pose": [[0.0171578, -0.37886, 0.925295, 4.94515], [-0.999067, 0.0301857, 0.0308852, 3.83852], [-0.039632, -0.924962, -0.377989, 1.58444], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3580", "pose": [[0.0663505, -0.304322, 0.950256, 5.21717], [-0.997767, -0.0129673, 0.0655151, 3.81126], [-0.00761548, -0.952481, -0.304502, 1.6264], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3600", "pose": [[-0.0284611, -0.262712, 0.964455, 5.50153], [-0.999152, 0.0362061, -0.0196226, 3.93992], [-0.0297641, -0.964195, -0.26352, 1.69595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3620", "pose": [[-0.0801426, -0.217376, 0.972793, 5.76692], [-0.996271, 0.0487617, -0.0711808, 3.98563], [-0.031962, -0.974869, -0.220473, 1.70186], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3640", "pose": [[-0.111747, -0.195336, 0.974349, 6.05022], [-0.993732, 0.0188081, -0.1102, 3.9866], [0.00320023, -0.980556, -0.196213, 1.72383], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3660", "pose": [[-0.243905, -0.0939015, 0.965243, 6.32751], [-0.969469, 0.0495837, -0.24015, 4.11903], [-0.0253099, -0.994346, -0.103128, 1.81187], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3680", "pose": [[-0.308465, -0.0649031, 0.949019, 6.56002], [-0.950751, -0.0108091, -0.309767, 4.08179], [0.0303628, -0.997833, -0.0583725, 1.80321], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3700", "pose": [[-0.331602, -0.228154, 0.915416, 6.72995], [-0.941077, 0.011657, -0.337992, 4.05776], [0.0664432, -0.973555, -0.218576, 1.70659], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3720", "pose": [[-0.451759, -0.320587, 0.83255, 6.93405], [-0.89102, 0.115368, -0.439061, 4.0948], [0.0447075, -0.940167, -0.337768, 1.64122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3740", "pose": [[-0.431091, -0.393804, 0.811837, 7.11041], [-0.901055, 0.140473, -0.410326, 4.0408], [0.047547, -0.908397, -0.415396, 1.55078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3760", "pose": [[-0.476497, -0.481964, 0.735298, 7.23154], [-0.877307, 0.206144, -0.433403, 3.96415], [0.0573072, -0.851596, -0.521057, 1.48616], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0721_00"}, {"annotation": [{"question_id": "test-scene0722-0", "question": "What color is the chair that is pulled out from the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-1", "question": "What color is the coat under the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-2", "question": "How many windows are placed next to the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-3", "question": "What color is the towel on the towel rack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-4", "question": "What is placed behind a closet door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-5", "question": "What color is the dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-6", "question": "Where is the brown dresser placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-7", "question": "What color is the comforter on the left bed in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-8", "question": "Where is the multi-color comforter when one enters the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-9", "question": "What is next to each of the beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-10", "question": "What is underneath a bed in what appears to be a dorm room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-11", "question": "What color is the sleeping bag?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-12", "question": "How many glass panels are in the window on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-13", "question": "What is the window to the right of in what appears to be a dorm room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-14", "question": "What color is the desk in the dorm room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-15", "question": "What is next to the desk in the dorm room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-16", "question": "What color is the bicycle blocking the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-17", "question": "In what part of the room is the door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-18", "question": "What is sitting under a counter next to a purple bedspread?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-19", "question": "What color is the bedspread?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-20", "question": "What does the bed contain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-21", "question": "What is on the side of the bed on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-22", "question": "What is the item between a desk and a bed and under a bunkbed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-23", "question": "Where does the white trash can sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-24", "question": "What is next to the white trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-25", "question": "What color is the only door in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-26", "question": "Where is the desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-27", "question": "What is underneath the wooden dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-28", "question": "How many drawers are on each side of the dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-29", "question": "What kind of blanket does the bed contain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-30", "question": "What color mattress does the bed contain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-31", "question": "What is in front of the working desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-32", "question": "What is on top of the chair next to the computer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-33", "question": "Where is the wooden desk located when you're looking in from the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-34", "question": "What is pulled down behind the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-35", "question": "The door is located near what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-36", "question": "How far is the door open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-37", "question": "What color is the trash can at the far end of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-38", "question": "Where is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-39", "question": "What color is the mini fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-40", "question": "The mini fridge is located underneath what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-41", "question": "Where is the chair locaed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-42", "question": "What colors does the circular chair have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-43", "question": "What color is the trash can located on the floor in front of the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-44", "question": "To the left of the recycling bin, what color is the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-45", "question": "What is on top of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-46", "question": "What color sweatshirt is draped across the back of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-47", "question": "Where is the brown wooden chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-48", "question": "What is draped across the back of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-49", "question": "What type of window is located to the left of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-50", "question": "Where is the double window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-51", "question": "What is just below the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-52", "question": "What color is the cushion in the circular chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-53", "question": "Where is the cushion located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-54", "question": "What is open on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-55", "question": "Where is the closet door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-56", "question": "The door is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-57", "question": "What color is the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-58", "question": "How many levels is the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-59", "question": "What is immediately to your left on the ground as you enter the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-60", "question": "The trashcan is under a table in front of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-61", "question": "What is sitting to the left of a slightly smaller trashcan under a window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-62", "question": "Where is the trashcan sitting to the left of the smaller trashcan?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-63", "question": "What is underneath the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-64", "question": "What is located between the bunk beds ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-65", "question": "What kind of beds are in the room ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-66", "question": "What color is the open door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-67", "question": "Where is the white open door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-68", "question": "What color is the trash can underneath the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-69", "question": "What type of blind is on the wall next to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-70", "question": "What is to the left as you enter the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-71", "question": "What is next to the vent by the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-72", "question": "What is in front of a book case?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-73", "question": "On what side of the bed is a white desk in front of a book case?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-74", "question": "What color is the bookcase above the desk ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-75", "question": "Where is the white bookcase located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-76", "question": "What color is the mini fridge under the foot of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-77", "question": "What color bean bag is next to the mini fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-78", "question": "What color is the container underneath the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-79", "question": "What is to the left of the yellow bucket?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-80", "question": "What color is the wooden desk next to the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-81", "question": "What is on the desk next to the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-82", "question": "What color is the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-83", "question": "Where is a blue trash can placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-84", "question": "What is placed next to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-85", "question": "Where is a white shelf placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-86", "question": "What is to the left of the rainbow colored by small white door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-87", "question": "Where is the white door with window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-88", "question": "What color is the dresser under bed on wall with window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-89", "question": "What is located next to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-90", "question": "Where is the white window door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-91", "question": "What type of bed is located next to a wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-92", "question": "Where is the wooden dresser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-93", "question": "Where is the white shelf for books located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-94", "question": "What type of window is located above the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-95", "question": "What color shirt is next to the dresser drawer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-96", "question": "What color is the wooden dresser under the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-97", "question": "What color bedding is on the brown wooden dresser under the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-98", "question": "What color bean bag is next to the brown wooden dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-99", "question": "What color is the bean bag?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-100", "question": "Where is the mini fridge located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-101", "question": "What kind of sheets are in the loft bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-102", "question": "The chair is located to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-103", "question": "What color is the wooden desk between window with a closed blind and the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-104", "question": "What type of monitor is on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-105", "question": "What is on the right hand side as you walk into the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-106", "question": "On which side of the room is the closet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-107", "question": "What color is the door in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-108", "question": "On what side of the room is the one with tye dye sheets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-109", "question": "What is on the right side of the loft bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-110", "question": "What color is the clothes drawer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-111", "question": "Where is the clothes drawer located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-112", "question": "What is located at the back left of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0722-113", "question": "Where is the closet located once entering the room?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.564428, 0.227853, -0.793413, 2.93399], [0.825481, -0.15392, 0.543039, 2.48992], [0.00161102, -0.961453, -0.274965, 1.44722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.581637, 0.210235, -0.785812, 2.92896], [0.813398, -0.13955, 0.564721, 2.49488], [0.00906409, -0.96764, -0.252173, 1.44929], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.609674, 0.186009, -0.770519, 2.93841], [0.79248, -0.163346, 0.587618, 2.51878], [-0.0165588, -0.968875, -0.246996, 1.44461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.743131, 0.137936, -0.654775, 2.95987], [0.669141, -0.156874, 0.726389, 2.55447], [-0.00252183, -0.977939, -0.208876, 1.43596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.863104, 0.129392, -0.48817, 2.91955], [0.504812, -0.19288, 0.841405, 2.58524], [0.0147128, -0.972654, -0.231794, 1.42718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.93088, 0.0868878, -0.354842, 2.82692], [0.364896, -0.268145, 0.891599, 2.78928], [-0.01768, -0.959452, -0.281316, 1.43158], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.991314, -0.00302645, -0.131483, 2.68425], [0.126035, -0.26378, 0.956313, 3.00635], [-0.0375769, -0.964578, -0.261107, 1.45478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.92902, -0.121185, 0.349622, 2.59935], [-0.36871, -0.223446, 0.902289, 3.22878], [-0.0312223, -0.967153, -0.252268, 1.45909], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.692299, -0.244902, 0.678782, 2.73706], [-0.715713, -0.11301, 0.689191, 3.37942], [-0.0920753, -0.962939, -0.253516, 1.46081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.342354, -0.337171, 0.876989, 2.77013], [-0.93927, -0.0991866, 0.328533, 3.2573], [-0.023786, -0.936204, -0.350651, 1.40058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.170228, -0.382706, 0.908052, 2.88131], [-0.985404, -0.0649399, 0.157359, 3.10226], [-0.0012534, -0.921585, -0.388174, 1.36093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.0911395, -0.352487, 0.931368, 2.90834], [-0.995689, 0.0160524, -0.0913585, 3.07746], [0.017252, -0.935679, -0.352431, 1.37142], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.40033, -0.278711, 0.872959, 2.92971], [-0.91636, 0.126538, -0.379833, 3.02202], [-0.00459923, -0.952002, -0.306056, 1.39461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.647862, -0.180116, 0.740158, 2.97572], [-0.761483, 0.179257, -0.622906, 2.9177], [-0.0204831, -0.967174, -0.253289, 1.44513], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.810054, -0.208638, 0.547981, 3.12799], [-0.586135, 0.262499, -0.766512, 2.69859], [0.0160793, -0.942107, -0.334928, 1.37992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.895358, -0.204977, 0.395372, 3.30241], [-0.444215, 0.347772, -0.825668, 2.63421], [0.0317433, -0.914898, -0.402434, 1.35085], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.947605, -0.150037, 0.282017, 3.46963], [-0.317731, 0.351391, -0.880665, 2.46339], [0.0330338, -0.924129, -0.380651, 1.34896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.986633, -0.0438468, 0.156949, 3.51853], [-0.161797, 0.378373, -0.911403, 2.30805], [-0.0194232, -0.924614, -0.38041, 1.37895], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.984761, 0.0871116, -0.150524, 3.67929], [0.17143, 0.340453, -0.924502, 2.31046], [-0.0292885, -0.936218, -0.350198, 1.43407], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.868062, 0.163617, -0.468719, 3.57017], [0.496455, 0.284482, -0.820124, 2.1521], [-0.000843525, -0.944616, -0.328177, 1.42837], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.71024, 0.255592, -0.655921, 3.54194], [0.701876, 0.328753, -0.631896, 2.19167], [0.054128, -0.909172, -0.412887, 1.35543], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.627634, 0.365962, -0.68713, 3.58557], [0.77154, 0.410228, -0.48625, 2.31364], [0.103931, -0.835336, -0.539827, 1.23255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.632061, 0.363318, -0.68447, 3.50581], [0.767406, 0.416161, -0.487747, 2.42657], [0.107642, -0.833552, -0.541852, 1.23611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.572546, 0.285785, -0.768452, 3.36967], [0.818128, 0.260259, -0.512768, 2.42924], [0.0534551, -0.922276, -0.382819, 1.33041], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.452549, 0.220145, -0.864139, 3.26805], [0.891446, 0.0868103, -0.444734, 2.28712], [-0.0228897, -0.971597, -0.235533, 1.47466], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.386437, 0.109019, -0.91585, 3.11878], [0.92213, 0.025739, -0.386023, 2.29258], [-0.0185109, -0.993706, -0.110477, 1.56138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.19095, 0.31214, -0.930649, 2.89588], [0.981516, 0.0730913, -0.176872, 2.41921], [0.0128134, -0.94722, -0.320327, 1.37272], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.011058, 0.477564, -0.878527, 2.83721], [0.992469, 0.112429, 0.0486242, 2.3587], [0.121993, -0.871374, -0.475211, 1.24885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.095095, 0.444483, -0.890725, 2.71144], [0.992834, 0.0227011, 0.117325, 2.38225], [0.0723692, -0.895499, -0.43914, 1.29549], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.192463, 0.362455, -0.911913, 2.47144], [0.981254, -0.0616482, 0.182594, 2.52089], [0.00996446, -0.92996, -0.367525, 1.35192], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.475941, 0.344395, -0.809242, 2.33768], [0.879033, -0.157035, 0.450157, 2.56124], [0.0279528, -0.925598, -0.377474, 1.35773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.603322, 0.291695, -0.742238, 2.22944], [0.797487, -0.215922, 0.563376, 2.63998], [0.00406836, -0.931822, -0.362893, 1.35133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.719455, 0.137879, -0.680716, 2.07091], [0.692766, -0.212443, 0.689161, 2.79245], [-0.0495928, -0.967397, -0.248361, 1.43119], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.881706, 0.0225487, -0.47126, 1.96353], [0.469677, -0.136595, 0.872207, 2.79769], [-0.0447047, -0.99037, -0.131027, 1.52314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.968251, -0.0090656, -0.249814, 1.99536], [0.247153, -0.115125, 0.962113, 2.85341], [-0.037482, -0.99331, -0.109229, 1.5144], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.976944, 0.111896, -0.181825, 2.01174], [0.208089, -0.308584, 0.928157, 2.81424], [0.0477488, -0.944593, -0.324753, 1.34581], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.974599, 0.185442, -0.125575, 2.04536], [0.195388, -0.429993, 0.881436, 2.7879], [0.109459, -0.883582, -0.455304, 1.23604], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.997839, 0.0556855, -0.0348692, 2.17803], [0.0547427, -0.411176, 0.909911, 2.90584], [0.0363315, -0.909854, -0.413336, 1.33361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.993, -0.0297367, 0.114314, 2.2021], [-0.117836, -0.316287, 0.941317, 2.9164], [0.00816415, -0.948198, -0.317577, 1.39507], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.929363, -0.117344, 0.35002, 2.2904], [-0.369135, -0.307758, 0.876941, 2.89568], [0.00481811, -0.944201, -0.329334, 1.40846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.914423, -0.133056, 0.382266, 2.30667], [-0.401783, -0.412748, 0.817441, 2.84425], [0.0490138, -0.901075, -0.430885, 1.33932], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.89552, -0.180612, 0.406724, 2.34047], [-0.442664, -0.45549, 0.772384, 2.8494], [0.0457569, -0.871727, -0.487851, 1.31537], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.866319, -0.252301, 0.431088, 2.42412], [-0.497882, -0.505427, 0.704739, 2.86714], [0.0400767, -0.825159, -0.563477, 1.26595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.769532, -0.27986, 0.57402, 2.69093], [-0.637856, -0.293202, 0.712161, 2.98506], [-0.0310014, -0.914173, -0.404138, 1.34367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.695887, -0.265152, 0.66741, 2.7926], [-0.716042, -0.184995, 0.673098, 3.0123], [-0.0550061, -0.946293, -0.318596, 1.3995], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.63174, -0.268703, 0.72712, 2.75867], [-0.772559, -0.14117, 0.619051, 3.18137], [-0.0636935, -0.952822, -0.296771, 1.43906], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.506918, -0.240416, 0.827789, 2.91796], [-0.86196, -0.132846, 0.489261, 3.182], [-0.00765733, -0.961536, -0.274571, 1.4452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.405502, -0.334917, 0.850528, 3.15275], [-0.913956, -0.164698, 0.370888, 3.02566], [0.0158636, -0.927742, -0.372885, 1.36479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.391934, -0.447639, 0.803746, 3.20115], [-0.919993, -0.190781, 0.342366, 3.01491], [8.3521e-05, -0.873626, -0.486598, 1.3017], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.625908, -0.434839, 0.647422, 3.33087], [-0.779897, -0.350007, 0.518899, 2.99403], [0.000964612, -0.829705, -0.558201, 1.25485], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.752662, -0.399156, 0.523616, 3.57586], [-0.658284, -0.471566, 0.586761, 2.89827], [0.0127103, -0.786321, -0.617688, 1.2363], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.868754, -0.253842, 0.425243, 3.82378], [-0.491336, -0.54944, 0.675799, 2.92184], [0.0620995, -0.79604, -0.60205, 1.26231], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.973119, -0.0507479, 0.224645, 3.91555], [-0.214727, -0.552579, 0.805325, 2.87736], [0.0832655, -0.831914, -0.548622, 1.30981], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.949404, -0.112442, 0.293237, 3.88619], [-0.304521, -0.557932, 0.771997, 2.89249], [0.0768021, -0.822234, -0.563944, 1.31551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.726096, -0.333484, 0.601309, 3.73113], [-0.687568, -0.344609, 0.639137, 2.92296], [-0.00592539, -0.877515, -0.479512, 1.33098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.43398, -0.469516, 0.768906, 3.50628], [-0.89718, -0.147511, 0.416304, 2.8507], [-0.0820393, -0.870514, -0.485257, 1.31038], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.0267875, -0.576858, 0.816405, 3.41241], [-0.99964, 0.0142882, -0.022704, 2.84414], [0.00143197, -0.816719, -0.577034, 1.2825], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.578887, -0.448126, 0.681229, 3.37522], [-0.81401, 0.268708, -0.514959, 2.804], [0.047715, -0.852631, -0.520331, 1.28756], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.831005, -0.26995, 0.486373, 3.37593], [-0.552442, 0.298166, -0.778399, 2.6784], [0.0651092, -0.915546, -0.396909, 1.36079], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.953799, -0.165542, 0.250729, 3.39538], [-0.289189, 0.279518, -0.915555, 2.64212], [0.0814793, -0.945762, -0.314476, 1.38903], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0722_00"}, {"annotation": [{"question_id": "test-scene0723-0", "question": "What type of trims do the windows have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-1", "question": "What color wall surrounds the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-2", "question": "What color is the ladder?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-3", "question": "What type of bed is on the left of the ladder?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-4", "question": "What is above the single bed on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-5", "question": "What color is the wooden door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-6", "question": "What type of bed is on the right of the doorway and left of the ladder?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-7", "question": "On what side of the ladder is the bunk bed located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-8", "question": "What is the color of the frames of the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-9", "question": "What color is the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-10", "question": "What color are the sheets on the lower bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-11", "question": "What color is the pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-12", "question": "What color is the pillow on the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-13", "question": "What is near the head of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-14", "question": "What is the leaning against the wall at the end of the bunkbeds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-15", "question": "The ladder is leaning against what at the end of the bunkbeds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-16", "question": "What is the leaning against the wall and at the foot of the bunkbeds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-17", "question": "What is the door between the bunkbeds and a single bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-18", "question": "What is standing against a wall and at the end of the bunkbeds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-19", "question": "Where is the ladder standing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-20", "question": "What is the bed pillow with a white pillow case sitting on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-21", "question": "What is the position of the pillow on a single size bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-22", "question": "What is between the bed and the adjoining wall that is resting on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-23", "question": "What is between the bed and the wall in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-24", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-25", "question": "What type of cover does the pillow have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-26", "question": "The window is directly across from what opening into the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-27", "question": "What is on a bed with dark sheets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-28", "question": "Where is the white pillow on a bed with dark sheets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-29", "question": "What color is the cover on the pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-30", "question": "What color is the pillow on a bed with blue sheets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-31", "question": "Where does the white pillow sit on a bed with blue sheets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-32", "question": "What is the frame of the bed made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-33", "question": "Where is the bunk bed located when you enter the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-34", "question": "What is above the bed in the corner behind the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-35", "question": "What color are the sheets on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-36", "question": "What is located on the top bunk of the bunk bed closest to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-37", "question": "What type of pillow is next to the wall on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-38", "question": "Where on the bed is a white pillow placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-39", "question": "What type of bed is located next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-40", "question": "What is located on top of the double bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-41", "question": "What is located next to the window on top of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-42", "question": "What type of window is located next to a bunch of coats?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-43", "question": "A single panel window is located next to a bunch of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-44", "question": "Where is the single bed located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-45", "question": "Where is the white pillow located on the top bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-46", "question": "Where is the window with closed white blinds located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-47", "question": "What color is the door next to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-48", "question": "Where is the large brown door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-49", "question": "In what part of the room is the large bunk bed located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-50", "question": "What is under top bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0723-51", "question": "Where is the large fluffy pillow located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.259943, -0.127991, 0.957104, 1.66112], [-0.965622, 0.0321891, -0.257951, 2.43773], [0.00220713, -0.991253, -0.131958, 1.62392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.256597, -0.0121607, 0.966442, 1.67281], [-0.966508, 0.00780782, -0.256516, 2.36545], [-0.00442641, -0.999896, -0.0137569, 1.64793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.248362, 0.0186322, 0.968488, 1.6444], [-0.968641, 0.00259822, -0.248451, 2.39737], [-0.00714555, -0.999823, 0.0174026, 1.67173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.313949, -0.145368, 0.938245, 1.61042], [-0.949429, 0.0432619, -0.310988, 2.42754], [0.00461739, -0.988431, -0.151598, 1.61953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.372199, -0.271303, 0.887616, 1.58642], [-0.928007, 0.125713, -0.350711, 2.45175], [-0.0164363, -0.954249, -0.298561, 1.57313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.410898, -0.412863, 0.812839, 1.58927], [-0.911587, 0.198891, -0.359793, 2.47998], [-0.0131214, -0.888812, -0.458085, 1.51809], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.382538, -0.557884, 0.736498, 1.73265], [-0.923921, 0.225853, -0.308806, 2.43354], [0.0059379, -0.798596, -0.601838, 1.45044], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.354566, -0.55459, 0.752803, 1.92563], [-0.934486, 0.182689, -0.305551, 2.36944], [0.0319273, -0.811822, -0.583032, 1.46793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.291483, -0.548388, 0.783778, 2.21205], [-0.956107, 0.141372, -0.256657, 2.42446], [0.0299429, -0.824187, -0.565526, 1.47812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.15427, -0.49125, 0.857248, 2.47387], [-0.987252, 0.0422547, -0.153452, 2.38211], [0.0391603, -0.869993, -0.491506, 1.51908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.0733955, -0.3814, 0.921492, 2.67761], [-0.994769, -0.0378232, -0.0948867, 2.36739], [0.0710434, -0.923636, -0.376629, 1.55713], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.127192, -0.243885, 0.961427, 2.91166], [-0.991788, 0.0181742, -0.126599, 2.43606], [0.0134022, -0.969634, -0.244194, 1.62316], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.0320071, -0.252057, 0.967183, 3.09144], [-0.999447, -0.000667192, -0.0332485, 2.49677], [0.00902571, -0.967712, -0.251896, 1.62042], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.00758871, -0.290167, 0.956946, 3.24775], [-0.99847, -0.0546092, -0.00864062, 2.51969], [0.0547652, -0.955417, -0.290138, 1.61611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.327114, -0.323068, 0.888045, 3.42311], [-0.944982, 0.109411, -0.308284, 2.5388], [0.00243433, -0.94003, -0.341083, 1.63341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.698783, -0.275864, 0.660001, 3.60591], [-0.713837, 0.328582, -0.618442, 2.43914], [-0.0462587, -0.90329, -0.42653, 1.62353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.80973, -0.296216, 0.50655, 3.72638], [-0.586137, 0.367198, -0.722225, 2.35441], [0.0279304, -0.881715, -0.470954, 1.60137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.944222, -0.140083, 0.298029, 3.91592], [-0.329094, 0.434146, -0.838579, 2.29786], [-0.0119176, -0.889884, -0.45603, 1.63712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.988526, -0.0279072, 0.148453, 4.0059], [-0.148703, 0.352501, -0.923921, 2.26232], [-0.0265457, -0.935395, -0.352606, 1.72288], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.99887, 0.0462726, 0.0108576, 3.98301], [0.00122949, 0.253521, -0.967329, 2.21102], [-0.0475134, -0.966222, -0.253292, 1.7705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.986568, 0.0408607, -0.158159, 3.97173], [0.162993, 0.182089, -0.969679, 2.10751], [-0.0108228, -0.982433, -0.186303, 1.79084], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.945841, 0.110222, -0.305344, 4.05169], [0.324548, 0.299987, -0.897038, 2.0718], [-0.00727414, -0.947554, -0.319512, 1.73113], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.890913, 0.206689, -0.404417, 4.12328], [0.453923, 0.434776, -0.777768, 2.0782], [0.0150746, -0.876499, -0.481168, 1.60638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.865157, 0.293737, -0.406475, 4.04491], [0.501497, 0.503798, -0.703341, 2.03643], [-0.00181599, -0.812346, -0.583172, 1.52771], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.798863, 0.380268, -0.466063, 3.99556], [0.601488, 0.512084, -0.613174, 1.95766], [0.00549266, -0.770173, -0.637811, 1.483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.705015, 0.457798, -0.54164, 3.97965], [0.709, 0.472728, -0.523304, 1.86851], [0.0164814, -0.75296, -0.657859, 1.45946], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.661403, 0.490109, -0.56775, 3.94229], [0.749753, 0.452666, -0.482664, 1.84814], [0.0204437, -0.744907, -0.666855, 1.45154], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.693192, 0.437772, -0.572574, 3.75634], [0.719921, 0.458702, -0.52087, 1.78095], [0.0346187, -0.773271, -0.63313, 1.48723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.700885, 0.432406, -0.567261, 3.62566], [0.70928, 0.506563, -0.49022, 1.65649], [0.0753792, -0.745935, -0.661739, 1.50191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.576197, 0.524892, -0.626487, 3.57409], [0.814261, 0.434821, -0.38459, 1.4411], [0.0705411, -0.731723, -0.677942, 1.5106], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.699163, 0.453029, -0.553115, 3.58811], [0.711603, 0.515844, -0.476997, 1.46701], [0.0692278, -0.727097, -0.683036, 1.50491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.941126, 0.154316, -0.300779, 3.59288], [0.322924, 0.673591, -0.664827, 1.65199], [0.100008, -0.722815, -0.683766, 1.48703], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.994931, 0.0135193, -0.0996462, 3.66503], [0.0835411, 0.66269, -0.74422, 1.85968], [0.0559732, -0.748772, -0.66046, 1.50204], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.985906, -0.142946, 0.0869258, 3.68295], [-0.157245, 0.614334, -0.773219, 2.02291], [0.0571268, -0.77599, -0.628153, 1.46576], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.9076, -0.316678, 0.275641, 3.65062], [-0.411705, 0.542734, -0.732079, 2.12233], [0.0822333, -0.777917, -0.622963, 1.32275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.941474, -0.23192, 0.244623, 3.73093], [-0.333798, 0.540314, -0.772424, 2.08295], [0.0469672, -0.808872, -0.586106, 1.04175], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.986324, -0.0794733, 0.144389, 3.75274], [-0.164718, 0.445046, -0.880228, 2.0371], [0.00569484, -0.891974, -0.452051, 0.832319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.996226, 0.0266394, -0.0826093, 3.69801], [0.0861606, 0.41866, -0.904047, 1.97804], [0.0105019, -0.907752, -0.419375, 0.794148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.970434, 0.065271, -0.232376, 3.69505], [0.226262, 0.581248, -0.781637, 1.91144], [0.0840497, -0.811104, -0.578831, 1.09533], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.900731, 0.250172, -0.355103, 3.66237], [0.434133, 0.545921, -0.716588, 1.78496], [0.0145875, -0.799615, -0.600336, 1.33799], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.732677, 0.425167, -0.53143, 3.6154], [0.680379, 0.438737, -0.587022, 1.61954], [-0.0164245, -0.791671, -0.610726, 1.41104], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.453387, 0.56048, -0.693039, 3.60722], [0.890626, 0.254342, -0.376955, 1.46784], [-0.0350072, -0.788145, -0.614493, 1.445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.308762, 0.588365, -0.747324, 3.60609], [0.951127, 0.18695, -0.245779, 1.46378], [-0.00489544, -0.786687, -0.617333, 1.46231], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.0878334, 0.603369, -0.792611, 3.65854], [0.995968, -0.0677771, 0.0587738, 1.42591], [-0.0182586, -0.794577, -0.606889, 1.46314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.302206, 0.527659, -0.793882, 3.71847], [0.952643, -0.196713, 0.231895, 1.40365], [-0.0338055, -0.826366, -0.562118, 1.48571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.51694, 0.439784, -0.734413, 3.75718], [0.855094, -0.305215, 0.419115, 1.46102], [-0.0398338, -0.84465, -0.533835, 1.49425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.659956, 0.352505, -0.663474, 3.75759], [0.748399, -0.386035, 0.53933, 1.53539], [-0.0660076, -0.852477, -0.518581, 1.48456], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.739123, 0.292217, -0.606883, 3.6479], [0.672442, -0.372259, 0.639723, 1.72664], [-0.03898, -0.880927, -0.471644, 1.52035], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.809472, 0.213526, -0.546957, 3.53184], [0.586945, -0.319403, 0.74396, 1.82995], [-0.0158452, -0.923249, -0.383876, 1.58885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.896026, 0.0519269, -0.440955, 3.40014], [0.441358, -0.21239, 0.871833, 1.75199], [-0.048383, -0.975804, -0.213226, 1.64581], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.929734, 0.0114944, -0.368052, 3.36714], [0.367627, -0.0861876, 0.925971, 1.74558], [-0.0210779, -0.996213, -0.0843572, 1.7078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.950459, -0.00642116, -0.310785, 3.36251], [0.310101, -0.0498711, 0.949395, 1.75894], [-0.0215954, -0.998735, -0.0454092, 1.74335], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.979103, 0.030136, -0.201121, 3.40329], [0.202873, -0.213587, 0.955627, 1.78851], [-0.0141581, -0.976459, -0.215238, 1.62606], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.991913, 0.0504349, -0.116463, 3.45112], [0.126378, -0.308209, 0.942887, 1.80414], [0.0116596, -0.949981, -0.31209, 1.53732], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.998328, 0.0284936, -0.0502931, 3.49136], [0.0577332, -0.448442, 0.891945, 1.82004], [0.00286119, -0.893357, -0.449338, 1.43546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.998485, -0.0464554, 0.0294978, 3.5605], [-0.0488304, -0.500801, 0.864184, 1.83377], [-0.0253734, -0.864315, -0.502311, 1.38152], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.981235, -0.117674, 0.152744, 3.74942], [-0.191093, -0.48783, 0.851766, 1.88039], [-0.0257175, -0.864971, -0.501162, 1.38876], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.979328, -0.113986, 0.167104, 3.88614], [-0.201327, -0.469267, 0.8598, 1.92791], [-0.0195885, -0.875669, -0.482514, 1.41062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.953597, -0.155116, 0.258053, 3.9775], [-0.299943, -0.414839, 0.859036, 1.95827], [-0.0262, -0.896576, -0.442115, 1.45686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.942582, -0.150543, 0.298121, 4.00172], [-0.331569, -0.314862, 0.889339, 1.96307], [-0.0400173, -0.937122, -0.346699, 1.51754], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.950297, -0.10232, 0.29405, 3.99637], [-0.30858, -0.183993, 0.933234, 1.95546], [-0.041385, -0.977587, -0.206422, 1.59535], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.965264, -0.060504, 0.254174, 3.98795], [-0.259721, -0.116234, 0.958663, 1.94834], [-0.0284593, -0.991377, -0.127911, 1.67719], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.961393, -0.0063048, 0.275106, 3.9354], [-0.274597, -0.0869019, 0.957624, 1.96481], [0.0178696, -0.996197, -0.0852781, 1.72404], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.99378, -0.0102918, 0.110882, 3.70031], [-0.11121, -0.0402782, 0.99298, 2.01977], [-0.00575343, -0.999135, -0.0411722, 1.7708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.998351, -0.045306, 0.0352472, 3.52633], [-0.0366477, -0.0304637, 0.998864, 2.05778], [-0.0441807, -0.998509, -0.0320738, 1.77432], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.999809, -0.0195082, -0.00118658, 3.49218], [-0.000683367, -0.0955741, 0.995422, 2.15364], [-0.0195323, -0.995231, -0.0955691, 1.8094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.99997, 0.00770477, -0.00116497, 3.62884], [0.00177142, -0.079173, 0.996859, 2.36578], [0.00758836, -0.996831, -0.0791842, 1.88067], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.999979, 0.00571538, -0.00291815, 3.71962], [0.0038313, -0.166911, 0.985965, 2.54269], [0.00514808, -0.985955, -0.166929, 1.96156], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.999129, 0.00511333, -0.0414047, 3.61201], [0.04156, -0.208612, 0.977115, 2.56413], [-0.0036412, -0.977985, -0.208643, 1.97608], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.979168, 0.0568313, -0.194938, 3.43361], [0.20233, -0.192109, 0.96029, 2.49934], [0.0171251, -0.979727, -0.199606, 1.97762], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.917503, 0.115172, -0.380688, 3.35264], [0.395304, -0.158527, 0.904768, 2.42092], [0.0438545, -0.980614, -0.190977, 1.972], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.904431, 0.114836, -0.410873, 3.22337], [0.425122, -0.16198, 0.890524, 2.37534], [0.0357114, -0.980089, -0.195319, 1.95638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.904271, 0.0713419, -0.420955, 3.05671], [0.426921, -0.138159, 0.893672, 2.40957], [0.00559772, -0.987837, -0.15539, 1.90506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.93156, 0.0938414, -0.351268, 2.83359], [0.359266, -0.0890819, 0.928974, 2.4846], [0.0558846, -0.991594, -0.116699, 1.87093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.997831, -0.0526415, -0.0395199, 2.63471], [0.0339695, -0.102454, 0.994158, 2.49596], [-0.0563829, -0.993344, -0.100443, 1.8667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.937508, -0.0453251, 0.345, 2.59186], [-0.346984, -0.0473943, 0.936673, 2.51489], [-0.0261038, -0.997847, -0.0601596, 1.88597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.838218, -0.104737, 0.535182, 2.52826], [-0.542788, -0.0655049, 0.837311, 2.47345], [-0.0526406, -0.99234, -0.111758, 1.9048], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.659203, -0.163893, 0.733887, 2.45067], [-0.750731, -0.0875563, 0.65478, 2.48317], [-0.0430574, -0.982585, -0.180757, 1.86887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.48141, -0.174466, 0.858956, 2.33164], [-0.875315, -0.0448411, 0.48147, 2.47179], [-0.0454838, -0.983642, -0.1743, 1.83878], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.297102, -0.159016, 0.941512, 2.21949], [-0.954844, -0.0479601, 0.29321, 2.36592], [-0.00147019, -0.98611, -0.166085, 1.75615], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.0686443, -0.166947, 0.983573, 2.07674], [-0.997588, -0.0216972, 0.0659398, 2.32894], [0.0103323, -0.985727, -0.168033, 1.66128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.0937506, -0.213228, 0.972494, 1.94864], [-0.995532, 0.0310925, -0.0891542, 2.36741], [-0.0112272, -0.976508, -0.21519, 1.58978], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.144379, -0.234303, 0.961383, 1.78904], [-0.989427, 0.0476728, -0.136972, 2.39111], [-0.0137388, -0.970994, -0.238709, 1.5391], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.181449, -0.154715, 0.971154, 1.62393], [-0.983396, 0.0315264, -0.178714, 2.36579], [-0.00296727, -0.987456, -0.157867, 1.57629], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.227135, -0.0884829, 0.969835, 1.53274], [-0.973781, 0.00768192, -0.227359, 2.3622], [0.0126672, -0.996048, -0.0879078, 1.5874], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.263801, -0.208878, 0.94169, 1.51362], [-0.964556, 0.0505668, -0.25899, 2.36613], [0.00647897, -0.976633, -0.214814, 1.52299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.229157, -0.402837, 0.88612, 1.50849], [-0.973374, 0.0897126, -0.210938, 2.36416], [0.00547731, -0.910864, -0.41267, 1.45377], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0723_00"}, {"annotation": [{"question_id": "test-scene0724-0", "question": "What is placed neatly on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-1", "question": "How many panels are in the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-2", "question": "Where is the window located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-3", "question": "What color is the wooden open door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-4", "question": "What is placed on the top buck of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-5", "question": "On what part of the bed is a fluffy white pillow placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-6", "question": "What color frame is on the one panel window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-7", "question": "What is the color jacket that is hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-8", "question": "What is placed on the bed on the bottom bunk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-9", "question": "What is placed on the bed on the top bunk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-10", "question": "What type of window is placed in the hallway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-11", "question": "What color is the wooden door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-12", "question": "What is directly across from the wooden door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-13", "question": "What color is the ladder?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-14", "question": "The ladder is to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-15", "question": "To what side of the door is the ladder located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-16", "question": "What color is the wooden door that is furthest away from the viewpoint?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-17", "question": "What is hanging on the wall behind the open door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-18", "question": "What color is the wooden door on the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-19", "question": "What is the entrance to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-20", "question": "What color is the wooden door that opens into the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-21", "question": "Where does the ladder lead to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-22", "question": "What color is the wooden door in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-23", "question": "Where is the ladder located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-24", "question": "What is located to the left of the bunk bed ladder?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-25", "question": "The window is to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-26", "question": "What color is the pillow on the bottom bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-27", "question": "What color is the wooden door in the hallway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-28", "question": "What is on the bed on the bottom bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-29", "question": "Where is the white pillow located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-30", "question": "What is attached to the top bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-31", "question": "Where is the ladder attached?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-32", "question": "What color is the pillow on the top bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-33", "question": "What color blind does the window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-34", "question": "Where is the window facing the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-35", "question": "What color is the pillow at the end of the bed furthest from the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-36", "question": "On what side of the bed is the pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-37", "question": "What color is the pillow at the door end of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-38", "question": "On what side of the bed is the white pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-39", "question": "What color is the wooden door next to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-40", "question": "What is in the backroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0724-41", "question": "What color is the pillow on the top bed?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.34487, -0.174702, 0.92225, 0.893227], [-0.938257, 0.0926159, -0.333311, 2.26934], [-0.0271847, -0.980256, -0.195856, 1.55], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.346412, -0.281564, 0.89483, 0.855473], [-0.937673, 0.132119, -0.321426, 2.26383], [-0.0277227, -0.950403, -0.309782, 1.49599], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.145753, -0.458302, 0.876764, 0.728571], [-0.989318, 0.069669, -0.128046, 2.11982], [-0.00239959, -0.886062, -0.463561, 1.42366], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.00991402, -0.505821, 0.862581, 0.722483], [-0.999289, 0.0364012, 0.00986063, 2.03125], [-0.0363867, -0.86187, -0.505822, 1.41667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.240388, -0.435685, 0.867405, 0.825783], [-0.970396, -0.086373, 0.225547, 1.90716], [-0.0233471, -0.895945, -0.44355, 1.46668], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.441896, -0.307949, 0.842553, 0.938005], [-0.897031, -0.159998, 0.41199, 1.75469], [0.00793467, -0.937853, -0.346942, 1.5358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.523391, -0.214133, 0.824748, 1.02005], [-0.852075, -0.137712, 0.504979, 1.69873], [0.00544488, -0.967049, -0.254534, 1.60928], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.414867, -0.150494, 0.89735, 1.10538], [-0.9092, -0.0304003, 0.415248, 1.85771], [-0.0352125, -0.988144, -0.149441, 1.66753], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.240147, -0.124542, 0.962714, 1.23112], [-0.970667, -0.0189757, 0.239677, 1.96754], [-0.0115816, -0.992033, -0.125446, 1.69535], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.0985167, -0.0440579, 0.99416, 1.40853], [-0.994425, -0.0421055, 0.0966771, 2.01737], [0.0376003, -0.998141, -0.0479604, 1.72594], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.191576, -0.0349443, 0.980856, 1.57147], [-0.981355, -0.00898902, -0.191993, 2.09613], [0.015526, -0.999349, -0.0325706, 1.7412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.521147, -0.0300394, 0.852938, 1.69534], [-0.853097, -0.0111094, -0.521635, 2.10847], [0.0251453, -0.999487, -0.0198369, 1.74987], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.576008, -0.0344239, 0.816719, 1.82392], [-0.813589, -0.072779, -0.576868, 2.00088], [0.079298, -0.996754, 0.0139144, 1.75366], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.705376, -0.0974651, 0.702101, 1.96999], [-0.706025, 0.00850821, -0.708136, 1.94051], [0.0630449, -0.995203, -0.0748142, 1.76916], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.819326, -0.0736596, 0.568576, 2.24871], [-0.572763, 0.0611526, -0.817437, 1.90706], [0.0254421, -0.995407, -0.0922934, 1.80519], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.889113, -0.0589061, 0.45388, 2.47341], [-0.457686, 0.112015, -0.88203, 1.80491], [0.00111572, -0.991959, -0.126554, 1.84073], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.926459, -0.016494, 0.376034, 2.64737], [-0.375845, 0.0945582, -0.921846, 1.74076], [-0.0203522, -0.995383, -0.0938035, 1.87728], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.983155, 0.0191882, 0.181762, 2.88548], [-0.177142, 0.144886, -0.973462, 1.7094], [-0.0450138, -0.989262, -0.139047, 1.89284], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.987784, -0.0443955, 0.14937, 2.8992], [-0.154724, 0.165528, -0.973992, 1.72224], [0.0185161, -0.985205, -0.170375, 1.87077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.972534, 0.0992272, -0.210551, 2.97197], [0.221999, 0.123542, -0.967189, 1.64234], [-0.0699596, -0.987366, -0.142177, 1.86415], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.872041, 0.137034, -0.469858, 3.00918], [0.482068, 0.0745755, -0.872954, 1.62907], [-0.0845846, -0.987755, -0.131093, 1.86125], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.755861, 0.164714, -0.633675, 3.08964], [0.648987, 0.0605578, -0.758385, 1.6714], [-0.0865425, -0.984481, -0.15267, 1.87467], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.559406, 0.176898, -0.809797, 3.13529], [0.825509, 0.0307058, -0.563552, 1.61472], [-0.0748261, -0.98375, -0.163208, 1.87196], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.428954, 0.259844, -0.865147, 3.13559], [0.898453, 0.0233813, -0.438446, 1.58845], [-0.0936994, -0.965367, -0.243488, 1.74668], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.420774, 0.296565, -0.857321, 3.13546], [0.901954, 0.0356115, -0.430362, 1.60702], [-0.0970999, -0.954349, -0.282473, 1.67609], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.515359, 0.313948, -0.797397, 3.01841], [0.852276, 0.0904643, -0.515211, 1.76211], [-0.0896131, -0.945121, -0.314192, 1.60319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.683742, 0.314265, -0.658586, 2.85631], [0.729631, 0.27998, -0.623899, 1.91098], [-0.0116786, -0.90711, -0.420731, 1.52595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.778322, 0.303332, -0.549731, 2.67557], [0.627591, 0.401706, -0.666905, 1.93193], [0.0185366, -0.864073, -0.503025, 1.43187], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.867214, 0.271935, -0.417123, 2.61856], [0.496721, 0.530927, -0.686575, 1.99339], [0.0347582, -0.802601, -0.595503, 1.38209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.976953, 0.0820167, -0.197071, 2.64096], [0.204561, 0.62348, -0.754605, 2.07824], [0.0609797, -0.777526, -0.625887, 1.38283], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.996675, -0.0262039, -0.0771462, 2.732], [0.0435851, 0.628515, -0.776575, 1.91473], [0.0688369, -0.777356, -0.625284, 1.43615], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.988268, -0.132907, 0.0752541, 2.76673], [-0.143595, 0.640653, -0.754284, 1.85191], [0.0520382, -0.756241, -0.652221, 1.44163], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.843857, -0.40245, 0.354878, 2.61923], [-0.521604, 0.460175, -0.718448, 1.82387], [0.125834, -0.791374, -0.598242, 1.45193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.688565, -0.48223, 0.541601, 2.50994], [-0.71836, 0.351432, -0.60038, 1.86591], [0.0991853, -0.802465, -0.588398, 1.43847], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.579994, -0.505924, 0.638473, 2.28289], [-0.810747, 0.282155, -0.512911, 1.90837], [0.0793457, -0.815125, -0.573825, 1.43842], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.451558, -0.507197, 0.734061, 2.07652], [-0.88889, 0.184479, -0.419336, 1.84666], [0.0772675, -0.841854, -0.534145, 1.44495], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.203146, -0.47673, 0.855255, 1.86091], [-0.978027, 0.0570043, -0.200532, 1.83358], [0.0468465, -0.8772, -0.477835, 1.45565], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.174121, -0.457587, 0.87195, 1.67515], [-0.984116, 0.049725, -0.170424, 1.92926], [0.0346262, -0.887773, -0.458976, 1.46705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.0136987, -0.40006, 0.916387, 1.53859], [-0.999716, -0.0123952, -0.0203556, 1.98003], [0.0195022, -0.916405, -0.399777, 1.49774], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.399125, -0.386708, 0.831358, 1.51316], [-0.915041, -0.225648, 0.334339, 1.87608], [0.0583026, -0.89417, -0.443916, 1.48251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.571797, -0.392631, 0.72034, 1.57815], [-0.820269, -0.28905, 0.493568, 1.92082], [0.0144247, -0.873093, -0.487341, 1.48521], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.517107, -0.389869, 0.761973, 1.79507], [-0.854312, -0.289646, 0.431573, 1.99416], [0.0524456, -0.874132, -0.482848, 1.49374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.703948, -0.292087, 0.647413, 1.99978], [-0.704884, -0.399162, 0.586352, 1.89866], [0.0871566, -0.869112, -0.486876, 1.51786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.750371, -0.262263, 0.606763, 2.17091], [-0.651292, -0.450213, 0.610842, 1.81317], [0.112972, -0.853538, -0.508636, 1.515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.7394, -0.32746, 0.588267, 2.24369], [-0.668048, -0.465419, 0.580601, 1.81002], [0.0836665, -0.822287, -0.562889, 1.4786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.551013, -0.48256, 0.680824, 2.30442], [-0.82801, -0.417686, 0.374084, 1.88254], [0.103853, -0.769853, -0.629715, 1.44811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.5127, -0.527152, 0.67768, 2.35445], [-0.854183, -0.392862, 0.340635, 1.99894], [0.0866676, -0.753505, -0.651704, 1.46241], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.634245, -0.347056, 0.690859, 2.56324], [-0.770689, -0.354795, 0.529301, 2.06837], [0.061416, -0.868143, -0.492499, 1.56535], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.756031, -0.28766, 0.587937, 2.71335], [-0.654477, -0.320132, 0.684964, 2.16381], [-0.00881921, -0.902645, -0.430296, 1.65944], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.879453, -0.187047, 0.437694, 2.87999], [-0.473447, -0.248898, 0.844925, 2.24839], [-0.0490998, -0.950296, -0.307451, 1.71304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.993378, 0.00583588, 0.114746, 3.07015], [-0.109122, -0.26463, 0.958156, 2.19817], [0.0359568, -0.964332, -0.262241, 1.6995], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.9307, 0.116555, -0.346717, 3.09278], [0.363558, -0.190344, 0.911918, 2.08811], [0.0402935, -0.974774, -0.219528, 1.70023], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.708544, 0.212616, -0.672875, 3.18095], [0.705405, -0.187419, 0.683578, 1.94262], [0.0192302, -0.958994, -0.282775, 1.71053], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.523536, 0.190428, -0.830451, 3.18954], [0.851578, -0.0861457, 0.517102, 1.93953], [0.0269308, -0.977914, -0.207264, 1.72358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.370761, 0.145812, -0.917211, 3.13279], [0.927272, -0.00282327, 0.374379, 2.0252], [0.0519993, -0.989308, -0.136254, 1.76097], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.341451, 0.182019, -0.922106, 3.07244], [0.938206, -0.00714528, 0.346003, 2.00221], [0.0563903, -0.983269, -0.173211, 1.73854], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.517574, 0.325274, -0.7914, 2.97501], [0.855046, -0.1622, 0.492532, 1.88306], [0.0318424, -0.931605, -0.362074, 1.65174], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.523748, 0.439162, -0.729949, 2.90235], [0.851177, -0.235149, 0.469257, 1.85968], [0.0344327, -0.867088, -0.496963, 1.5745], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.34128, 0.61055, -0.714673, 2.81891], [0.937575, -0.166956, 0.305091, 1.94909], [0.0669544, -0.77418, -0.629414, 1.48735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.127347, 0.666401, -0.734638, 2.80219], [0.990603, -0.0482023, 0.127992, 1.94437], [0.0498829, -0.744034, -0.666277, 1.47056], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.206202, 0.574271, -0.792271, 2.78888], [0.977684, 0.154167, -0.142712, 1.90673], [0.0401864, -0.804018, -0.593245, 1.49045], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.368955, 0.444828, -0.816088, 2.63608], [0.928206, 0.2217, -0.298801, 1.88218], [0.0480118, -0.867743, -0.49469, 1.50609], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.461926, 0.310029, -0.830967, 2.47562], [0.886607, 0.136594, -0.441893, 1.82241], [-0.0234942, -0.940864, -0.33797, 1.58143], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.638337, 0.18352, -0.747561, 2.29912], [0.769114, 0.112373, -0.629155, 1.80944], [-0.031457, -0.976572, -0.212879, 1.61882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.826189, 0.116157, -0.551289, 2.07679], [0.561132, 0.082081, -0.823646, 1.79613], [-0.0504219, -0.989833, -0.132994, 1.66497], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.965592, 0.0287507, -0.258468, 1.96349], [0.258985, 0.0159324, -0.96575, 1.72158], [-0.023648, -0.99946, -0.0228302, 1.70755], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.99702, -0.0429886, 0.0640638, 1.80721], [-0.066047, 0.0464136, -0.996737, 1.78408], [0.0398749, -0.997997, -0.0491145, 1.70886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.888022, -0.0601922, 0.455845, 1.7122], [-0.459108, 0.0616546, -0.886238, 1.87889], [0.0252397, -0.996281, -0.0823854, 1.7013], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.728738, -0.102213, 0.677121, 1.54195], [-0.684348, 0.073095, -0.725482, 2.00406], [0.0246593, -0.992074, -0.123216, 1.69669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.461903, -0.126085, 0.877923, 1.38293], [-0.886355, 0.0299512, -0.462038, 2.10054], [0.031961, -0.991567, -0.12559, 1.69672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.162699, -0.209065, 0.964272, 1.17916], [-0.98517, -0.0195486, -0.170463, 2.05996], [0.0544882, -0.977706, -0.202784, 1.65114], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0724_00"}, {"annotation": [{"question_id": "test-scene0725-0", "question": "What is on the bottom bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-1", "question": "What color is the door at the end of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-2", "question": "How many windows are in the top half of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-3", "question": "What color is the pillow on the top bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-4", "question": "When facing the bed from the direction of the ladder, where is the white pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-5", "question": "What is used to access the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-6", "question": "What is located on the lower bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-7", "question": "Where is the white pillow located on the lower bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-8", "question": "What color is the ladder to your left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-9", "question": "Where does the ladder lead to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-10", "question": "What color is the pillow on the bottom bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-11", "question": "What color is the door at the opposite end of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-12", "question": "What is on the left side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-13", "question": "Where is the wooden door at the front of the room when it is opened?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-14", "question": "In what part of the room is the bed located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-15", "question": "What color is the pillow at the end of the bed furthest from the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-16", "question": "Where is the ladder located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-17", "question": "What color is the wooden door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-18", "question": "What color wood bunk bed is between a brown and green door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-19", "question": "Where is the brown wooden bunk bed located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-20", "question": "Where is the brown wooden bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-21", "question": "What color is the door with 3 glass panes?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-22", "question": "How many glass panes does the green door have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-23", "question": "How many coat hooks are next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-24", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-25", "question": "What color is the door that has been opened?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-26", "question": "Where is the brown door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-27", "question": "How many ladders is lying on the bed frame?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-28", "question": "What is the ladder lying on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-29", "question": "What is located on the bed of the first bunk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-30", "question": "Where is the white fluffy pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-31", "question": "What is located on the bed of the second bunk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-32", "question": "What type of door is located in the bedroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-33", "question": "Where is a bunk bed with a wooden frame located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-34", "question": "Where is a white pillow found?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-35", "question": "How many steps does a ladder have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-36", "question": "What is the ladder on top of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-37", "question": "When a green door is opened, it leads to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-38", "question": "What type of door is closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-39", "question": "What is placed on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0725-40", "question": "Where is the fluffy white pillow placed?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.991371, 0.049772, -0.121272, 1.27774], [0.130473, 0.464122, -0.87611, 3.83602], [0.012679, -0.884372, -0.46661, 1.21927], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.993966, 0.0160638, -0.108508, 1.29273], [0.104546, 0.438126, -0.892814, 3.8137], [0.0331981, -0.89877, -0.437162, 1.28855], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.979751, 0.070655, -0.187342, 1.37919], [0.200175, 0.366073, -0.908802, 3.73759], [0.00436944, -0.9279, -0.372803, 1.34488], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.929227, 0.139961, -0.34198, 1.51613], [0.367329, 0.249442, -0.896018, 3.63656], [-0.0401034, -0.958222, -0.2832, 1.39965], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.902323, 0.110704, -0.416605, 1.49373], [0.430804, 0.198161, -0.880421, 3.5493], [-0.0149117, -0.973898, -0.226496, 1.44482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.895929, 0.0288694, -0.44326, 1.37163], [0.444195, 0.0621485, -0.893772, 3.44466], [0.00174527, -0.997649, -0.0685042, 1.54419], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.870643, 0.0117271, -0.491777, 1.33959], [0.491852, 0.00448724, -0.870668, 3.29235], [-0.0080037, -0.999921, -0.00967488, 1.62428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.739585, -0.0491157, -0.67127, 1.35971], [0.67218, -0.105001, -0.732905, 3.13675], [-0.0344867, -0.993259, 0.110671, 1.73321], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.782031, -0.0276452, -0.622627, 1.31662], [0.623218, -0.0431481, -0.780858, 2.99851], [-0.00527823, -0.998686, 0.050972, 1.72596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.827882, -0.0135292, -0.560739, 1.30045], [0.56002, 0.0361301, -0.827691, 2.76704], [0.0314574, -0.999255, -0.0223349, 1.7137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.724483, 0.0974863, -0.682365, 1.36561], [0.689294, 0.102433, -0.717205, 2.44634], [-2.07424e-05, -0.989951, -0.141408, 1.68444], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.684643, 0.170124, -0.708747, 1.36691], [0.728056, 0.20583, -0.653888, 2.24347], [0.0346392, -0.963687, -0.26478, 1.64215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.704437, 0.250851, -0.66396, 1.49693], [0.709746, 0.256168, -0.656231, 2.18136], [0.00546932, -0.933516, -0.358494, 1.59343], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.69047, 0.351673, -0.632122, 1.52812], [0.723163, 0.315096, -0.614614, 2.06194], [-0.0169641, -0.881499, -0.471881, 1.52131], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.716522, 0.389141, -0.578936, 1.43094], [0.697481, 0.386756, -0.603275, 1.90259], [-0.0108521, -0.836056, -0.548537, 1.49602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.594775, 0.381687, -0.707502, 1.35012], [0.80379, 0.296399, -0.515819, 1.67012], [0.0128212, -0.875479, -0.483086, 1.55161], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.430106, 0.381579, -0.818173, 1.27231], [0.902332, 0.153204, -0.402897, 1.50988], [-0.0283899, -0.911552, -0.410204, 1.63673], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.307128, 0.293834, -0.905171, 1.18736], [0.951105, 0.0620472, -0.302572, 1.30717], [-0.0327424, -0.953841, -0.298523, 1.69956], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.037115, 0.274966, -0.960738, 1.19154], [0.996847, -0.0572914, -0.054907, 1.14348], [-0.0701395, -0.959745, -0.271973, 1.78061], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.0368412, 0.16338, -0.985876, 1.20242], [0.998999, -0.0310626, 0.0321838, 1.11755], [-0.0253657, -0.986074, -0.164361, 1.84565], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.301746, 0.199259, -0.932334, 1.14634], [0.949406, -0.152102, 0.274763, 1.06345], [-0.0870604, -0.968071, -0.235073, 1.85067], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.399816, 0.352126, -0.84626, 1.13811], [0.915376, -0.201005, 0.348832, 1.09571], [-0.0472695, -0.914114, -0.402693, 1.72259], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.490171, 0.516776, -0.701909, 1.1009], [0.870764, -0.326159, 0.367956, 1.08808], [-0.0387832, -0.791558, -0.609862, 1.61446], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.543862, 0.648667, -0.532397, 1.0808], [0.836985, -0.465107, 0.288328, 1.10418], [-0.0605926, -0.602418, -0.795877, 1.50628], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.538407, 0.7358, -0.410752, 1.04738], [0.83876, -0.514916, 0.17704, 1.14157], [-0.0812369, -0.439842, -0.894394, 1.44502], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.844589, 0.44015, -0.304857, 0.906588], [0.518178, -0.815272, 0.258501, 1.18359], [-0.134762, -0.376297, -0.916646, 1.46605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.94382, 0.255547, -0.209524, 0.976732], [0.31283, -0.895253, 0.317268, 1.23358], [-0.1065, -0.364989, -0.9249, 1.47179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.989182, -0.143159, -0.0320027, 0.997537], [-0.114395, -0.889376, 0.442633, 1.34059], [-0.0918296, -0.434184, -0.896131, 1.50149], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.919898, -0.36962, 0.131032, 1.05189], [-0.375862, -0.735681, 0.563473, 1.36915], [-0.111873, -0.567588, -0.815677, 1.5573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.836476, -0.444394, 0.320659, 1.09975], [-0.541974, -0.584301, 0.604033, 1.36283], [-0.0810671, -0.679049, -0.729603, 1.60539], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.808087, -0.389416, 0.441984, 1.08749], [-0.585331, -0.446496, 0.676779, 1.35404], [-0.0662044, -0.805603, -0.588745, 1.65788], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.793604, -0.311939, 0.522387, 1.11054], [-0.606122, -0.330529, 0.723441, 1.38221], [-0.0530058, -0.890755, -0.451382, 1.72006], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.79761, -0.178206, 0.576248, 1.21205], [-0.601789, -0.170384, 0.78027, 1.49041], [-0.0408655, -0.96913, -0.243142, 1.80159], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.756897, -0.125636, 0.641345, 1.28015], [-0.652014, -0.0782646, 0.754157, 1.611], [-0.0445545, -0.988985, -0.141155, 1.87484], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.60565, -0.0900648, 0.790618, 1.30447], [-0.787747, 0.0725347, 0.611714, 1.77171], [-0.112441, -0.993291, -0.0270177, 1.94853], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.433005, -0.131945, 0.891683, 1.39228], [-0.900071, -0.00975569, 0.435635, 1.82289], [-0.0487807, -0.991209, -0.122984, 1.88889], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.0779554, -0.188452, 0.978984, 1.45163], [-0.994585, 0.0529926, 0.0893987, 1.90921], [-0.0687262, -0.980652, -0.183301, 1.87684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.189918, -0.2268, 0.955245, 1.49991], [-0.981308, 0.074668, -0.177371, 1.97587], [-0.0310984, -0.971075, -0.236741, 1.83712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.362472, -0.234337, 0.902054, 1.62452], [-0.93091, 0.0443523, -0.362546, 1.97498], [0.0449497, -0.971143, -0.234223, 1.89006], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.584768, -0.2427, 0.774044, 1.76561], [-0.81088, 0.148021, -0.566184, 2.06934], [0.0228379, -0.958742, -0.283359, 1.98851], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.768038, -0.220322, 0.601313, 1.7448], [-0.638256, 0.186477, -0.746898, 2.16681], [0.0524267, -0.957436, -0.283843, 1.93748], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.848907, -0.23617, 0.472845, 1.63759], [-0.525336, 0.278607, -0.80399, 2.25168], [0.0581405, -0.930914, -0.36058, 1.82771], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.890461, -0.227418, 0.394159, 1.59242], [-0.448267, 0.28926, -0.845805, 2.27435], [0.0783367, -0.929844, -0.359518, 1.70708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.898792, -0.252135, 0.358611, 1.57516], [-0.428345, 0.331117, -0.840763, 2.41535], [0.0932429, -0.90928, -0.405606, 1.60463], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.895559, -0.269309, 0.354185, 1.5267], [-0.436272, 0.375106, -0.817901, 2.60627], [0.0874114, -0.887, -0.453421, 1.5256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.836807, -0.349959, 0.42105, 1.44346], [-0.53704, 0.375069, -0.755587, 2.80137], [0.106502, -0.858401, -0.501802, 1.44889], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.811166, -0.383541, 0.441482, 1.35392], [-0.573526, 0.3741, -0.728778, 2.99911], [0.114358, -0.844361, -0.523428, 1.41538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.857955, -0.352524, 0.373685, 1.3592], [-0.50433, 0.439493, -0.743302, 3.21106], [0.0978, -0.82618, -0.554853, 1.36229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.932632, -0.251829, 0.25842, 1.31283], [-0.349329, 0.450764, -0.821451, 3.39363], [0.0903788, -0.856384, -0.508368, 1.35615], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.979472, -0.141553, 0.143523, 1.17675], [-0.192728, 0.44886, -0.872571, 3.56271], [0.059093, -0.882319, -0.466927, 1.35728], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.998994, -0.0448112, -0.00214527, 1.20844], [-0.0123765, 0.321246, -0.946915, 3.66651], [0.0431215, -0.945935, -0.321477, 1.41954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.993098, 0.0185311, -0.115823, 1.32014], [0.117296, 0.157252, -0.980568, 3.74398], [4.25177e-05, -0.987385, -0.15834, 1.47955], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0725_00"}, {"annotation": [{"question_id": "test-scene0726-0", "question": "Is their a toilet paper holder?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-1", "question": "What grey object is mounted on the wall above the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-2", "question": "What color is the soap dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-3", "question": "When is the soap dispenser located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-4", "question": "In what part of the room is the trashcan located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-5", "question": "What is the dispenser attached to on the right side of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-6", "question": "On what side of the sink is the soap dispenser mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-7", "question": "Where is the sink built?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-8", "question": "Where is the toilet paper dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-9", "question": "Where is the paper towel dispenser attached?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-10", "question": "What is in the corner of the room next to the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-11", "question": "What color is the toilet brush holder next to the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-12", "question": "What color is the cabinet under the sink and the mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-13", "question": "Where is the cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-14", "question": "What color sink is underneath the mirror and above the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-15", "question": "Where is the white sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-16", "question": "What color is the cabinet/vanity in a small bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-17", "question": "Where is the cabinet/vanity located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-18", "question": "What is mounted to the wall above the cabinet/vanity?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-19", "question": "What color is the door that is the entryway to a small bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-20", "question": "What is on the right of the door as one leaves the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-21", "question": "What color is the vanity below the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-22", "question": "What is affixed to the right side of the white sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-23", "question": "What is to the left of the sink on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-24", "question": "What is installed above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-25", "question": "What is above the toilet in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-26", "question": "Where is the square paper towel dispenser located in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-27", "question": "What is in the corner of the bathroom to the left of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-28", "question": "Where is the sink located in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-29", "question": "What is beside the toilet if you are facing the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-30", "question": "Where is the plunger located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-31", "question": "Where is the cabinet located in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-32", "question": "What is located beside the toilet on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-33", "question": "On what side of the toilet is the plunger located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-34", "question": "Where is the toilet paper dispenser mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-35", "question": "Which side of the bathroom is the wall mounted toilet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-36", "question": "How open is the door to the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-37", "question": "The door is located closest to what on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-38", "question": "What is next to the garbage can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-39", "question": "The large green door is next what small object in corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-40", "question": "What type of toilet paper is on the side of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-41", "question": "Where is the roll of toilet paper located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-42", "question": "What color is the door by the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-43", "question": "Where is the green bathroom door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-44", "question": "What is to the left of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-45", "question": "What shape is the toilet paper shaped like?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-46", "question": "Where is the soap dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-47", "question": "On which side of the sink is the soap dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-48", "question": "What is the cabinet made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-49", "question": "Where does the cabinet sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-50", "question": "What is to the right of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-51", "question": "Where is the toilet paper located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-52", "question": "What color is the toilet paper?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-53", "question": "What is in the left corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-54", "question": "What shape is the trash can in the left corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0726-55", "question": "What color is the trash can?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.917324, -0.251582, 0.308583, 0.581689], [-0.394098, -0.46358, 0.793586, -0.341368], [-0.0565991, -0.849588, -0.524401, 1.47914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.92328, -0.248724, 0.292728, 0.612256], [-0.383185, -0.543019, 0.747194, -0.24505], [-0.026888, -0.802039, -0.596667, 1.46692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.922729, -0.281147, 0.263678, 0.740148], [-0.384916, -0.636213, 0.668634, -0.072372], [-0.020229, -0.718463, -0.695271, 1.42352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.83272, -0.443743, 0.331162, 0.833054], [-0.552952, -0.635527, 0.538841, 0.180071], [-0.0286445, -0.631821, -0.774585, 1.37986], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.638974, -0.626377, 0.4465, 0.947056], [-0.768505, -0.544969, 0.335272, 0.366579], [0.0333223, -0.557368, -0.829597, 1.33606], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.498543, -0.688244, 0.527043, 1.09855], [-0.866197, -0.419365, 0.271725, 0.529202], [0.0340108, -0.59199, -0.805227, 1.36053], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.0577441, -0.824588, 0.562778, 1.23982], [-0.997524, -0.0703175, -0.000678472, 0.67111], [0.0401327, -0.561346, -0.826608, 1.35123], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.159816, -0.841562, 0.515976, 1.38973], [-0.985583, 0.106624, -0.131365, 0.822602], [0.0555358, -0.529532, -0.84647, 1.31344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.397829, -0.835755, 0.378476, 1.64126], [-0.910912, 0.310622, -0.271573, 0.882057], [0.109405, -0.452798, -0.884875, 1.28149], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.753068, -0.626407, 0.201252, 1.7933], [-0.650616, 0.663469, -0.369468, 0.904146], [0.097913, -0.409172, -0.907189, 1.25653], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.85213, -0.495291, 0.168997, 1.77189], [-0.520868, 0.771404, -0.365555, 0.936535], [0.0506915, -0.399526, -0.915319, 1.22591], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.835218, -0.515139, 0.192464, 1.57891], [-0.548191, 0.752218, -0.365586, 1.04476], [0.0435525, -0.410852, -0.910661, 1.19671], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.838948, -0.491209, 0.234262, 1.45337], [-0.543096, 0.72815, -0.418143, 1.12722], [0.0348176, -0.478027, -0.877655, 1.15953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.656347, -0.693748, 0.296515, 1.42415], [-0.750099, 0.557854, -0.355176, 1.15055], [0.0809902, -0.455535, -0.886526, 1.14516], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.437269, -0.852524, 0.286353, 1.47143], [-0.889877, 0.36411, -0.274848, 1.03762], [0.130051, -0.375002, -0.917856, 1.12079], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.232637, -0.918872, 0.318675, 1.48667], [-0.965942, 0.180127, -0.185768, 0.826963], [0.113295, -0.351038, -0.929482, 1.14216], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.237155, -0.924416, 0.298683, 1.41892], [-0.9656, -0.258056, -0.0319867, 0.582276], [0.106646, -0.280822, -0.953816, 1.13954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.313738, -0.900828, 0.300129, 1.41658], [-0.938966, -0.34132, -0.0429202, 0.58965], [0.141104, -0.268346, -0.952932, 1.14409], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.407361, -0.85882, 0.310618, 1.45305], [-0.901911, -0.431782, -0.0110089, 0.699887], [0.143574, -0.275666, -0.950471, 1.17495], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.568336, -0.745265, 0.348674, 1.51013], [-0.815755, -0.565698, 0.120537, 0.823532], [0.107413, -0.352938, -0.929461, 1.22557], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.705132, -0.654848, 0.27196, 1.62071], [-0.704237, -0.691492, 0.160897, 0.857359], [0.0826957, -0.304978, -0.948762, 1.25058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.740674, -0.56906, 0.357172, 1.65248], [-0.659873, -0.716134, 0.227419, 0.86983], [0.126368, -0.404132, -0.90593, 1.32634], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.57568, -0.616944, 0.53663, 1.49883], [-0.807339, -0.532884, 0.253451, 0.862094], [0.129597, -0.579149, -0.804855, 1.43332], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.576131, -0.521982, 0.628973, 1.32505], [-0.808862, -0.474765, 0.346901, 0.736741], [0.117538, -0.708613, -0.695739, 1.51437], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.603687, -0.425784, 0.673995, 1.1846], [-0.79156, -0.420703, 0.443217, 0.630481], [0.0948365, -0.801072, -0.591007, 1.56453], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.550911, -0.40218, 0.731264, 1.0659], [-0.829709, -0.358313, 0.428012, 0.495352], [0.0898837, -0.842534, -0.531091, 1.63445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.450307, -0.377582, 0.809107, 1.06007], [-0.891217, -0.245238, 0.381562, 0.37268], [0.0543528, -0.892911, -0.44694, 1.68425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.507924, -0.305676, 0.805341, 1.09014], [-0.861318, -0.193224, 0.469888, 0.309553], [0.0119779, -0.932323, -0.361428, 1.73527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.580424, -0.252613, 0.77414, 1.0878], [-0.813384, -0.225256, 0.536344, 0.301694], [0.038892, -0.940982, -0.336216, 1.75174], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.65447, -0.265584, 0.707908, 1.06859], [-0.75265, -0.318017, 0.576526, 0.36057], [0.0720111, -0.910126, -0.408025, 1.71479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.685273, -0.309481, 0.659259, 1.04142], [-0.719988, -0.424141, 0.54929, 0.451535], [0.109624, -0.851073, -0.513476, 1.65354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.684021, -0.379556, 0.622939, 0.996063], [-0.722089, -0.473423, 0.504437, 0.574233], [0.103451, -0.794863, -0.597905, 1.61257], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.742539, -0.413467, 0.526954, 1.04719], [-0.660483, -0.582773, 0.473432, 0.755196], [0.111346, -0.699586, -0.70582, 1.51287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.67512, -0.536443, 0.506401, 1.21048], [-0.731729, -0.574167, 0.367292, 1.01112], [0.0937271, -0.618515, -0.780163, 1.46694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.435658, -0.741536, 0.510221, 1.37782], [-0.89843, -0.39287, 0.196153, 1.2924], [0.0549956, -0.543854, -0.837376, 1.44007], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.283361, -0.884232, 0.371266, 1.70625], [-0.959013, -0.261041, 0.110234, 1.4181], [-0.000556558, -0.387285, -0.92196, 1.36647], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.191671, -0.946611, 0.25921, 1.84492], [-0.981459, -0.184796, 0.0508755, 1.4337], [-0.000258386, -0.264155, -0.96448, 1.31799], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.144142, -0.967584, 0.207373, 1.84], [-0.989393, -0.144732, 0.0124058, 1.3949], [0.0180099, -0.206962, -0.978183, 1.2979], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.130453, -0.905506, 0.403782, 1.65696], [-0.991407, -0.115184, 0.0619942, 1.29022], [-0.00962669, -0.4084, -0.912752, 1.35415], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.372898, -0.787015, 0.491482, 1.47097], [-0.926587, -0.343717, 0.152623, 1.16874], [0.0488141, -0.512314, -0.85741, 1.44398], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.69878, -0.569001, 0.433525, 1.4224], [-0.712934, -0.60359, 0.356937, 0.913551], [0.0585742, -0.558495, -0.827437, 1.4672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.78859, -0.403383, 0.464119, 1.27069], [-0.612899, -0.576732, 0.540125, 0.773477], [0.0497952, -0.710396, -0.702039, 1.54986], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.80205, -0.33659, 0.493379, 1.10019], [-0.597118, -0.469692, 0.650261, 0.583272], [0.012865, -0.816147, -0.577701, 1.66532], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.919041, -0.108024, 0.37907, 1.03353], [-0.389268, -0.399819, 0.829828, 0.443644], [0.0619179, -0.910206, -0.409501, 1.73259], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.975503, -0.0268402, 0.21834, 0.994164], [-0.215426, -0.317548, 0.923447, 0.300301], [0.044548, -0.947862, -0.315552, 1.73959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.996713, -0.00615939, 0.0807688, 0.955602], [-0.0803822, -0.198449, 0.976809, 0.168581], [0.0100119, -0.980092, -0.198292, 1.76695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.996263, -0.0376833, -0.0777068, 0.939457], [0.0679913, -0.212555, 0.97478, -0.0356958], [-0.0532499, -0.976422, -0.209198, 1.78594], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.989608, 0.0287711, -0.14088, 0.997237], [0.143568, -0.143518, 0.979178, -0.147464], [0.00795321, -0.989229, -0.146158, 1.78786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.959926, 0.00784462, -0.280141, 1.08393], [0.279927, -0.0748533, 0.957098, -0.281737], [-0.0134614, -0.997164, -0.0740497, 1.80612], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.948, 0.0364367, -0.316176, 1.08533], [0.318268, -0.110274, 0.941565, -0.330393], [-0.000558376, -0.993233, -0.116136, 1.72863], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.944732, 0.110547, -0.308641, 1.08068], [0.32721, -0.259584, 0.908597, -0.296321], [0.0203247, -0.959373, -0.28141, 1.63994], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.939683, 0.19934, -0.277954, 1.07596], [0.340094, -0.457842, 0.821411, -0.266446], [0.0364806, -0.866397, -0.498022, 1.55451], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.946428, 0.246019, -0.209159, 0.971416], [0.317945, -0.596778, 0.736726, -0.145306], [0.0564266, -0.76376, -0.643029, 1.50173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.975872, 0.18482, -0.116255, 0.844292], [0.213691, -0.699122, 0.682322, 0.0865073], [0.0448302, -0.690702, -0.721748, 1.46525], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.969733, 0.228326, -0.0865109, 0.812583], [0.227911, -0.719334, 0.656213, 0.440046], [0.0876003, -0.656068, -0.7496, 1.44686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.977465, 0.198428, -0.0720331, 0.753093], [0.201991, -0.780012, 0.592266, 0.777391], [0.0613352, -0.59347, -0.802516, 1.41419], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.920023, 0.355308, -0.165268, 0.819262], [0.388771, -0.774725, 0.498656, 1.01884], [0.0491395, -0.523027, -0.850899, 1.36084], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.754114, 0.587797, -0.292927, 0.888447], [0.656391, -0.659993, 0.365457, 1.18364], [0.0214849, -0.467872, -0.883535, 1.29648], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.847746, 0.480917, -0.223708, 0.853052], [0.528156, -0.726622, 0.439398, 1.11822], [0.0487625, -0.490651, -0.869991, 1.3115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.976577, 0.184642, -0.110471, 0.811834], [0.214234, -0.78668, 0.578997, 0.878157], [0.0200018, -0.589102, -0.807811, 1.38436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.982006, 0.149291, -0.115658, 0.851774], [0.188113, -0.719185, 0.668869, 0.614002], [0.0166764, -0.67859, -0.734328, 1.43428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.996245, 0.060862, -0.0615741, 0.816793], [0.086426, -0.657155, 0.748783, 0.365691], [0.00510858, -0.751294, -0.659948, 1.47899], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.994511, -0.0758864, 0.0720339, 0.762421], [-0.103069, -0.591997, 0.799322, 0.109248], [-0.018014, -0.80236, -0.596569, 1.50412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.976026, -0.13048, 0.174206, 0.787529], [-0.21721, -0.532899, 0.817825, -0.0898682], [-0.0138755, -0.836058, -0.548465, 1.51242], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.966191, -0.155341, 0.205775, 0.736829], [-0.256811, -0.509121, 0.821488, -0.213307], [-0.0228463, -0.846561, -0.531802, 1.49824], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0726_00"}, {"annotation": [{"question_id": "test-scene0727-0", "question": "What is placed in the wall next to the shower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-1", "question": "What is placed in a fair distance of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-2", "question": "What type of window is placed on top of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-3", "question": "What grey object is mounted on the wall above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-4", "question": "What is placed on the floor next to a white toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-5", "question": "What color is the shower curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-6", "question": "Where is a brown shower curtain placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-7", "question": "Where is the toilet in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-8", "question": "Where is the green wooden door placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-9", "question": "What is placed next to the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-10", "question": "Where is a pack of toilet rolls placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-11", "question": "What is placed to the left of sink on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-12", "question": "Where is a black trash can placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-13", "question": "What is placed on top of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-14", "question": "What color shower curtain is hung on a shower railing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-15", "question": "On what is a brown shower curtain hung?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-16", "question": "What is in the middle of the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-17", "question": "What color is the wrapper of toilet paper?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-18", "question": "What color is the paint on the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-19", "question": "Where is the cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-20", "question": "What color is the cabinet under the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-21", "question": "Where is the hand sanitizer located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-22", "question": "What is in the corner next to the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-23", "question": "What is sitting on the ground next to the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-24", "question": "Where is the trash can sitting next to the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-25", "question": "What is on the right side of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-26", "question": "What is on top of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-27", "question": "What is next to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-28", "question": "Where is the sink built?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-29", "question": "What color is the handle on the green door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-30", "question": "Where is the door to the shower cubicle located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-31", "question": "What is to the right of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-32", "question": "What type of toilet faces the open door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-33", "question": "Where is the toilet located in the shower cubicle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-34", "question": "What color are the hand rails?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-35", "question": "Where is the toilet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-36", "question": "What color is the hand rail on the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-37", "question": "What color is the object above the silver hand rail?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-38", "question": "Where is the object on the side of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-39", "question": "What is in the white counter underneath the mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-40", "question": "What color is the sink underneath the mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-41", "question": "What is located directly to the right of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-42", "question": "Where is the shower curtain located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-43", "question": "What color is the paper towel dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-44", "question": "What is on the left of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-45", "question": "Where is the white toilet paper dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-46", "question": "What color is the cabinet in the house?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-47", "question": "What color toilet is to the left of the shower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-48", "question": "Where is the white toilet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-49", "question": "What is above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-50", "question": "What is mounted on the wall above a handrail?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-51", "question": "How many rolls of green and white toilet paper are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-52", "question": "Where are the rolls of green and white toilet paper located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-53", "question": "What are under the hand rail and in front of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-54", "question": "Where are the rolls of green and white toilet paper found?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-55", "question": "What is located on the floor and to the right of the bathroom sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-56", "question": "Where is the black trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-57", "question": "What color is the door with a black sign on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-58", "question": "What color is the shower curtain on the shower cubicle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-59", "question": "What is to the right of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-60", "question": "What color is the cabinet underneath the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-61", "question": "What small object is to the right of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-62", "question": "What color is the object on the wall to the side of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-63", "question": "What color is the hand rail above the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-64", "question": "What color is the trash can on the right of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-65", "question": "Where is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-66", "question": "What color is the door against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-67", "question": "What kind of dispenser is on the wall by the mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-68", "question": "The paper towel dispenser is on the wall by what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-69", "question": "What is on the right of the mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-70", "question": "The window is on the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-71", "question": "What is in the corner of the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0727-72", "question": "Where is the toilet located in the bathroom?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.999047, -0.0322612, -0.029405, 2.92066], [0.021908, -0.212082, 0.977006, 1.8931], [-0.0377557, -0.976719, -0.211173, 1.60391], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.998082, -0.0149217, -0.06007, 2.97186], [0.0542417, -0.256623, 0.964988, 1.90583], [-0.0298146, -0.966396, -0.255321, 1.5986], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.991615, 0.0298412, -0.125735, 3.00892], [0.127533, -0.383079, 0.914869, 1.89461], [-0.0208658, -0.923234, -0.383672, 1.54901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.990824, 0.04591, -0.127122, 3.02122], [0.130754, -0.563724, 0.815548, 1.88017], [-0.0342198, -0.824686, -0.564554, 1.49476], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.99486, 0.0408401, -0.0926579, 3.00038], [0.0976236, -0.629843, 0.770563, 1.92413], [-0.02689, -0.775648, -0.630593, 1.47649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.999378, 0.0126193, -0.0329126, 2.93008], [0.0344149, -0.551247, 0.833632, 2.06701], [-0.00762311, -0.834247, -0.551339, 1.51689], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.996588, -0.0656549, 0.0500032, 2.90207], [-0.0723268, -0.403036, 0.912321, 2.20129], [-0.0397453, -0.912826, -0.40641, 1.59627], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.980355, -0.102394, 0.168577, 2.97128], [-0.190177, -0.264094, 0.945561, 2.30445], [-0.0522995, -0.959046, -0.278379, 1.67682], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.98147, -0.0333032, 0.188699, 3.00883], [-0.191561, -0.147216, 0.970377, 2.44076], [-0.0045371, -0.988543, -0.150868, 1.72746], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.945, -0.0199743, 0.326459, 2.91381], [-0.327029, -0.0732979, 0.942167, 2.56614], [0.00510953, -0.99711, -0.0757986, 1.81612], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.971366, -0.0544602, 0.231261, 2.82735], [-0.237428, -0.186966, 0.953242, 2.70969], [-0.00867596, -0.980856, -0.194543, 1.74586], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.995247, -0.000713207, 0.0973729, 2.8703], [-0.0920267, -0.33374, 0.938162, 2.88099], [0.0318282, -0.942665, -0.33222, 1.66812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.996666, 0.000442706, 0.0815827, 2.80712], [-0.072607, -0.451198, 0.889465, 3.0101], [0.0372038, -0.892424, -0.449662, 1.60103], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.997108, -0.0337005, 0.0681146, 2.71611], [-0.0753376, -0.556013, 0.827752, 3.19857], [0.00997698, -0.83049, -0.556944, 1.54614], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.987459, 0.116712, -0.106315, 2.75964], [0.154789, -0.58321, 0.797437, 3.41729], [0.0310664, -0.803893, -0.593961, 1.51246], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.965899, 0.210457, -0.150821, 2.74189], [0.254042, -0.657797, 0.709059, 3.62177], [0.0500168, -0.723194, -0.688831, 1.45225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.960631, 0.251369, -0.118329, 2.69668], [0.267368, -0.720659, 0.639659, 3.89903], [0.0755156, -0.646114, -0.759496, 1.41555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.788549, 0.537512, -0.298782, 2.78572], [0.60986, -0.62099, 0.492383, 4.0916], [0.0791213, -0.570484, -0.817489, 1.37917], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.642981, 0.650968, -0.403504, 2.78822], [0.762187, -0.492182, 0.420508, 4.1538], [0.0751391, -0.577925, -0.812624, 1.40053], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.647892, 0.634026, -0.422191, 2.66952], [0.75559, -0.464689, 0.461678, 4.17541], [0.0965281, -0.618122, -0.780133, 1.42813], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.626185, 0.638218, -0.44785, 2.58498], [0.776317, -0.457119, 0.434021, 4.24296], [0.0722796, -0.619452, -0.7817, 1.43269], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.469753, 0.723204, -0.506269, 2.51784], [0.879736, -0.335776, 0.336628, 4.42752], [0.0734576, -0.603515, -0.793961, 1.43329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.286924, 0.807462, -0.515441, 2.43797], [0.955721, -0.204576, 0.211531, 4.52842], [0.0653563, -0.553312, -0.830406, 1.41147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.182578, 0.774861, -0.60519, 2.40835], [0.980669, -0.0994634, 0.168506, 4.48532], [0.0703744, -0.624257, -0.778043, 1.44786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.211017, 0.663231, -0.71805, 2.49352], [0.97271, -0.0699758, 0.221221, 4.40239], [0.0964745, -0.745136, -0.659898, 1.51605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.298933, 0.515606, -0.802987, 2.62468], [0.952562, -0.110844, 0.283442, 4.24562], [0.057138, -0.849626, -0.524282, 1.58138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.309508, 0.3868, -0.868672, 2.71969], [0.949846, -0.0828256, 0.301549, 4.1685], [0.0446911, -0.918437, -0.393036, 1.62822], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.386354, 0.412087, -0.825175, 2.6226], [0.920492, -0.115506, 0.373299, 4.26007], [0.0585188, -0.903794, -0.423949, 1.61192], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.440698, 0.380903, -0.812833, 2.53193], [0.893972, -0.104294, 0.435816, 4.30434], [0.0812301, -0.918714, -0.386479, 1.63377], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.597644, 0.287541, -0.748426, 2.45457], [0.801306, -0.245662, 0.545488, 4.14071], [-0.0270097, -0.925727, -0.377226, 1.6763], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.667845, 0.281319, -0.689088, 2.40586], [0.74429, -0.247699, 0.620223, 4.11059], [0.00379393, -0.927095, -0.374808, 1.67376], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.684271, 0.305329, -0.662229, 2.35721], [0.729088, -0.268688, 0.629473, 4.12355], [0.0142635, -0.913554, -0.406467, 1.64477], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.756432, 0.316585, -0.572349, 2.35011], [0.654006, -0.378502, 0.654989, 4.0047], [-0.00927565, -0.869775, -0.49336, 1.58421], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.827876, 0.304905, -0.470801, 2.37552], [0.558736, -0.522124, 0.64436, 3.94602], [-0.0493482, -0.796504, -0.602616, 1.49786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.864655, 0.31527, -0.391121, 2.41095], [0.499902, -0.616976, 0.607813, 3.94329], [-0.0496877, -0.721072, -0.691076, 1.4021], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.882414, 0.358531, -0.304632, 2.48349], [0.469984, -0.642221, 0.605529, 3.83481], [0.0214602, -0.6775, -0.73521, 1.35523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.906491, 0.341054, -0.248907, 2.51547], [0.419631, -0.6625, 0.620486, 3.69214], [0.0467184, -0.666915, -0.743668, 1.33182], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.943335, 0.276991, -0.182741, 2.49106], [0.327406, -0.687151, 0.648558, 3.39054], [0.0540742, -0.671639, -0.738903, 1.33872], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.892533, 0.379663, -0.243394, 2.50145], [0.442511, -0.633155, 0.635057, 3.15529], [0.0870017, -0.674515, -0.733117, 1.32692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.712514, 0.556382, -0.427506, 2.45847], [0.700017, -0.522028, 0.487302, 2.94479], [0.0479557, -0.646472, -0.761429, 1.34378], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.560245, 0.671104, -0.485535, 2.35056], [0.825269, -0.401913, 0.396731, 2.93987], [0.0711044, -0.622964, -0.779012, 1.32464], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.287126, 0.782845, -0.552007, 2.31797], [0.95611, -0.199081, 0.214987, 2.92297], [0.0584074, -0.589508, -0.805648, 1.31769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.185736, 0.780531, -0.596885, 2.39906], [0.97713, 0.210722, -0.0285043, 3.02535], [0.103528, -0.588529, -0.80182, 1.32475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.201269, 0.76861, -0.60723, 2.40261], [0.97691, 0.202867, -0.0670194, 3.09019], [0.071675, -0.606698, -0.791694, 1.34352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.428107, 0.674634, -0.601326, 2.34659], [0.898566, 0.388769, -0.20356, 3.11663], [0.0964487, -0.627477, -0.772639, 1.39467], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.691492, 0.445151, -0.568927, 2.32765], [0.722029, 0.450571, -0.525032, 3.28417], [0.0226231, -0.773838, -0.632979, 1.49864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.797208, 0.274631, -0.537621, 2.42215], [0.602937, 0.407067, -0.686122, 3.54391], [0.030417, -0.871134, -0.490102, 1.56646], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.777396, 0.220563, -0.589072, 2.53814], [0.628011, 0.219385, -0.74664, 3.66749], [-0.0354481, -0.95038, -0.309065, 1.65323], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.738842, 0.143073, -0.658515, 2.57177], [0.672934, 0.104919, -0.732224, 3.7289], [-0.0356711, -0.984135, -0.173797, 1.72184], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.659284, 0.181714, -0.729605, 2.49668], [0.750401, 0.0979024, -0.653692, 3.69826], [-0.0473547, -0.978466, -0.200904, 1.69233], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.640321, 0.299036, -0.707507, 2.38972], [0.768079, 0.257165, -0.586447, 3.5855], [0.00657667, -0.918936, -0.394352, 1.6019], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.53718, 0.446057, -0.715871, 2.32585], [0.843458, 0.280027, -0.458436, 3.37915], [-0.00402552, -0.850069, -0.526655, 1.54258], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.350001, 0.619658, -0.702511, 2.24385], [0.936395, 0.210822, -0.280568, 3.23395], [-0.0257514, -0.756027, -0.654033, 1.4725], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.325242, 0.674206, -0.663071, 2.00609], [0.945602, 0.226434, -0.23359, 3.14777], [-0.00734593, -0.702975, -0.711177, 1.4104], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.25188, 0.759022, -0.600367, 1.80999], [0.967749, 0.194927, -0.159574, 3.09626], [-0.00409241, -0.621199, -0.783642, 1.36363], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.115854, 0.86655, -0.485458, 1.58561], [0.993238, 0.097398, -0.063178, 3.00552], [-0.00746414, -0.489495, -0.871974, 1.27392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.0156651, 0.91295, -0.407771, 1.47866], [0.999703, 0.0219115, 0.0106516, 2.96055], [0.0186593, -0.407483, -0.913022, 1.22179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.0849358, 0.90584, -0.415018, 1.50916], [0.99625, 0.0703209, -0.050403, 2.87872], [-0.0164726, -0.417743, -0.908416, 1.18655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.0416664, 0.893658, -0.446809, 1.56342], [0.999002, 0.0300816, -0.0329949, 3.04617], [-0.0160455, -0.447739, -0.89402, 1.1849], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.363765, 0.822889, -0.436494, 1.635], [0.931159, 0.308744, -0.193958, 3.37705], [-0.0248406, -0.477001, -0.878552, 1.17097], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.63295, 0.652919, -0.416018, 1.55727], [0.772981, 0.563008, -0.292439, 3.48964], [0.0432824, -0.506673, -0.861051, 1.07575], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.662826, 0.60097, -0.44665, 1.45403], [0.746156, 0.57996, -0.326952, 3.52584], [0.0625509, -0.549983, -0.83283, 0.913512], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.662207, 0.582139, -0.4718, 1.56533], [0.74485, 0.580069, -0.329724, 3.42656], [0.0817313, -0.569766, -0.817732, 1.09573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.531209, 0.663882, -0.526381, 1.68745], [0.842324, 0.480663, -0.243829, 3.19966], [0.0911384, -0.572908, -0.814537, 1.21002], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.209601, 0.768805, -0.604157, 1.74479], [0.976986, 0.18966, -0.0976002, 2.89676], [0.0395491, -0.610711, -0.790865, 1.27306], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.102621, 0.740203, -0.664505, 1.85931], [0.994641, -0.0848007, 0.0591437, 2.84186], [-0.0125721, -0.667014, -0.744939, 1.36071], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.334563, 0.712313, -0.61699, 1.89104], [0.942366, -0.255351, 0.216197, 2.87557], [-0.00354919, -0.653763, -0.756691, 1.40298], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.534342, 0.641632, -0.55026, 1.74812], [0.84523, -0.411739, 0.340669, 3.01515], [-0.00797902, -0.647131, -0.762337, 1.42825], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.771241, 0.438765, -0.461164, 1.62471], [0.636245, -0.509194, 0.579579, 3.15827], [0.019477, -0.740409, -0.671874, 1.51723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.805107, 0.371281, -0.46255, 1.57367], [0.592126, -0.457773, 0.663197, 3.25174], [0.0344896, -0.807832, -0.588402, 1.56813], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.788297, 0.292766, -0.541179, 1.5286], [0.612994, -0.2977, 0.731855, 3.3571], [0.053153, -0.90866, -0.41414, 1.64762], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.574394, 0.586856, -0.570676, 1.57623], [0.816316, -0.358853, 0.452605, 3.66106], [0.0608252, -0.725826, -0.685184, 1.42779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.196683, 0.709461, -0.676743, 1.76938], [0.979803, -0.116829, 0.162285, 3.67458], [0.0360721, -0.694994, -0.718111, 1.37527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.0783166, 0.668095, -0.739942, 1.9245], [0.996373, 0.0772189, -0.0357367, 3.61006], [0.0332622, -0.740058, -0.67172, 1.38869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.335794, 0.630511, -0.699784, 2.15166], [0.941182, 0.254293, -0.222511, 3.60025], [0.0376548, -0.733342, -0.678816, 1.41705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.778263, 0.379974, -0.499926, 2.22464], [0.625048, 0.545065, -0.558765, 3.66808], [0.060176, -0.747345, -0.661706, 1.41568], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.916257, 0.199438, -0.347414, 2.26683], [0.399805, 0.509501, -0.761947, 3.74051], [0.0250462, -0.837038, -0.546571, 1.45364], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.924424, 0.17645, -0.338091, 2.33769], [0.379373, 0.334949, -0.862488, 3.72291], [-0.0389427, -0.925567, -0.376576, 1.54723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.981429, 0.0588454, -0.182578, 2.24398], [0.190388, 0.182473, -0.964601, 3.68437], [-0.0234469, -0.981448, -0.190288, 1.63058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.993612, -0.0711432, 0.0876024, 2.17833], [-0.0924895, 0.0685762, -0.993349, 3.65995], [0.0646626, -0.995106, -0.0747182, 1.70738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.957844, 0.0191882, 0.286648, 2.24673], [-0.286742, -0.0022358, -0.958005, 3.56014], [-0.0177415, -0.999813, 0.00764361, 1.75], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.793373, 0.000125945, 0.608736, 2.20814], [-0.608004, 0.0488643, -0.792428, 3.42326], [-0.0298454, -0.998805, -0.0386912, 1.76206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.494027, -0.0932987, 0.864426, 2.18382], [-0.86938, 0.040703, -0.492465, 3.26347], [0.0107616, -0.994806, -0.10122, 1.73208], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.273525, -0.162061, 0.948114, 2.31889], [-0.959474, -0.0234763, -0.280815, 3.20206], [0.0677673, -0.986501, -0.149072, 1.71577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.0371219, -0.204245, 0.978215, 2.40944], [-0.997984, -0.0428383, -0.0468162, 3.26356], [0.051467, -0.977982, -0.202243, 1.67646], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.256627, -0.291722, 0.921434, 2.46671], [-0.963263, -0.155277, 0.219117, 3.16615], [0.079156, -0.943815, -0.320854, 1.65312], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.438883, -0.298611, 0.847474, 2.58985], [-0.889391, -0.27864, 0.362411, 3.20755], [0.12792, -0.912793, -0.387873, 1.61547], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.706761, -0.276889, 0.651015, 2.68097], [-0.704973, -0.352606, 0.61537, 3.20764], [0.0591621, -0.893869, -0.444408, 1.61088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.930424, -0.0665025, 0.3604, 2.82874], [-0.356053, -0.396985, 0.845948, 3.0916], [0.0868156, -0.915413, -0.393043, 1.62961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.992848, -0.00392233, 0.119321, 2.82929], [-0.115635, -0.280126, 0.952973, 2.95601], [0.0296871, -0.959955, -0.278576, 1.65701], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.997452, -0.0160354, 0.069515, 2.82126], [-0.0711015, -0.303104, 0.950301, 2.72648], [0.00583189, -0.952822, -0.303472, 1.67502], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0727_00"}, {"annotation": [{"question_id": "test-scene0728-0", "question": "What color shower curtain is currently open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-1", "question": "What is the current status of the brown shower curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-2", "question": "What type of window is open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-3", "question": "Is the two panel window open or closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-4", "question": "What type of window is uncovered?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-5", "question": "What type of door is currently open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-6", "question": "What shape is the mirror in the green door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-7", "question": "What is the current status of the door with a diamond shaped mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-8", "question": "What color is the door that is opposite another door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-9", "question": "Where is an open green door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-10", "question": "What is to the right of the shower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-11", "question": "What is to the left of the shower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-12", "question": "On what side of the room is the brown door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-13", "question": "On what side of the room is the green door with the diamond shaped mirror located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-14", "question": "On what side of the room is the green door with the mirror located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-15", "question": "What does a two panel window not have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-16", "question": "Where is the shower curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-17", "question": "What kind of door is open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-18", "question": "What is a curtain that is brown and is opened up?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-19", "question": "What type of window does the room have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-20", "question": "What color frame is the window in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-21", "question": "To the left of the window is what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-22", "question": "What color is the shower curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-23", "question": "What is on the left side of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-24", "question": "What color is the shower door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-25", "question": "Where is the door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0728-26", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.919541, -0.137288, 0.368235, 0.940502], [-0.392908, 0.340902, -0.854055, 3.47141], [-0.00828077, -0.930021, -0.367415, 1.59435], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.920756, -0.165642, 0.353231, 0.874467], [-0.389189, 0.453153, -0.801987, 3.41699], [-0.0272256, -0.875908, -0.481709, 1.54399], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.909734, -0.234088, 0.342909, 0.869889], [-0.414868, 0.545106, -0.728522, 3.43131], [-0.016384, -0.805023, -0.593017, 1.50265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.939532, -0.144916, 0.310288, 0.92288], [-0.34203, 0.442473, -0.828995, 3.4897], [-0.0171594, -0.884996, -0.465283, 1.56769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.951151, -0.0472112, 0.305095, 0.978718], [-0.305665, 0.28283, -0.909162, 3.55302], [-0.0433676, -0.958008, -0.283445, 1.65756], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.939646, -0.0109159, 0.341974, 0.993091], [-0.339593, 0.151681, -0.928262, 3.52924], [-0.0417381, -0.988369, -0.146233, 1.73356], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.911109, -0.00729271, 0.412101, 1.00141], [-0.412153, 0.023865, -0.910802, 3.3742], [-0.00319257, -0.999689, -0.0247492, 1.81496], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.92234, -0.0512902, 0.382959, 1.07852], [-0.385898, 0.0728929, -0.919657, 3.24506], [0.0192544, -0.99602, -0.087025, 1.7719], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.998319, -0.0212235, 0.0539273, 1.32416], [-0.055457, 0.0796841, -0.995276, 3.1341], [0.016826, -0.996594, -0.0807271, 1.7512], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.962996, -0.0394833, -0.266608, 1.39379], [0.264573, 0.0500905, -0.963064, 3.25522], [0.0513793, -0.997964, -0.0377907, 1.76094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.904389, 0.0133854, -0.426498, 1.4969], [0.426672, 0.0412928, -0.903463, 3.49145], [0.00551805, -0.999057, -0.043056, 1.76061], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.892905, 0.0833926, -0.442455, 1.5296], [0.450215, 0.176866, -0.875228, 3.55415], [0.00526774, -0.980696, -0.195469, 1.72688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.907429, 0.070798, -0.414199, 1.5358], [0.411181, 0.352797, -0.840514, 3.57132], [0.0866215, -0.933018, -0.349249, 1.63644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.912576, 0.172747, -0.370626, 1.4918], [0.404359, 0.516055, -0.755103, 3.49134], [0.0608221, -0.838955, -0.540791, 1.53861], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.930819, 0.141239, -0.337087, 1.42643], [0.363677, 0.449469, -0.815915, 3.28936], [0.0362712, -0.882059, -0.46974, 1.57713], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.987777, 0.0509524, -0.147309, 1.38195], [0.154839, 0.429394, -0.889745, 3.09127], [0.017919, -0.901679, -0.432035, 1.56155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.993983, -0.093316, 0.0573647, 1.27868], [-0.0875027, 0.361404, -0.928294, 2.86668], [0.065893, -0.927728, -0.367394, 1.58625], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.999813, -0.0081276, -0.0175605, 1.30056], [0.0144782, 0.287868, -0.957561, 2.61535], [0.0128377, -0.957636, -0.287696, 1.62392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.996692, 0.0414957, -0.0698771, 1.28583], [0.0749723, 0.137622, -0.987643, 2.39103], [-0.0313663, -0.989615, -0.140278, 1.68776], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.997565, 0.0352943, 0.060159, 1.28908], [-0.0559886, 0.109151, -0.992447, 2.16192], [-0.0415942, -0.993398, -0.106909, 1.68493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.97852, 0.0115781, 0.205828, 1.45603], [-0.199667, 0.19525, -0.960214, 1.9263], [-0.0513054, -0.980685, -0.188745, 1.63571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.866462, -0.00399198, 0.499228, 1.50461], [-0.49122, 0.185378, -0.85108, 1.84217], [-0.0891485, -0.982659, -0.162584, 1.64387], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.446417, -0.0448975, 0.893698, 1.40714], [-0.891725, 0.105383, -0.440137, 1.74585], [-0.0744192, -0.993418, -0.0870809, 1.67658], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.163283, -0.0115043, 0.986512, 1.38205], [-0.984633, 0.0646813, -0.162218, 1.73564], [-0.0619427, -0.99784, -0.0218889, 1.74702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.128197, -0.0288076, 0.99133, 1.4029], [-0.991663, 0.0168254, -0.127751, 1.73401], [-0.0129993, -0.999443, -0.0307244, 1.87273], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.251151, -0.0944172, 0.963332, 1.40343], [-0.966923, 0.0702513, -0.245202, 1.72842], [-0.044524, -0.993051, -0.108938, 1.82506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.194857, -0.217727, 0.956361, 1.40067], [-0.980822, 0.0390401, -0.190953, 1.75455], [0.0042392, -0.975229, -0.221159, 1.69667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.160948, -0.343306, 0.925331, 1.40623], [-0.986866, 0.0428775, -0.155743, 1.75769], [0.0137916, -0.938244, -0.345698, 1.55901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.0656598, -0.418107, 0.906022, 1.36327], [-0.99781, 0.0347594, -0.0562711, 1.7543], [-0.00796539, -0.907733, -0.419474, 1.47708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.0631893, -0.525173, 0.848647, 1.34252], [-0.995953, 0.0876392, -0.0199232, 1.75139], [-0.0639117, -0.846471, -0.528585, 1.4304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.0901079, -0.534364, 0.840438, 1.32504], [-0.992848, 0.114559, -0.0336102, 1.73493], [-0.0783195, -0.837455, -0.540865, 1.42779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.224714, -0.477541, 0.849387, 1.39108], [-0.97296, 0.157734, -0.168726, 1.64224], [-0.0534034, -0.864335, -0.500073, 1.49307], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.4113, -0.37293, 0.831718, 1.47911], [-0.911134, 0.194047, -0.363565, 1.6065], [-0.0258077, -0.907342, -0.419601, 1.58367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.304629, -0.230415, 0.924181, 1.43357], [-0.951682, 0.113109, -0.285494, 1.46053], [-0.038751, -0.966497, -0.253738, 1.59309], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.183571, -0.149271, 0.971607, 1.38585], [-0.98272, 0.0517292, -0.177724, 1.33044], [-0.0237314, -0.987442, -0.156187, 1.62324], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.139004, -0.090507, 0.986147, 1.36025], [-0.989825, 0.0432797, -0.13555, 1.19521], [-0.0304119, -0.994955, -0.0956021, 1.668], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.0396827, -0.011412, 0.999147, 1.35816], [-0.998464, 0.0391406, -0.0392085, 1.04619], [-0.0386597, -0.999169, -0.0129476, 1.71208], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.0053837, 0.0175084, 0.999832, 1.3325], [-0.999977, 0.00432876, 0.00530873, 0.970523], [-0.00423509, -0.999837, 0.0175313, 1.73609], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.00780985, -0.00205519, 0.999968, 1.32085], [-0.999767, 0.0201485, -0.00776683, 0.933304], [-0.0201318, -0.999795, -0.00221205, 1.71831], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.0402085, -0.0830375, 0.995735, 1.29998], [-0.999034, 0.021002, -0.0385903, 0.985876], [-0.017708, -0.996325, -0.0838017, 1.62948], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.106246, -0.17422, 0.978958, 1.27383], [-0.99277, 0.0738893, -0.0945956, 1.02925], [-0.055854, -0.981931, -0.180811, 1.52913], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.0995758, -0.210373, 0.972537, 1.26479], [-0.991534, 0.102841, -0.0792749, 1.08514], [-0.0833393, -0.972197, -0.218833, 1.48594], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.426367, -0.214917, 0.878648, 1.35605], [-0.90437, 0.120666, -0.409334, 1.24995], [-0.01805, -0.969149, -0.245812, 1.51334], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.66455, -0.177822, 0.725777, 1.42031], [-0.747214, 0.149503, -0.647549, 1.46925], [0.00664288, -0.97264, -0.232224, 1.54102], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.844233, -0.174281, 0.50685, 1.41148], [-0.533201, 0.176994, -0.827266, 1.68889], [0.0544674, -0.968658, -0.242352, 1.52313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.971547, -0.0861797, 0.220613, 1.4953], [-0.2329, 0.178258, -0.956024, 1.88989], [0.0430637, -0.980203, -0.193257, 1.58191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.998373, 0.0388999, 0.0416985, 1.50331], [-0.0344772, 0.170702, -0.984719, 2.01687], [-0.0454236, -0.984555, -0.169083, 1.66811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.996653, -0.0120498, 0.0808551, 1.41736], [-0.0817423, 0.135093, -0.987455, 2.1936], [0.000975654, -0.99076, -0.135626, 1.7124], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.998836, 0.0205146, 0.0436625, 1.46077], [-0.0396722, 0.165662, -0.985384, 2.38137], [-0.0274482, -0.985969, -0.164656, 1.71739], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.999581, 0.0269732, -0.01053, 1.47163], [0.0158183, 0.204081, -0.978826, 2.58146], [-0.0242532, -0.978583, -0.204422, 1.71859], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.997067, -0.0140893, 0.0752317, 1.36446], [-0.0764809, 0.221914, -0.972062, 2.84123], [-0.00299934, -0.974964, -0.222341, 1.68774], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.999556, -0.0284769, 0.00876372, 1.41651], [-0.0147418, 0.217067, -0.976045, 3.09113], [0.0258924, -0.975741, -0.21739, 1.68447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.998888, 0.007211, -0.046594, 1.42282], [0.0470664, 0.21086, -0.976382, 3.31017], [0.00278409, -0.97749, -0.210965, 1.68748], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.9999, -0.0102679, -0.00970358, 1.3041], [0.00712703, 0.226427, -0.974002, 3.51922], [0.012198, -0.973974, -0.226331, 1.67471], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0728_00"}, {"annotation": [{"question_id": "test-scene0729-0", "question": "What is between the wall and the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-1", "question": "What type of door is half closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-2", "question": "What is found above the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-3", "question": "What color blinds are on the window beside the shower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-4", "question": "What kind of frame does the rectangular window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-5", "question": "What type of blinds are found at the end of the bathroom near the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-6", "question": "What is the shape of the toilet's opening?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-7", "question": "Where is the black trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-8", "question": "What is to the left of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-9", "question": "What kind of frame is around the bathroom window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-10", "question": "Where is the metal paper towel dispenser hung?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-11", "question": "Where can you see the metal paper towel dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-12", "question": "What color has the door been painted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-13", "question": "What color is the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-14", "question": "Where is the metal paper towel dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-15", "question": "What color is the paper towel dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-16", "question": "Where is the white sink mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-17", "question": "The wood framed window is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-18", "question": "What is ajar in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-19", "question": "What is the green door leading to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-20", "question": "Where is the white sink located beside the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-21", "question": "Where is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-22", "question": "Where does the paper towel dispenser hang on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-23", "question": "What color is the door on the right of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-24", "question": "What is on the right side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-25", "question": "What is on the right side of the white sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0729-26", "question": "What color is the sink on the left of the toilet?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.0902415, -0.656825, 0.748623, -0.0225708], [-0.994687, -0.0968202, 0.0349549, 0.519152], [0.0495227, -0.747801, -0.662074, 1.55326], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.0815297, -0.547342, 0.832927, -0.0395929], [-0.995198, -0.0901182, 0.0381937, 0.533539], [0.054157, -0.832043, -0.552062, 1.60384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.0879057, -0.393955, 0.914916, 0.0160341], [-0.99596, -0.0516276, 0.0734619, 0.54465], [0.0182944, -0.917679, -0.396902, 1.66121], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.0441642, -0.219206, 0.974678, 0.19555], [-0.998867, -0.0269629, 0.0391961, 0.563138], [0.0176883, -0.975306, -0.220148, 1.72885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.110554, -0.169797, 0.979258, 0.327916], [-0.993784, -0.0318492, 0.106671, 0.553344], [0.0130762, -0.984964, -0.172263, 1.77302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.216999, -0.158596, 0.963202, 0.460012], [-0.975068, -0.0821192, 0.206151, 0.596622], [0.0464029, -0.983922, -0.172462, 1.79085], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.339176, -0.219778, 0.914689, 0.670837], [-0.940697, -0.0864275, 0.328054, 0.756828], [0.0069555, -0.971714, -0.236059, 1.77389], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.554866, -0.154323, 0.8175, 0.866516], [-0.831928, -0.107885, 0.544293, 0.889311], [0.00419894, -0.982113, -0.188247, 1.74389], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.732087, -0.208304, 0.64858, 1.02631], [-0.68112, -0.20832, 0.70191, 1.02205], [-0.011098, -0.955621, -0.294389, 1.68721], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.861363, -0.193408, 0.46973, 1.14413], [-0.507987, -0.325349, 0.797556, 1.17173], [-0.00142738, -0.925603, -0.378493, 1.62064], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.990523, -0.05769, 0.124638, 1.21578], [-0.13734, -0.420425, 0.896872, 1.16176], [0.000660449, -0.905491, -0.424365, 1.54444], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.952878, 0.139561, -0.269341, 1.17585], [0.303121, -0.472613, 0.827499, 1.05697], [-0.0118077, -0.870149, -0.492647, 1.48959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.843345, 0.311414, -0.437937, 1.14951], [0.537182, -0.466967, 0.702407, 0.977634], [0.014237, -0.827625, -0.561101, 1.4528], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.738169, 0.478267, -0.475779, 1.10972], [0.671563, -0.453945, 0.585608, 0.955382], [0.0640992, -0.751794, -0.656275, 1.40368], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.621122, 0.579676, -0.52743, 1.05952], [0.777574, -0.371745, 0.507132, 1.07778], [0.0979026, -0.725107, -0.681641, 1.40116], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.441188, 0.643521, -0.625486, 1.00235], [0.894393, -0.258158, 0.36526, 1.26138], [0.0735787, -0.72058, -0.689457, 1.41306], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.0362702, 0.688184, -0.724628, 1.07189], [0.996257, 0.0320335, 0.0802888, 1.38702], [0.0784658, -0.724828, -0.684447, 1.34248], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.0318991, 0.78642, -0.616867, 1.14108], [0.999451, 0.0305771, -0.0127013, 1.45384], [0.00887334, -0.616934, -0.786965, 1.25644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.0343928, 0.720032, -0.693087, 1.12363], [0.998054, 0.0608361, 0.0136754, 1.44657], [0.0520113, -0.691268, -0.720724, 1.3304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.0694593, 0.613041, -0.786991, 1.0545], [0.997361, -0.0259732, 0.0677943, 1.41135], [0.02112, -0.789624, -0.613228, 1.43628], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.356275, 0.503578, -0.787068, 0.999234], [0.934291, -0.203625, 0.292635, 1.38448], [-0.0129021, -0.839611, -0.543035, 1.51213], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.580897, 0.429967, -0.691148, 1.00779], [0.813863, -0.292622, 0.501995, 1.46259], [0.0135958, -0.854107, -0.519919, 1.54138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.502818, 0.34676, -0.791789, 1.03011], [0.864322, -0.190139, 0.46561, 1.66493], [0.0109053, -0.91848, -0.395318, 1.61797], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.408512, 0.228501, -0.883688, 1.07104], [0.91248, -0.125898, 0.389268, 1.71076], [-0.0223066, -0.965369, -0.259933, 1.7086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.441318, 0.201727, -0.874381, 1.05159], [0.897328, -0.105913, 0.428465, 1.65359], [-0.0061755, -0.973698, -0.227758, 1.7231], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.657396, 0.182594, -0.731087, 0.926948], [0.751911, -0.222798, 0.620476, 1.58812], [-0.0495897, -0.957612, -0.283761, 1.6958], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.763288, 0.224395, -0.605837, 0.9103], [0.644661, -0.326163, 0.691396, 1.5784], [-0.0424561, -0.918294, -0.393615, 1.58118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.78497, 0.254466, -0.564861, 0.975661], [0.616459, -0.411529, 0.671283, 1.55461], [-0.0616384, -0.875152, -0.479906, 1.45978], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.838433, 0.296188, -0.457495, 1.05242], [0.543706, -0.512463, 0.664654, 1.49165], [-0.0375868, -0.806011, -0.590706, 1.3724], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.859975, 0.352634, -0.368904, 1.10676], [0.510303, -0.602148, 0.61401, 1.47642], [-0.00561365, -0.716287, -0.697784, 1.29396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.87686, 0.399498, -0.267425, 1.0567], [0.480577, -0.713777, 0.509476, 1.52122], [0.0126525, -0.575259, -0.817874, 1.23276], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.875868, 0.410282, -0.254013, 0.968735], [0.482069, -0.767438, 0.422666, 1.56865], [-0.0215271, -0.492653, -0.86996, 1.22271], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.812715, 0.521823, -0.259217, 0.978354], [0.582492, -0.738312, 0.339995, 1.75988], [-0.0139663, -0.427311, -0.903997, 1.22199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.675312, 0.662272, -0.324572, 0.961936], [0.737124, -0.620694, 0.267184, 1.97543], [-0.0245116, -0.419682, -0.90734, 1.20273], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.866802, 0.433539, -0.246369, 0.885843], [0.495976, -0.800687, 0.336017, 2.01731], [-0.0515883, -0.413453, -0.909063, 1.21198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.994846, 0.0279566, -0.0974591, 0.925005], [0.0673012, -0.901011, 0.428542, 1.9589], [-0.0758312, -0.432893, -0.89825, 1.23021], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.997442, -0.0431302, -0.0569855, 1.01948], [-0.00720596, -0.853996, 0.520229, 1.74842], [-0.071103, -0.518489, -0.852123, 1.29009], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.969494, -0.23841, 0.0569357, 1.1204], [-0.229882, -0.803772, 0.548729, 1.65883], [-0.0850591, -0.545079, -0.834059, 1.32402], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.746195, -0.599032, 0.290434, 1.15221], [-0.662669, -0.626594, 0.410181, 1.84027], [-0.0637273, -0.498537, -0.864522, 1.33353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.468539, -0.745703, 0.473706, 1.18527], [-0.883254, -0.384333, 0.268606, 1.98786], [-0.018239, -0.544255, -0.838721, 1.37157], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.449904, -0.626257, 0.6367, 1.18196], [-0.893075, -0.316815, 0.319444, 1.93342], [0.00166252, -0.712341, -0.701832, 1.48345], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.558598, -0.45672, 0.692369, 1.13508], [-0.829415, -0.301397, 0.47035, 1.90422], [-0.00613952, -0.836998, -0.547171, 1.56076], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.62703, -0.308198, 0.715434, 1.14751], [-0.778956, -0.257226, 0.571893, 1.90711], [0.00777197, -0.915887, -0.401362, 1.64472], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.642071, -0.19047, 0.742607, 1.15057], [-0.766605, -0.149684, 0.624428, 1.89214], [-0.00777802, -0.970214, -0.242123, 1.71215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.609901, -0.090866, 0.78725, 1.15081], [-0.792474, -0.0670783, 0.606205, 1.87837], [-0.00227576, -0.993601, -0.11292, 1.76517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.550392, -0.000391236, 0.834906, 1.16343], [-0.834883, -0.00771455, 0.550373, 1.86325], [0.00622588, -0.99997, -0.00457272, 1.87685], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.379938, -0.00802459, 0.924976, 1.1896], [-0.924481, 0.030555, 0.38, 1.81602], [-0.0313118, -0.999501, 0.00419039, 1.92452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.16117, -0.0086268, 0.986888, 1.22769], [-0.986901, -0.00850304, 0.161097, 1.78776], [0.00700194, -0.999927, -0.00988421, 1.92182], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.143286, 0.102713, 0.984336, 1.22748], [-0.989467, -0.00581376, 0.144639, 1.77403], [0.0205792, -0.994694, 0.100798, 1.96154], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.261107, 0.255246, 0.930952, 1.20722], [-0.96508, 0.0480119, 0.257515, 1.68562], [0.0210333, -0.965683, 0.25887, 1.98757], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.642513, 0.303748, 0.7035, 1.20817], [-0.759067, 0.126676, 0.638568, 1.42875], [0.104847, -0.944293, 0.311957, 1.95703], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.70183, 0.215995, 0.678808, 1.12251], [-0.70819, 0.108808, 0.697586, 1.26243], [0.076816, -0.970313, 0.229331, 1.93235], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.744285, 0.224248, 0.629088, 1.03084], [-0.666265, 0.184209, 0.722605, 1.14308], [0.0461591, -0.956964, 0.286513, 1.94142], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.755621, 0.228543, 0.613844, 0.926605], [-0.654756, 0.237499, 0.717557, 1.05787], [0.0182057, -0.94412, 0.329099, 1.96353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.636202, 0.187385, 0.74842, 0.792806], [-0.771042, 0.188609, 0.60821, 0.97723], [-0.0271893, -0.964009, 0.264475, 1.96334], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.670581, 0.23733, 0.702848, 0.728444], [-0.741836, 0.21446, 0.635362, 0.875527], [5.75781e-05, -0.94746, 0.319873, 1.97673], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.508375, 0.225556, 0.83107, 0.662299], [-0.86085, 0.15796, 0.48372, 0.86832], [-0.02217, -0.961339, 0.274474, 1.98769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.308083, 0.118514, 0.943948, 0.608967], [-0.950926, 0.0682782, 0.301788, 0.768221], [-0.0286847, -0.990602, 0.133734, 1.94632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.237887, 0.00278534, 0.971288, 0.531794], [-0.971277, -0.00485474, 0.237899, 0.670413], [0.00537816, -0.999984, 0.00155044, 1.88878], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.227327, -0.0790469, 0.970604, 0.438106], [-0.973687, -0.0348249, 0.225213, 0.641123], [0.015999, -0.996262, -0.0848836, 1.84799], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.070813, -0.141503, 0.987401, 0.31541], [-0.996738, -0.048458, 0.064538, 0.651722], [0.0387153, -0.988751, -0.144473, 1.80992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.0259703, -0.22382, 0.974284, 0.160654], [-0.998824, -0.0340868, -0.0344552, 0.681139], [0.040922, -0.974034, -0.222672, 1.77163], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.0540764, -0.267983, 0.961904, 0.0858167], [-0.996916, -0.069345, 0.0367253, 0.573793], [0.0568617, -0.960925, -0.270907, 1.72071], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.138086, -0.262254, 0.955067, 0.0368899], [-0.989479, -0.0785539, 0.121491, 0.486014], [0.0431629, -0.961796, -0.270342, 1.69388], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0729_00"}, {"annotation": [{"question_id": "test-scene0730-0", "question": "What type of door is by the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-1", "question": "What is to right when entering through the brown door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-2", "question": "To which side of open doorway do you go?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-3", "question": "What is on the right end of the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-4", "question": "What does the wooden ladder lean on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-5", "question": "What type of door is to the right of the post?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-6", "question": "What is the right of the wooden door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-7", "question": "What type of beds are to the left of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-8", "question": "What is on top bunk, right end?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-9", "question": "What is the wooden rail attached to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-10", "question": "The wooden rail is attached to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-11", "question": "What is on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-12", "question": "Where is the ladder?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-13", "question": "What type of door is left open in front of a hallway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-14", "question": "What number is emblazoned on the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-15", "question": "Where is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-16", "question": "On the pair of bunk beds, what sits on the top bunk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-17", "question": "What is leaning against the bunk beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-18", "question": "What does the wooden bed have to go to the top bunk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-19", "question": "What color is the blanket at the bottom bed of the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-20", "question": "Where is the wooden door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-21", "question": "What kind of blinds does the window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-22", "question": "What is the bunk bed without sheets made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-23", "question": "What type of blinds does the wood framed window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-24", "question": "What color is the pillow on the top bunk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-25", "question": "The wooden ladder is leaning against what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-26", "question": "Where are the white pillow and the black mattress in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-27", "question": "What is the ladder made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-28", "question": "The ladder is leaning against what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0730-29", "question": "What does the small window have?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.980031, -0.000722849, -0.198845, 2.24568], [0.198777, -0.0297753, -0.979592, 3.53609], [-0.00521255, -0.999557, 0.0293244, 1.68999], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.966925, 0.0143345, -0.254658, 2.20463], [0.255058, 0.0496807, -0.965648, 3.39228], [-0.00119037, -0.998662, -0.0516936, 1.64746], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.888153, 0.0180874, -0.459192, 2.20347], [0.457688, 0.124608, -0.880337, 3.227], [0.0412959, -0.992041, -0.118949, 1.64654], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.673384, 0.091065, -0.733662, 2.25803], [0.739269, 0.0907402, -0.667268, 3.07718], [0.00580804, -0.991702, -0.128425, 1.68655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.482139, 0.0832718, -0.872128, 2.07871], [0.875833, 0.0701372, -0.47749, 2.92877], [0.0214072, -0.994056, -0.106748, 1.73949], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.221037, 0.147036, -0.964117, 1.93932], [0.974757, 0.06522, -0.21353, 2.80061], [0.0314832, -0.986979, -0.15774, 1.83651], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.221634, 0.14336, -0.964534, 1.88326], [0.973505, 0.0896064, -0.210377, 2.63489], [0.0562688, -0.985606, -0.159422, 1.95619], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.469037, 0.131776, -0.873292, 1.96112], [0.880465, 0.147213, -0.450676, 2.46388], [0.0691718, -0.980287, -0.185073, 1.96999], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.629424, 0.108703, -0.769421, 2.02671], [0.774644, 0.165827, -0.610269, 2.39727], [0.0612523, -0.980146, -0.188582, 1.95042], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.709195, 0.147716, -0.689363, 2.04109], [0.703041, 0.221235, -0.675861, 2.46604], [0.052676, -0.963969, -0.260749, 1.82114], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.757999, 0.14954, -0.634881, 2.09186], [0.648547, 0.276425, -0.709207, 2.65932], [0.0694426, -0.94933, -0.306514, 1.71842], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.776434, 0.182074, -0.603323, 2.16474], [0.628615, 0.291579, -0.720988, 2.72053], [0.0446432, -0.939059, -0.340846, 1.62166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.730718, 0.272184, -0.626072, 2.21598], [0.68263, 0.280272, -0.67488, 2.82281], [-0.0082212, -0.920524, -0.390601, 1.52639], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.648391, 0.333766, -0.684243, 2.14676], [0.761294, 0.289451, -0.580214, 2.97214], [0.00439917, -0.897117, -0.441772, 1.42726], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.743918, 0.281141, -0.606255, 2.15864], [0.667881, 0.34376, -0.660124, 3.19253], [0.0228183, -0.895985, -0.443498, 1.42147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.832466, 0.222711, -0.507346, 2.24], [0.552231, 0.40815, -0.726948, 3.23215], [0.0451745, -0.885332, -0.462759, 1.40432], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.884514, 0.163119, -0.437066, 2.2839], [0.464703, 0.390528, -0.794694, 3.02794], [0.0410573, -0.906025, -0.421229, 1.45054], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.883416, 0.135429, -0.448591, 2.22435], [0.467536, 0.318859, -0.824462, 2.75122], [0.0313817, -0.938077, -0.345003, 1.51555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.86409, 0.0695249, -0.498512, 2.08777], [0.498678, 0.252694, -0.829135, 2.47727], [0.0683254, -0.965045, -0.253021, 1.63845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.717342, 0.0837612, -0.691667, 2.08824], [0.693208, 0.185361, -0.696493, 2.12849], [0.0698694, -0.979094, -0.191032, 1.71612], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.48292, 0.124519, -0.866766, 1.96005], [0.875123, 0.103436, -0.472716, 1.87493], [0.0307923, -0.986811, -0.158921, 1.81699], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.227949, 0.091533, -0.969361, 1.85753], [0.97367, 0.0191882, -0.22715, 1.70587], [-0.00219142, -0.995617, -0.0934969, 1.88678], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.0195886, 0.0920326, -0.995563, 1.8867], [0.999801, 0.00183338, 0.0198415, 1.40139], [0.00365132, -0.995755, -0.0919785, 1.9591], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.0301681, 0.0742549, -0.996783, 1.8416], [0.997177, -0.0708398, 0.0249028, 1.17089], [-0.0687628, -0.99472, -0.0761824, 1.97501], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.170049, 0.139844, -0.975462, 1.84913], [0.983792, -0.0812276, 0.159856, 1.03508], [-0.0568796, -0.986836, -0.15139, 1.86064], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.201209, 0.247932, -0.947652, 1.93613], [0.978895, -0.086205, 0.185289, 1.05257], [-0.0357531, -0.964934, -0.260045, 1.78321], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.408139, 0.221608, -0.885614, 1.86013], [0.912887, -0.0908962, 0.397963, 1.10279], [0.00769275, -0.97089, -0.239402, 1.79635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.695717, 0.08935, -0.712736, 1.67213], [0.716868, -0.149312, 0.681032, 1.18647], [-0.04557, -0.984745, -0.167931, 1.84845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.896432, -0.0145069, -0.442943, 1.68158], [0.434167, -0.171805, 0.884297, 1.25954], [-0.0889284, -0.985024, -0.147713, 1.84385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.991804, -0.027823, -0.124703, 1.77622], [0.118826, -0.157858, 0.980286, 1.28255], [-0.0469598, -0.98707, -0.153258, 1.80095], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.989656, -0.0333244, 0.139535, 1.88069], [-0.142752, -0.132257, 0.980882, 1.3129], [-0.0142328, -0.990655, -0.135646, 1.83336], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.934896, -0.0368886, 0.352998, 1.94659], [-0.354303, -0.15562, 0.922091, 1.37257], [0.0209188, -0.987128, -0.158558, 1.83718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.812849, -0.0878568, 0.57581, 1.88179], [-0.582335, -0.144176, 0.800062, 1.53101], [0.0127272, -0.985644, -0.168356, 1.82994], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.62141, -0.13216, 0.772258, 1.90215], [-0.78306, -0.1372, 0.606623, 1.5245], [0.0257823, -0.981687, -0.188747, 1.7734], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.703204, -0.179323, 0.688002, 2.03215], [-0.710939, -0.18863, 0.677483, 1.39671], [0.00828885, -0.965537, -0.260133, 1.70317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.907106, -0.0615555, 0.416376, 2.26147], [-0.419915, -0.200054, 0.88524, 1.2475], [0.0288066, -0.977849, -0.207319, 1.76542], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.921675, -0.0103354, 0.387824, 2.4105], [-0.3859, -0.127354, 0.913708, 1.26291], [0.0399473, -0.991804, -0.121367, 1.80218], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.964596, 0.0105099, 0.26352, 2.53785], [-0.261975, -0.0768818, 0.962007, 1.24586], [0.0303705, -0.996985, -0.0714066, 1.85139], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.982578, -0.0114039, 0.185499, 2.57238], [-0.184906, -0.160396, 0.969579, 1.21998], [0.0186961, -0.986987, -0.15971, 1.77527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.989253, -0.0500978, 0.137359, 2.55724], [-0.146207, -0.332878, 0.931566, 1.20276], [-0.000945427, -0.941638, -0.336626, 1.66731], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.99986, -0.0146986, 0.00799534, 2.51707], [-0.0138848, -0.46221, 0.886661, 1.19098], [-0.00933717, -0.886649, -0.46235, 1.60254], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.99912, 0.0368129, -0.0201228, 2.47568], [0.0374454, -0.566175, 0.823434, 1.19498], [0.01892, -0.823462, -0.567056, 1.56926], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.997789, -0.0131417, 0.0651357, 2.37677], [-0.0574103, -0.664067, 0.745464, 1.24327], [0.0334579, -0.747557, -0.663355, 1.54992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.986085, -0.105911, 0.128138, 2.16415], [-0.165799, -0.682806, 0.711538, 1.30196], [0.0121331, -0.722882, -0.690865, 1.56004], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.965641, -0.148598, 0.213201, 2.14432], [-0.259834, -0.566927, 0.781716, 1.46774], [0.004708, -0.810255, -0.586059, 1.61348], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.960415, -0.113837, 0.254253, 2.14959], [-0.277982, -0.451109, 0.848072, 1.668], [0.0181538, -0.885179, -0.464897, 1.67493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.901761, -0.115266, 0.416583, 2.10032], [-0.431335, -0.302168, 0.850085, 1.80254], [0.0278919, -0.94626, -0.322202, 1.71911], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.791099, -0.101209, 0.603257, 2.10671], [-0.608569, -0.229688, 0.75953, 2.01577], [0.0616891, -0.967988, -0.243299, 1.7414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.514464, -0.106992, 0.850811, 2.19389], [-0.853931, -0.154498, 0.496922, 2.22595], [0.0782822, -0.982183, -0.170848, 1.71824], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.0626594, -0.19161, 0.979469, 2.14919], [-0.99766, -0.014873, -0.0667326, 2.54006], [0.0273543, -0.981359, -0.190229, 1.71448], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.507991, -0.198713, 0.838127, 2.2579], [-0.860884, 0.0847322, -0.501695, 2.66608], [0.0286773, -0.976388, -0.214113, 1.6936], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.916285, -0.0832287, 0.391782, 2.35098], [-0.400496, 0.178745, -0.898694, 2.83821], [0.00476808, -0.980369, -0.197114, 1.6702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.999226, -0.0246725, -0.0306289, 2.42195], [0.0272855, 0.126008, -0.991654, 3.05738], [0.028326, -0.991723, -0.125237, 1.70314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.971562, 0.0381725, -0.233686, 2.53801], [0.236601, 0.117866, -0.964431, 3.20899], [-0.00927124, -0.992296, -0.123545, 1.7292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.960273, -0.000708091, -0.279062, 2.45443], [0.279036, 0.0112997, -0.960214, 3.33617], [0.00383323, -0.999936, -0.0106532, 1.79305], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.976277, 0.0120047, -0.216192, 2.34969], [0.216457, 0.0290321, -0.97586, 3.42222], [-0.00543837, -0.999506, -0.0309419, 1.77753], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.936635, -0.00258339, -0.350297, 2.40498], [0.349494, 0.061202, -0.934937, 3.33916], [0.0238543, -0.998122, -0.0564211, 1.71885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.863272, 0.0754282, -0.499071, 2.50535], [0.504726, 0.122033, -0.85461, 3.23084], [-0.00355852, -0.989656, -0.143418, 1.65559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.775167, 0.0989211, -0.623964, 2.51005], [0.631385, 0.155162, -0.759788, 3.26576], [0.0216562, -0.982924, -0.182734, 1.61339], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.854072, 0.15819, -0.495516, 2.44916], [0.519912, 0.230579, -0.822511, 3.33791], [-0.0158574, -0.960109, -0.279176, 1.54896], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0730_00"}, {"annotation": [{"question_id": "test-scene0731-0", "question": "What color door is located at the back of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-1", "question": "Where is the brown ladder located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-2", "question": "What color is the bed in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-3", "question": "In what part of the room is the brown bed located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-4", "question": "What kind of frame is in the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-5", "question": "The window is to the left of what on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-6", "question": "What kind of patterns are on the white pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-7", "question": "On what side of the window is the brown wooden door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-8", "question": "Where is the ladder to the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-9", "question": "Where is the door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-10", "question": "In which corner of the room is the pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-11", "question": "What color patterned pillow rests on the top bunk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-12", "question": "What color is the frame of the window right of the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-13", "question": "The short brown ladder leads up to where?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-14", "question": "What is hanging on the wall in front of the brown door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-15", "question": "What is on the bed on the bottom bunk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-16", "question": "How many mattresses does the bunk bed have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-17", "question": "How many ladders are on the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-18", "question": "What type of bed is put against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-19", "question": "Where is a bunk bed located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-20", "question": "What is connected to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-21", "question": "What is on top of the bottom layer of the bunker bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-22", "question": "What is a window closed by?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-23", "question": "What is on top of the bed on the top bunk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-24", "question": "On what part of the bed is a white pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-25", "question": "What type of window is currently closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-26", "question": "What is the current status of a window with blinds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-27", "question": "What is by the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-28", "question": "What is next to the bunk bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0731-29", "question": "Where is the little window located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.999338, 0.0338247, -0.0134408, 1.18187], [0.0210696, 0.236492, -0.971405, 3.13123], [-0.0296789, -0.971045, -0.237048, 1.67253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.999248, 0.0230999, -0.0311534, 1.21052], [0.0347538, 0.176804, -0.983633, 3.04972], [-0.0172137, -0.983975, -0.177474, 1.69479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.975103, 0.0181839, -0.221009, 1.25428], [0.221731, 0.0948096, -0.970488, 2.90132], [0.00330641, -0.995329, -0.096481, 1.75022], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.920518, -0.0016735, -0.390697, 1.2258], [0.39037, 0.0371711, -0.919908, 2.84612], [0.016062, -0.999308, -0.0335633, 1.7849], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.91843, 0.0350685, -0.394026, 1.23661], [0.395223, 0.123861, -0.910197, 2.85494], [0.016885, -0.99168, -0.127617, 1.74629], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.97702, 0.0368121, -0.209948, 1.1996], [0.213119, 0.185713, -0.959214, 2.71649], [0.00367936, -0.981914, -0.18929, 1.70369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.999647, -0.010115, 0.0245778, 1.10624], [-0.0262741, 0.236688, -0.971231, 2.51966], [0.00400675, -0.971533, -0.23687, 1.68142], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.99621, -0.00572023, 0.0868035, 1.20677], [-0.0862546, 0.194579, -0.977088, 2.29109], [-0.011301, -0.98087, -0.194335, 1.67719], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.99379, 0.0306181, 0.106979, 1.27147], [-0.0976354, 0.22126, -0.970315, 2.00865], [-0.0533794, -0.974734, -0.216896, 1.65789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.98948, -0.0388562, 0.139359, 1.30122], [-0.144672, 0.271505, -0.951502, 1.69373], [-0.000864927, -0.961652, -0.27427, 1.64276], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.995883, 0.0457732, -0.0782473, 1.50006], [0.0878763, 0.275488, -0.95728, 1.4593], [-0.0222615, -0.960214, -0.278376, 1.64195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.956187, 0.120084, -0.266996, 1.73936], [0.290957, 0.288799, -0.912107, 1.24249], [-0.0324208, -0.949829, -0.311085, 1.64964], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.95081, 0.0944861, -0.295013, 1.84599], [0.309609, 0.258704, -0.914995, 1.06491], [-0.0101331, -0.961325, -0.275232, 1.66356], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.998923, -0.00999358, -0.0453104, 1.96134], [0.0403059, 0.296867, -0.954068, 1.08558], [0.0229857, -0.954867, -0.296144, 1.69772], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.974521, 0.0347563, 0.221589, 1.8872], [-0.199389, 0.318239, -0.926806, 1.09382], [-0.10273, -0.947373, -0.3032, 1.69614], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.871004, -0.269296, 0.410892, 1.74409], [-0.477973, 0.271191, -0.835463, 1.07192], [0.113556, -0.924086, -0.364925, 1.68335], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.78851, -0.319226, 0.525688, 1.55302], [-0.606761, 0.264151, -0.74971, 1.114], [0.100466, -0.91012, -0.40198, 1.67491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.605895, -0.446301, 0.658565, 1.47999], [-0.780702, 0.174403, -0.600073, 1.09669], [0.152957, -0.877724, -0.454098, 1.61948], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.396135, -0.552435, 0.733413, 1.43073], [-0.90543, 0.10231, -0.411982, 1.09284], [0.152558, -0.827254, -0.540719, 1.5656], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.230882, -0.598228, 0.767345, 1.4371], [-0.964417, 0.0362939, -0.261883, 1.18549], [0.128816, -0.800504, -0.58532, 1.54599], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.157529, -0.645061, 0.747718, 1.52558], [-0.985813, 0.0582873, -0.157406, 1.28483], [0.057954, -0.761905, -0.645091, 1.53085], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.00961615, -0.634117, 0.773178, 1.71527], [-0.998766, -0.0315941, -0.0383336, 1.20967], [0.0487359, -0.772591, -0.63303, 1.5323], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.121505, -0.622916, 0.772796, 1.86857], [-0.992484, -0.0647908, 0.103821, 1.15969], [-0.0146019, -0.779602, -0.626106, 1.56474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.12283, -0.498117, 0.858366, 2.11918], [-0.991816, -0.0312438, 0.123795, 1.14512], [-0.0348458, -0.866547, -0.497878, 1.64694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.238042, -0.43525, 0.868271, 2.26757], [-0.967343, -0.0260882, 0.252126, 1.10742], [-0.0870862, -0.899932, -0.427246, 1.68636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.385715, -0.335038, 0.859636, 2.456], [-0.92108, -0.0860426, 0.379749, 0.988815], [-0.0532652, -0.938268, -0.341785, 1.72522], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.478255, -0.277251, 0.83331, 2.64669], [-0.877537, -0.113414, 0.465904, 1.01663], [-0.0346634, -0.95408, -0.297539, 1.76133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.559971, -0.283705, 0.778425, 2.8994], [-0.82539, -0.109535, 0.553835, 1.08142], [-0.0718614, -0.952635, -0.295504, 1.82166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.644555, -0.250786, 0.722257, 3.17335], [-0.763535, -0.162281, 0.625044, 1.06956], [-0.0395436, -0.954343, -0.296083, 1.87475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.771397, -0.221759, 0.596465, 3.36838], [-0.635457, -0.218682, 0.740522, 1.12262], [-0.0337811, -0.950264, -0.309609, 1.99679], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.81148, -0.172267, 0.558414, 3.35763], [-0.584232, -0.217561, 0.781883, 1.19788], [-0.0132038, -0.960724, -0.27719, 2.1138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.917545, -0.0730958, 0.390856, 3.23746], [-0.396471, -0.243262, 0.885232, 1.22704], [0.0303739, -0.967202, -0.252184, 2.15456], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.966223, -0.00563603, 0.257649, 3.13279], [-0.250164, -0.260676, 0.932452, 1.2413], [0.0619076, -0.96541, -0.253281, 2.12496], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.993963, 0.0962549, 0.0526641, 3.05609], [-0.024463, -0.273488, 0.961565, 1.21693], [0.106958, -0.957047, -0.269482, 2.04385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.974663, 0.166204, -0.149696, 2.95566], [0.184813, -0.221372, 0.957517, 1.16132], [0.126004, -0.960922, -0.24648, 1.94815], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.963413, 0.153381, -0.219798, 2.88149], [0.244914, -0.170658, 0.954408, 1.13629], [0.108877, -0.973319, -0.201979, 1.9445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.988886, 0.020714, -0.147231, 2.72757], [0.147726, -0.0247817, 0.988718, 1.07079], [0.0168317, -0.999478, -0.0275662, 1.99077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.996364, -0.00877441, -0.0847562, 2.68829], [0.0851792, 0.128956, 0.987986, 1.00096], [0.00226082, -0.991612, 0.129234, 2.01911], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.999841, -0.00294209, -0.0176101, 2.63737], [0.0177849, 0.25091, 0.967848, 1.08184], [0.00157101, -0.968006, 0.250922, 2.03387], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.959254, -0.0349877, 0.280372, 2.42012], [-0.267728, 0.204585, 0.941524, 1.12891], [-0.0903015, -0.978223, 0.186881, 2.0328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.84907, -0.0301283, 0.527422, 2.297], [-0.523831, 0.0812991, 0.847934, 1.10382], [-0.0684257, -0.996234, 0.0532464, 1.96642], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.759512, -0.0366135, 0.649463, 2.21955], [-0.649902, -0.000126002, 0.760018, 1.06989], [-0.0277451, -0.99933, -0.0238909, 1.86875], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.584939, -0.122497, 0.801774, 2.00766], [-0.807596, 0.003531, 0.589726, 1.11549], [-0.0750705, -0.992463, -0.0968625, 1.79031], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.472095, -0.154533, 0.867898, 1.84709], [-0.880939, -0.0461205, 0.470977, 1.1106], [-0.0327537, -0.986911, -0.157907, 1.71356], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.41348, -0.213538, 0.885119, 1.745], [-0.910509, -0.0999897, 0.401218, 1.16852], [0.00282742, -0.971804, -0.235772, 1.617], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.272312, -0.300477, 0.91409, 1.64771], [-0.962009, -0.0656614, 0.265004, 1.39167], [-0.0196072, -0.951526, -0.306942, 1.56846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.220785, -0.393387, 0.892469, 1.65698], [-0.97492, -0.0627253, 0.213534, 1.63988], [-0.028021, -0.917231, -0.39737, 1.51961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.0452031, -0.443672, 0.895049, 1.75478], [-0.99884, -0.0349737, 0.0331086, 1.93188], [0.0166138, -0.895507, -0.444738, 1.48802], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.402646, -0.431184, 0.807439, 1.72687], [-0.915034, 0.21301, -0.34255, 2.11755], [-0.0242907, -0.876759, -0.480315, 1.47843], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.519785, -0.437343, 0.733864, 1.51127], [-0.853863, 0.293352, -0.429957, 2.20758], [-0.0272418, -0.850104, -0.52591, 1.42863], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.751729, -0.325106, 0.573768, 1.4866], [-0.659105, 0.399428, -0.637212, 2.35782], [-0.0220178, -0.857184, -0.51454, 1.41376], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.867472, -0.222388, 0.445013, 1.42378], [-0.496918, 0.430097, -0.753718, 2.50483], [-0.0237804, -0.874963, -0.483605, 1.42093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.919525, -0.149548, 0.363469, 1.25013], [-0.39159, 0.42774, -0.814676, 2.67907], [-0.033637, -0.891445, -0.451878, 1.43727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.987594, -0.00952686, 0.156745, 1.27258], [-0.150205, 0.348475, -0.925205, 2.90428], [-0.0458073, -0.93727, -0.345582, 1.49612], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.99852, 0.0541033, -0.00553393, 1.2601], [0.0208277, 0.286416, -0.957879, 3.10502], [-0.0502394, -0.956577, -0.287119, 1.54039], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.992531, 0.0662906, -0.102412, 1.2234], [0.112299, 0.168504, -0.979284, 3.1503], [-0.0476604, -0.983469, -0.174689, 1.61887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.9942, 0.0392106, -0.100153, 1.23024], [0.104206, 0.12063, -0.987213, 3.11706], [-0.0266278, -0.991923, -0.124016, 1.66717], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0731_00"}, {"annotation": [{"question_id": "test-scene0732-0", "question": "What color are the kitchen cabinets above white stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-1", "question": "Where are the short brown cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-2", "question": "Where is the trash bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-3", "question": "Where is the breakfast bar located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-4", "question": "Where are sinks located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-5", "question": "What color are the kitchen cabinets on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-6", "question": "What is in front of the brown kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-7", "question": "What is underneath the brown kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-8", "question": "What color is the kitchen sink on the silver counter top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-9", "question": "What shape is the wall behind the green canister?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-10", "question": "On which side of the fridge is the door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-11", "question": "What is on the other side of the wall to the right of the cabinetry and sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-12", "question": "Where is the kitchen cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-13", "question": "What metallic color is the top of the breakfast bar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-14", "question": "The breakfast bar is directly next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-15", "question": "What material is used for the top of the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-16", "question": "What color is the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-17", "question": "Where is the stove located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-18", "question": "What color are the coiled burners on the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-19", "question": "What is sitting on the ground near the metal topped countertop?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-20", "question": "How many of the kitchen cabinets are closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-21", "question": "Where are the higher cabinets mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-22", "question": "Where are the high wooden cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-23", "question": "What color is the sink on the left of the other sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-24", "question": "What is on the black trash bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-25", "question": "What is sitting on the metal breakfast bar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-26", "question": "What is at the end of the breakfast bar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-27", "question": "What can be found on the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-28", "question": "What is next to the metal sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-29", "question": "Where are these cabinets hanged?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-30", "question": "Where can you find the wooden kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-31", "question": "What color is the plastic bin, on the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-32", "question": "How many water bottles are in the small plastic bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-33", "question": "The electric stove is in the kitchen to your right when you look at what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-34", "question": "Where can you find the black trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-35", "question": "How many wooden kitchen cabinets are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-36", "question": "How many panels does the stove have to cook food?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-37", "question": "What is at the center of the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-38", "question": "How many sinks does the room have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-39", "question": "Where are the kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-40", "question": "What type of window does the house have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-41", "question": "What is the color of the sinks?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-42", "question": "What is next to a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-43", "question": "What is next to a trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-44", "question": "Where is a stove located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-45", "question": "What is next to the fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-46", "question": "What is next to the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-47", "question": "Where is the small plastic bin sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-48", "question": "What is above the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-49", "question": "Where can you find the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-50", "question": "What is closed to the outside?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-51", "question": "Where is the small plastic bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-52", "question": "What is present near the bar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0732-53", "question": "On what side of the kitchen is a double sink located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.898568, -0.271629, 0.344665, 1.23114], [-0.43854, 0.584588, -0.682597, 5.34418], [-0.0160733, -0.764509, -0.644412, 1.51673], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.923873, -0.247193, 0.292155, 1.31439], [-0.382683, 0.603882, -0.6992, 5.35716], [-0.00358995, -0.757775, -0.652507, 1.52713], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.992302, -0.0368127, 0.118245, 1.47175], [-0.119178, 0.543427, -0.830953, 5.34442], [-0.0336678, -0.838649, -0.543632, 1.60799], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.998781, 0.047969, 0.0116344, 1.606], [0.00978214, 0.423392, -0.905893, 5.28699], [-0.0483808, -0.904676, -0.423346, 1.67515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.993963, 0.0925377, -0.0589421, 1.73557], [0.0823866, 0.274739, -0.957982, 5.08495], [-0.072456, -0.957055, -0.280705, 1.73779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.970164, 0.0956696, -0.222775, 1.92215], [0.238138, 0.203508, -0.949671, 4.97971], [-0.0455182, -0.974388, -0.220219, 1.80076], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.914468, 0.147206, -0.376933, 2.18717], [0.399662, 0.182635, -0.898284, 4.92348], [-0.0633917, -0.972098, -0.225846, 1.83315], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.868937, 0.144836, -0.473256, 2.43927], [0.494326, 0.207031, -0.844263, 4.72862], [-0.0243015, -0.967554, -0.251493, 1.83102], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.71308, 0.319261, -0.62417, 2.70936], [0.697112, 0.228276, -0.67965, 4.58652], [-0.0745029, -0.919762, -0.38534, 1.80855], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.586125, 0.421527, -0.691934, 2.77818], [0.805582, 0.21194, -0.55328, 4.30097], [-0.0865736, -0.881701, -0.463798, 1.74441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.417323, 0.478789, -0.772401, 2.76795], [0.907278, 0.171027, -0.384181, 4.002], [-0.05184, -0.86111, -0.505769, 1.70554], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.288701, 0.568562, -0.770318, 2.66737], [0.953305, 0.0961973, -0.286279, 3.78887], [-0.0886648, -0.816997, -0.569785, 1.66186], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.459075, 0.460476, -0.759745, 2.40198], [0.888288, 0.22451, -0.400674, 3.73796], [-0.0139302, -0.858812, -0.512102, 1.65256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.575649, 0.418251, -0.702633, 2.15998], [0.817347, 0.31946, -0.479468, 3.59241], [0.0239252, -0.850301, -0.525753, 1.64742], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.688881, 0.437785, -0.577743, 1.91548], [0.724683, 0.434248, -0.535035, 3.37854], [0.0166534, -0.787257, -0.616401, 1.65487], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.78772, 0.406948, -0.462483, 1.72975], [0.614588, 0.570533, -0.544769, 3.17904], [0.042169, -0.713363, -0.699525, 1.64669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.685403, 0.530048, -0.499271, 1.67286], [0.727963, 0.514865, -0.45275, 3.05745], [0.0170779, -0.673768, -0.738746, 1.61995], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.796458, 0.434568, -0.420482, 1.65449], [0.604351, 0.595434, -0.529355, 3.23277], [0.0203287, -0.675728, -0.736871, 1.62386], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.881815, 0.319179, -0.34717, 1.7526], [0.471046, 0.560619, -0.681044, 3.45707], [-0.0227447, -0.764089, -0.644711, 1.681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.887484, 0.265497, -0.376674, 1.90404], [0.456876, 0.399935, -0.794554, 3.68037], [-0.0603067, -0.877248, -0.476235, 1.7867], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.885675, 0.229403, -0.403675, 1.93182], [0.455225, 0.257937, -0.852196, 3.76514], [-0.091374, -0.938532, -0.332879, 1.84856], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.904943, 0.162724, -0.39319, 1.9713], [0.41509, 0.134124, -0.899839, 3.8093], [-0.0936889, -0.977513, -0.18892, 1.90573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.897762, 0.125524, -0.422216, 2.00217], [0.431615, 0.0593519, -0.900103, 3.84364], [-0.0879249, -0.990314, -0.107462, 1.92317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.975743, 0.091154, -0.199038, 2.07652], [0.20965, 0.127337, -0.969449, 3.82801], [-0.0630243, -0.987662, -0.143359, 1.8839], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.999784, 0.0195721, 0.00696766, 2.11282], [-0.00255319, 0.217084, -0.976149, 3.83044], [-0.020618, -0.975957, -0.216987, 1.81488], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.977449, -0.104058, 0.183754, 2.06539], [-0.206323, 0.285201, -0.935997, 3.84586], [0.0449907, -0.952802, -0.300239, 1.77313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.913104, -0.195485, 0.357809, 2.04163], [-0.406829, 0.378622, -0.831346, 3.8668], [0.0270411, -0.904672, -0.42525, 1.70133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.804993, -0.258553, 0.533982, 2.0692], [-0.593258, 0.359198, -0.720431, 3.88462], [-0.00553533, -0.896731, -0.442541, 1.64777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.63012, -0.277799, 0.725105, 2.24218], [-0.776396, 0.240517, -0.582547, 3.81314], [-0.012569, -0.930043, -0.367237, 1.72555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.467365, -0.272673, 0.840963, 2.34221], [-0.883969, 0.15807, -0.440014, 3.66014], [-0.0129505, -0.949033, -0.314911, 1.74543], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.372978, -0.184446, 0.909322, 2.4329], [-0.927771, 0.0860509, -0.363091, 3.52615], [-0.011277, -0.979068, -0.203219, 1.78922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.232614, -0.187933, 0.954239, 2.56095], [-0.972568, 0.0462726, -0.227969, 3.64016], [-0.00131232, -0.981091, -0.193541, 1.76622], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.300714, -0.105595, 0.94785, 2.7268], [-0.951589, 0.0995265, -0.290813, 3.83578], [-0.0636279, -0.989416, -0.130412, 1.80997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.256739, -0.104463, 0.960819, 2.94926], [-0.965647, 0.0690149, -0.250526, 3.95141], [-0.0401402, -0.992131, -0.118593, 1.79579], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.33014, -0.231297, 0.915155, 3.25537], [-0.943829, 0.0666062, -0.32365, 4.11442], [0.0139045, -0.9706, -0.240295, 1.78948], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.48893, -0.296671, 0.820325, 3.46515], [-0.872313, 0.161904, -0.461363, 4.30155], [0.00405934, -0.941155, -0.33795, 1.74744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.592114, -0.390369, 0.704991, 3.48752], [-0.805841, 0.281866, -0.520741, 4.45747], [0.00456867, -0.876449, -0.481472, 1.68442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.771926, -0.362213, 0.522429, 3.65756], [-0.635079, 0.402738, -0.659148, 4.60377], [0.0283501, -0.840598, -0.540918, 1.63506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.888589, -0.28376, 0.360403, 3.76157], [-0.458583, 0.567639, -0.68373, 4.65771], [-0.0105634, -0.77283, -0.634525, 1.5626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.875139, -0.316495, 0.366007, 3.6128], [-0.483836, 0.563412, -0.669679, 4.51077], [0.00573765, -0.76315, -0.646196, 1.52503], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.756364, -0.458504, 0.466569, 3.51917], [-0.652601, 0.479841, -0.586399, 4.25787], [0.044988, -0.748015, -0.662155, 1.52302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.742317, -0.450966, 0.495575, 3.595], [-0.668967, 0.456803, -0.586356, 3.93031], [0.0380469, -0.766786, -0.640774, 1.53786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.542239, -0.597741, 0.590493, 3.5776], [-0.835479, 0.30899, -0.454423, 3.64552], [0.089171, -0.739751, -0.666947, 1.52453], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.341081, -0.690816, 0.637523, 3.66899], [-0.934624, 0.17656, -0.308714, 3.46375], [0.100704, -0.701141, -0.705875, 1.49676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.203957, -0.761865, 0.614786, 3.81943], [-0.977366, 0.12242, -0.172538, 3.32348], [0.0561886, -0.636062, -0.76959, 1.48684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.139381, -0.776582, 0.614404, 3.80675], [-0.989413, 0.0838941, -0.118416, 3.081], [0.0404144, -0.624405, -0.780054, 1.48596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.194214, -0.774209, 0.602395, 3.74321], [-0.979986, 0.125794, -0.154279, 2.81678], [0.043667, -0.620303, -0.783146, 1.48105], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.410438, -0.705804, 0.577392, 3.79518], [-0.910377, 0.280719, -0.303989, 2.66111], [0.0524719, -0.650414, -0.757766, 1.50598], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.54715, -0.63677, 0.543278, 3.80114], [-0.834988, 0.369869, -0.40742, 2.6318], [0.0584906, -0.67655, -0.73407, 1.51846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.58275, -0.523202, 0.621821, 3.6705], [-0.811418, 0.332476, -0.480688, 2.70422], [0.0447564, -0.784678, -0.618286, 1.64425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.561509, -0.422944, 0.711214, 3.67845], [-0.826041, 0.236005, -0.511818, 2.6153], [0.0486203, -0.874883, -0.481888, 1.72605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.513316, -0.308115, 0.800982, 3.69385], [-0.858091, 0.169418, -0.484744, 2.44776], [0.013656, -0.936142, -0.351356, 1.77614], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.313657, -0.24351, 0.917781, 3.59216], [-0.948729, 0.0405328, -0.313479, 2.3077], [0.0391352, -0.969051, -0.243738, 1.81889], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.299013, -0.196111, 0.93388, 3.5628], [-0.953996, 0.0389127, -0.297282, 2.34012], [0.0219607, -0.979809, -0.198725, 1.84624], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.448001, -0.275134, 0.850644, 3.63447], [-0.893709, 0.163408, -0.417829, 2.53004], [-0.0240427, -0.947417, -0.319097, 1.77829], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.466998, -0.387082, 0.795034, 3.56591], [-0.884258, 0.204168, -0.420004, 2.70384], [0.000255227, -0.899157, -0.437627, 1.71336], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.459068, -0.461204, 0.759307, 3.47873], [-0.888303, 0.225582, -0.400038, 2.8878], [0.0132134, -0.85814, -0.513246, 1.6358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.562846, -0.459067, 0.687358, 3.52377], [-0.826547, 0.307562, -0.471409, 3.13243], [0.00500306, -0.833464, -0.552551, 1.57688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.708923, -0.433979, 0.555959, 3.52843], [-0.705285, 0.436667, -0.558475, 3.35166], [-0.000402808, -0.788026, -0.615642, 1.52769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.681717, -0.498219, 0.53576, 3.44878], [-0.731116, 0.436868, -0.524038, 3.63239], [0.0270297, -0.748949, -0.662076, 1.50359], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.739017, -0.444923, 0.505863, 3.52057], [-0.672875, 0.450621, -0.586669, 3.88636], [0.0330702, -0.773941, -0.632394, 1.5133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.67003, -0.489901, 0.557724, 3.61471], [-0.741429, 0.404575, -0.535352, 4.18504], [0.0366284, -0.772215, -0.634305, 1.53274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.603602, -0.536834, 0.589469, 3.64302], [-0.795373, 0.35426, -0.491814, 4.45197], [0.0551971, -0.765708, -0.640816, 1.55371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.842092, -0.35105, 0.409445, 3.74591], [-0.539317, 0.542152, -0.644367, 4.62688], [0.00422338, -0.763437, -0.645869, 1.53402], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.975744, -0.131012, 0.175385, 3.84055], [-0.218104, 0.650677, -0.727358, 4.79021], [-0.0188265, -0.747967, -0.663469, 1.51339], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.990041, 0.111025, -0.086551, 3.85233], [0.138233, 0.650411, -0.746898, 4.91667], [-0.0266306, -0.751425, -0.659281, 1.51685], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.870164, 0.340224, -0.356459, 3.7897], [0.489393, 0.512229, -0.705773, 4.91789], [-0.0575321, -0.788586, -0.612227, 1.52883], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.770443, 0.355345, -0.529289, 3.75378], [0.635716, 0.366027, -0.679624, 4.93794], [-0.0477663, -0.86009, -0.507902, 1.61205], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.758081, 0.27026, -0.593526, 3.64867], [0.650935, 0.25778, -0.714026, 4.94215], [-0.0399735, -0.927636, -0.371339, 1.73826], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.755665, 0.161668, -0.634691, 3.51443], [0.654508, 0.150505, -0.740923, 5.00136], [-0.0242594, -0.975301, -0.219545, 1.7852], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.681733, 0.223807, -0.696527, 3.3894], [0.731304, 0.181351, -0.6575, 5.11495], [-0.0208371, -0.957613, -0.287304, 1.74668], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.573537, 0.307882, -0.75912, 3.30889], [0.818973, 0.194713, -0.539787, 5.07701], [-0.0183796, -0.931287, -0.363822, 1.68265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.586594, 0.410121, -0.69836, 3.22104], [0.809014, 0.256846, -0.528703, 5.10879], [-0.0374612, -0.875118, -0.482458, 1.60898], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.757206, 0.323996, -0.567155, 3.0533], [0.652323, 0.419458, -0.631292, 5.24241], [0.0333612, -0.847987, -0.528967, 1.57621], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.846724, 0.278101, -0.453562, 2.77313], [0.528858, 0.532938, -0.660519, 5.21625], [0.0580291, -0.799148, -0.598328, 1.54238], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.903018, 0.237912, -0.357709, 2.53476], [0.426816, 0.591522, -0.684054, 5.14324], [0.0488484, -0.770389, -0.6357, 1.5397], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.96686, 0.101864, -0.234104, 2.31768], [0.240385, 0.672102, -0.700352, 5.21798], [0.0860011, -0.733418, -0.674316, 1.52392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.981713, 0.0509329, -0.183423, 2.02997], [0.160395, 0.740262, -0.652905, 5.17592], [0.102527, -0.670387, -0.734895, 1.49122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.999079, -0.0404299, -0.0143646, 1.69314], [-0.0197994, 0.731446, -0.681612, 5.19416], [0.0380646, -0.6807, -0.731573, 1.48258], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.978365, -0.178159, 0.105176, 1.38774], [-0.202776, 0.724926, -0.658304, 5.25512], [0.0410381, -0.665389, -0.745368, 1.46207], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0732_00"}, {"annotation": [{"question_id": "test-scene0733-0", "question": "What is in the far corner of the room on the painted wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-1", "question": "Where is the window on the paneled wall located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-2", "question": "What is scattered across the top of the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-3", "question": "What color is the door that leads to the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-4", "question": "Where is the bench placed by?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-5", "question": "How many shelves are in the bookcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-6", "question": "Where is the bookcase located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-7", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-8", "question": "How many window panes does the door have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-9", "question": "What color bar-type handle does the door have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-10", "question": "What is on one side of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-11", "question": "What is on the right side of the door as you enter through the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-12", "question": "What is on the top of the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-13", "question": "What color is the mini fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-14", "question": "In what part of the room is the coffee table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-15", "question": "How many total couches are seen in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-16", "question": "What color is the door handle ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-17", "question": "What color is the door ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-18", "question": "Where is the painting mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-19", "question": "What is the coffee table in front of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-20", "question": "What is the coffee table surrounded by?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-21", "question": "What is the lamp sitting on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-22", "question": "The lamp sits directly behind what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-23", "question": "Where is a picture hung?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-24", "question": "What color is the window behind the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-25", "question": "The window is directly to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-26", "question": "What is next to the mini fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-27", "question": "What color is the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-28", "question": "What color bench is directly to the left of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-29", "question": "What is between the couches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-30", "question": "What is on top of the end table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-31", "question": "What type of windows are on the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-32", "question": "What type of lamp is on the left.?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-33", "question": "What is the lamp sitting on in the corner of the house?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-34", "question": "In what corner of the room is the coffee table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-35", "question": "What color is the lamp on the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-36", "question": "What are the first two things you would encounter on your left when walking through the front door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-37", "question": "What glass objects are located behind the larger, black couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-38", "question": "What color is the couch between the two windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-39", "question": "What is the brown couch that is smaller sitting across from?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-40", "question": "What is between all three couches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-41", "question": "Where does the coffee table sit between the large couch and the smallest couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-42", "question": "What is the rectangular coffee table made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-43", "question": "What color garment sits on the large brown couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-44", "question": "Where is the large brown couch with the yellow garment located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-45", "question": "How many seats do the largest couches have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-46", "question": "How many sections does the bookshelf have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-47", "question": "What is in the middle of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-48", "question": "The wooden book shelf is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-49", "question": "What is on the other side of the fire extinguisher?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-50", "question": "Where is the long wooden bench located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-51", "question": "What is to the right, of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-52", "question": "How many lamps are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-53", "question": "What is around the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-54", "question": "What is between two lamps?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-55", "question": "Where is a bookshelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-56", "question": "How many windows are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-57", "question": "Where is the wooden bench?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-58", "question": "What is the color of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-59", "question": "What is next to a small frigde?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-60", "question": "What is next to a bench?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-61", "question": "What is the color of the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-62", "question": "What is between the door and a small fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-63", "question": "How many couches are there in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-64", "question": "Where can you find the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-65", "question": "What is the window above?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-66", "question": "The sofa is located next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-67", "question": "What is located above the wooden bench and mini fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-68", "question": "In what part of the room is the exit sign located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-69", "question": "In what part of the room is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-70", "question": "What is located right next to the long wooden bench?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-71", "question": "Where will the mini fridge be if you walk through the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-72", "question": "In what part of the room is the small white lamp located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-73", "question": "What is next to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0733-74", "question": "Where is the white lamp located in the corner of a room?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.997884, -0.046156, 0.0457979, 1.68724], [-0.060793, -0.412421, 0.908963, 3.02018], [-0.0230661, -0.909823, -0.414354, 1.68464], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.997943, 0.0341093, -0.0542759, 1.71322], [0.064088, -0.511975, 0.856606, 3.36016], [0.00143029, -0.858323, -0.513108, 1.62077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.99687, 0.0147104, -0.0776753, 1.652], [0.0712397, -0.593131, 0.801948, 3.76325], [-0.0342747, -0.804972, -0.592322, 1.58207], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.991403, 0.105951, -0.0767695, 1.95713], [0.127874, -0.660387, 0.739957, 4.0444], [0.0277017, -0.743413, -0.668259, 1.50983], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.960435, 0.245917, -0.130724, 2.20942], [0.268901, -0.696632, 0.665128, 4.39486], [0.0724999, -0.673964, -0.735198, 1.42745], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.859664, 0.44383, -0.252967, 2.41947], [0.507297, -0.683285, 0.525138, 4.66679], [0.0602238, -0.579772, -0.81255, 1.37848], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.635104, 0.646298, -0.423014, 2.59857], [0.767454, -0.46594, 0.440357, 4.75406], [0.0875026, -0.604316, -0.791925, 1.39555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.691938, 0.599237, -0.402662, 2.40766], [0.721266, -0.549369, 0.421864, 4.62087], [0.0315869, -0.582331, -0.812338, 1.42069], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.771568, 0.500967, -0.392065, 2.14418], [0.636136, -0.611182, 0.470942, 4.55903], [-0.00369653, -0.612771, -0.790252, 1.44987], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.819523, 0.43661, -0.371152, 1.79975], [0.572751, -0.644877, 0.506053, 4.70622], [-0.0183991, -0.6273, -0.77856, 1.47332], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.947933, 0.162957, -0.273618, 1.48865], [0.303823, -0.720289, 0.623598, 4.76587], [-0.0954646, -0.674261, -0.732297, 1.53928], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.971304, 0.0985976, -0.216439, 1.37276], [0.219593, -0.721324, 0.656864, 4.87866], [-0.0913576, -0.685544, -0.722277, 1.54773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.958469, 0.183076, -0.218676, 1.42299], [0.284636, -0.662068, 0.693288, 5.23199], [-0.0178543, -0.726738, -0.686682, 1.57232], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.962685, 0.150027, -0.225232, 1.45652], [0.267191, -0.659056, 0.703032, 5.67487], [-0.0429669, -0.736978, -0.674549, 1.53647], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.881909, 0.309484, -0.355607, 1.51674], [0.471251, -0.59895, 0.647442, 6.11035], [-0.012618, -0.738565, -0.674064, 1.52092], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.774124, 0.497267, -0.391736, 1.45672], [0.63226, -0.576772, 0.517282, 6.40552], [0.0312854, -0.64812, -0.760895, 1.48292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.740655, 0.57357, -0.349924, 1.42388], [0.670724, -0.600588, 0.435228, 6.48262], [0.0394735, -0.557057, -0.829536, 1.40697], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.802056, 0.484666, -0.349004, 1.53047], [0.595751, -0.607883, 0.524937, 6.21348], [0.0422655, -0.628949, -0.776297, 1.42392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.925622, 0.313748, -0.211627, 1.5412], [0.373809, -0.670668, 0.64068, 5.92828], [0.0590808, -0.672136, -0.738067, 1.46343], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.987528, 0.127148, -0.0928501, 1.55674], [0.154615, -0.671961, 0.724266, 5.62935], [0.0296971, -0.72959, -0.68324, 1.5329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.998211, 0.0538801, -0.0259204, 1.64838], [0.0541163, -0.629825, 0.774849, 5.29235], [0.0254236, -0.774866, -0.631614, 1.59331], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.991091, -0.0994267, 0.0886147, 1.68703], [-0.13022, -0.583785, 0.801397, 4.98421], [-0.0279484, -0.805797, -0.591532, 1.6072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.97831, -0.107814, 0.176875, 1.76016], [-0.207126, -0.497928, 0.84212, 4.65291], [-0.00272178, -0.860491, -0.509459, 1.63641], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.941684, -0.162588, 0.294613, 1.73057], [-0.336448, -0.439599, 0.8328, 4.40233], [-0.00589197, -0.883356, -0.468666, 1.69025], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.860929, -0.260303, 0.437084, 1.51772], [-0.506232, -0.353418, 0.786654, 4.4276], [-0.0502953, -0.89852, -0.436042, 1.71864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.770666, -0.30191, 0.561181, 1.48495], [-0.636817, -0.332836, 0.695474, 4.62956], [-0.023189, -0.893348, -0.448767, 1.72193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.665092, -0.261001, 0.699665, 1.52728], [-0.746342, -0.200937, 0.634506, 4.88325], [-0.0250181, -0.944194, -0.328437, 1.79174], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.534246, -0.221239, 0.815864, 1.62639], [-0.844415, -0.0948152, 0.527231, 5.05271], [-0.0392876, -0.9706, -0.237472, 1.83939], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.503387, -0.295595, 0.811926, 1.83123], [-0.862843, -0.221839, 0.454191, 5.24087], [0.0458601, -0.929199, -0.366723, 1.72187], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.238097, -0.480272, 0.844185, 1.94284], [-0.97101, -0.0987643, 0.217679, 5.51422], [-0.02117, -0.871541, -0.489865, 1.65967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.0192148, -0.571741, 0.820209, 2.08732], [-0.999815, 0.0099735, -0.0164702, 5.70297], [0.00123632, -0.820374, -0.571827, 1.58151], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.333562, -0.588202, 0.736718, 2.1102], [-0.942687, 0.215353, -0.254878, 5.87577], [-0.00873509, -0.779513, -0.626325, 1.53386], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.583381, -0.530659, 0.614871, 1.9308], [-0.81209, 0.393464, -0.430924, 6.04094], [-0.0132555, -0.750724, -0.660483, 1.50679], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.639428, -0.535714, 0.55149, 1.84105], [-0.768455, 0.422292, -0.480777, 6.05658], [0.024669, -0.731218, -0.681698, 1.48305], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.498037, -0.580888, 0.643838, 1.85651], [-0.866313, 0.30059, -0.398931, 5.90168], [0.0382029, -0.756449, -0.652936, 1.53247], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.279639, -0.559844, 0.779985, 1.9136], [-0.959981, 0.176101, -0.217772, 5.66957], [-0.0154377, -0.809669, -0.586684, 1.6137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.242039, -0.519818, 0.819272, 2.04617], [-0.970116, 0.144502, -0.194919, 5.32894], [-0.0170647, -0.841967, -0.539259, 1.62869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.194955, -0.404854, 0.893356, 2.08797], [-0.980484, 0.103996, -0.16684, 4.93783], [-0.0253595, -0.908448, -0.417228, 1.71388], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.232289, -0.433314, 0.870793, 2.13745], [-0.972429, 0.12241, -0.198489, 4.52654], [-0.0205859, -0.892891, -0.449801, 1.67731], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.286366, -0.439586, 0.851327, 2.2925], [-0.957646, 0.159274, -0.239887, 4.14255], [-0.0301436, -0.883966, -0.466579, 1.66444], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.230659, -0.461405, 0.85668, 2.37751], [-0.972714, 0.0867406, -0.215182, 3.78238], [0.0249773, -0.882939, -0.468823, 1.66369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.243692, -0.38589, 0.889777, 2.52917], [-0.96971, 0.11265, -0.216729, 3.43289], [-0.0165998, -0.915641, -0.401654, 1.64625], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.091304, -0.524763, 0.846338, 2.47114], [-0.995823, 0.0474416, -0.0780151, 3.18913], [0.000787824, -0.849925, -0.526903, 1.56256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.0178465, -0.561805, 0.827077, 2.27746], [-0.999437, -0.0335232, -0.00120562, 3.07507], [0.0284036, -0.82659, -0.562087, 1.5023], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.020413, -0.461765, 0.886767, 2.12845], [-0.99975, -0.0175041, 0.0138988, 3.06683], [0.00910401, -0.88683, -0.462007, 1.61617], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.0305078, -0.418457, 0.907724, 2.13176], [-0.999283, -0.0331356, 0.0183097, 2.88386], [0.0224161, -0.907632, -0.419168, 1.673], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.149264, -0.383765, 0.911287, 2.21667], [-0.983774, -0.150416, 0.0977933, 2.53921], [0.0995422, -0.911098, -0.39999, 1.70751], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.0206745, -0.322401, 0.946377, 2.39953], [-0.995613, -0.0797548, -0.0489202, 2.30511], [0.09125, -0.943237, -0.319338, 1.73213], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.130909, -0.16779, 0.977092, 2.47778], [-0.990226, -0.0257081, -0.137084, 2.25394], [0.0481204, -0.985488, -0.162784, 1.82417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.176903, -0.045516, 0.983175, 2.41032], [-0.983774, -0.0221676, -0.178037, 2.2767], [0.0298981, -0.998718, -0.040856, 1.91498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.286859, -0.234968, 0.92871, 2.28915], [-0.957853, 0.0549975, -0.281946, 2.27001], [0.0151715, -0.970446, -0.240841, 1.82167], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.204424, -0.422657, 0.882933, 2.23862], [-0.978783, 0.0754377, -0.190505, 2.39368], [0.0139116, -0.903145, -0.429111, 1.64891], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.356251, -0.558754, 0.748918, 2.35957], [-0.933046, 0.169747, -0.317193, 2.46517], [0.0501066, -0.811776, -0.581816, 1.54492], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.81363, -0.325758, 0.481548, 2.58872], [-0.579783, 0.516041, -0.630518, 2.48087], [-0.0431022, -0.792201, -0.608736, 1.4564], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.9591, -0.109201, 0.261154, 2.82126], [-0.269595, 0.633615, -0.725156, 2.48664], [-0.0862836, -0.765903, -0.63714, 1.40438], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.994384, -0.024, 0.103075, 2.88846], [-0.0998671, 0.535151, -0.838832, 2.59091], [-0.0350287, -0.844415, -0.534542, 1.23144], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.996289, -0.0292596, 0.0809411, 2.91264], [-0.0858543, 0.40398, -0.91073, 2.73231], [-0.00605089, -0.9143, -0.404993, 0.877137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.997477, -0.0106327, 0.0701812, 2.89859], [-0.0674987, 0.448011, -0.891476, 2.72893], [-0.0219631, -0.893965, -0.447598, 0.994739], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.999786, 0.0136588, 0.0155188, 2.8505], [-0.00696936, 0.484033, -0.875022, 2.72635], [-0.0194633, -0.874943, -0.483834, 1.29805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.978394, 0.107169, -0.176806, 2.78714], [0.206636, 0.478388, -0.853491, 2.63992], [-0.00688573, -0.871585, -0.490197, 1.47699], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.947475, 0.186894, -0.259541, 2.63846], [0.316044, 0.422627, -0.849413, 2.64078], [-0.0490606, -0.886824, -0.459496, 1.53949], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.979625, 0.0634035, -0.190566, 2.39872], [0.197931, 0.465617, -0.862568, 2.67128], [0.0340409, -0.882712, -0.468679, 1.54363], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.976505, 0.0950817, -0.193385, 2.24779], [0.214314, 0.522319, -0.82538, 2.63092], [0.02253, -0.847433, -0.530424, 1.5145], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.977082, 0.10582, -0.184693, 2.07134], [0.212622, 0.526204, -0.823348, 2.55119], [0.0100595, -0.843749, -0.536645, 1.51585], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.997738, 0.0080162, -0.0667431, 1.77897], [0.0602022, 0.548313, -0.834103, 2.60473], [0.0299098, -0.836235, -0.547556, 1.50788], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.993592, -0.101628, 0.0494728, 1.53663], [-0.0984178, 0.562622, -0.820835, 2.53906], [0.0555854, -0.820444, -0.569018, 1.47278], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.951048, -0.198755, 0.236652, 1.23617], [-0.308359, 0.559408, -0.7694, 2.41173], [0.020537, -0.80471, -0.593312, 1.47925], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.819584, -0.392694, 0.417221, 0.948955], [-0.569412, 0.477341, -0.669265, 2.28708], [0.0636594, -0.78609, -0.614826, 1.46926], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.709869, -0.479093, 0.516289, 0.79968], [-0.703268, 0.441823, -0.556962, 2.04441], [0.038728, -0.75846, -0.650568, 1.43142], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0733_00"}, {"annotation": [{"question_id": "test-scene0734-0", "question": "Where is the nightstand with the clock?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-1", "question": "What kind of light is above the nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-2", "question": "What is on the right side of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-3", "question": "What is draped over the top of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-4", "question": "What color is the pillow on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-5", "question": "What color is the nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-6", "question": "What is placed next to the computer table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-7", "question": "Where is the black chair placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-8", "question": "Where is a double bed placed in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-9", "question": "What is placed between the wall and the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-10", "question": "Where is a nightstand placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-11", "question": "How many lamps are next to the bed on the nightstands?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-12", "question": "What kind of lamp is in the bedroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-13", "question": "What color metal lamp is in corner of room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-14", "question": "What color is the coffee table in front of the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-15", "question": "What kind of items are on the top of the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-16", "question": "What is on the top of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-17", "question": "Where is the rectangular picture located on the bedroom wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-18", "question": "What is right in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-19", "question": "What is behind the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-20", "question": "What is on the right side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-21", "question": "On what side of the bed is a nightstand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-22", "question": "Where is the dark coffee table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-23", "question": "What is tucked under the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-24", "question": "Where is a computer chair tucked?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-25", "question": "What is on the nightstand on the right side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-26", "question": "What is sitting on a desk in what appears to be a hotel room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-27", "question": "What is sitting on top of a dresser to the right of the lamp?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-28", "question": "What color is the frame of the painting which is on the right side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-29", "question": "How many pillows on bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-30", "question": "Where are the pillows on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-31", "question": "Where does the coffee table sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-32", "question": "What color is the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-33", "question": "What is to the right of the larger white painting in corner on floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-34", "question": "What is on the bed next to the headboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-35", "question": "What is on a nightstand next to the headboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-36", "question": "What color is the coffee table in front of a sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-37", "question": "To the right of the coffee table is what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-38", "question": "What color is the nightstand in the corner of the room between the wall and the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-39", "question": "What color is the nightstand next to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-40", "question": "What is on the left nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-41", "question": "What is the lamp placed on the left side of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-42", "question": "What can be seen on the left side of the lamp?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-43", "question": "On which side of the lamp is a tv present?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-44", "question": "What can be seen on the left side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-45", "question": "How many night lamps are present on both sides of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-46", "question": "What is placed on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-47", "question": "What is present on the left and right side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-48", "question": "What is hanged on the wall right side of the lamp?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-49", "question": "What is resting on the bed board on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-50", "question": "Where is the pillow resting on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-51", "question": "What is on the left of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-52", "question": "What is near the curtain that looks like it is off?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-53", "question": "What is next to a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-54", "question": "What color is the loveseat?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-55", "question": "What type of bed is quite messy?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-56", "question": "Is a double bed clean or messy?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-57", "question": "Where is a medium sized lamp located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-58", "question": "What is in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-59", "question": "What is hung on the wall left of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-60", "question": "What is on the nightstand near the big painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-61", "question": "What item is furthest to the left of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-62", "question": "What is behind the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-63", "question": "What is directly in front of the pillow on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-64", "question": "Where does the lamp at the corner sitting on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-65", "question": "What is sitting on top of the dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-66", "question": "What color is the desk with a lamp on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-67", "question": "What is to the left of the tv and to the right of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-68", "question": "What is hung on the wall beside the hallway leading out of the room on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-69", "question": "What is on the left of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-70", "question": "What is on the wall beside the lamp on the right sided of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-71", "question": "What is sitting on top of the dark wooden dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-72", "question": "What is sitting in front of the wooden desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-73", "question": "The black rolling chair is near what part of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-74", "question": "What is on top of the dark wooden nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-75", "question": "Where is the nightstand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-76", "question": "What is the painting on the wall to the left of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-77", "question": "The painting is located across the room from the wall of windows with what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-78", "question": "The dresser is across from what part of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-79", "question": "What color is the wooden dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-80", "question": "What color is the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-81", "question": "Where is the head board located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-82", "question": "What color is the chair in front of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-83", "question": "Where is the black chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-84", "question": "Where is the small white cloth sofa located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-85", "question": "What color is the lamp on the left side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-86", "question": "What color metal lamp is in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0734-87", "question": "What color is the wooden nightstand?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.0379345, -0.447661, 0.893398, 1.27397], [-0.999018, -0.00348197, -0.0441639, 1.47564], [0.0228812, -0.894197, -0.447089, 1.49256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.0459814, -0.478037, 0.877135, 1.32096], [-0.998855, 0.0103839, -0.0467029, 1.46557], [0.0132176, -0.878278, -0.477967, 1.49113], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.0741512, -0.488731, 0.869277, 1.40541], [-0.997206, 0.0283908, -0.0691017, 1.47581], [0.00909277, -0.871972, -0.489471, 1.47752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.00719847, -0.476259, 0.879276, 1.69428], [-0.999028, -0.0416593, -0.0143858, 1.41548], [0.0434813, -0.878318, -0.476096, 1.4962], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.104737, -0.426447, 0.898428, 2.0466], [-0.99324, -0.000612286, -0.116081, 1.45644], [0.0500523, -0.904512, -0.4235, 1.50006], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.166455, -0.384436, 0.908021, 2.32818], [-0.985078, 0.0239766, -0.170429, 1.47787], [0.043748, -0.92284, -0.382691, 1.51422], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.388092, -0.246193, 0.888129, 2.53614], [-0.921513, 0.0889134, -0.378033, 1.59614], [0.0141026, -0.965134, -0.261377, 1.5705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.467867, -0.116439, 0.876095, 2.5693], [-0.883196, 0.0250009, -0.468337, 1.64871], [0.0326293, -0.992883, -0.114535, 1.59963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.538799, -0.0901725, 0.837594, 2.58216], [-0.840343, -0.0124839, -0.541911, 1.6496], [0.0593217, -0.995848, -0.0690496, 1.61982], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.556023, -0.245493, 0.794085, 2.60378], [-0.828794, 0.0916247, -0.552001, 1.66057], [0.0627548, -0.965058, -0.254409, 1.54492], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.560187, -0.38004, 0.736043, 2.64436], [-0.824839, 0.174002, -0.537926, 1.6597], [0.0763609, -0.908456, -0.410946, 1.45735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.444463, -0.4291, 0.786336, 2.84507], [-0.894525, 0.165832, -0.415121, 1.60103], [0.0477286, -0.887903, -0.457547, 1.41306], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.307252, -0.441962, 0.842773, 3.10456], [-0.950432, 0.0981167, -0.295048, 1.55258], [0.0477097, -0.891652, -0.450201, 1.41561], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.188481, -0.371882, 0.908943, 3.15124], [-0.980858, -0.117383, 0.155368, 1.42508], [0.048916, -0.920828, -0.386888, 1.43003], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.645922, -0.247639, 0.722121, 2.99383], [-0.763364, -0.219045, 0.607695, 1.36724], [0.00768811, -0.943766, -0.330525, 1.46006], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.910775, -0.111404, 0.39759, 2.93889], [-0.41261, -0.281831, 0.866212, 1.35551], [0.0155534, -0.952974, -0.302651, 1.48916], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.977861, -0.06974, 0.197293, 2.94445], [-0.208887, -0.381322, 0.900533, 1.31066], [0.0124291, -0.921808, -0.387447, 1.47729], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.975712, -0.127871, 0.177865, 2.94023], [-0.218967, -0.545792, 0.808804, 1.30507], [-0.00634539, -0.828106, -0.560535, 1.40869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.924138, -0.243737, 0.294213, 2.936], [-0.381405, -0.543505, 0.747752, 1.35919], [-0.0223487, -0.80324, -0.595236, 1.38524], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.95739, -0.126783, 0.259481, 2.95387], [-0.287777, -0.343333, 0.89404, 1.4485], [-0.0242607, -0.930617, -0.365189, 1.48843], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.999598, -0.0242538, 0.0147014, 3.18053], [-0.0202023, -0.245089, 0.96929, 1.58716], [-0.0199058, -0.969197, -0.24548, 1.56831], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.985971, -0.0703242, 0.15138, 3.29992], [-0.164132, -0.243478, 0.955918, 1.68556], [-0.0303665, -0.967354, -0.251605, 1.5597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.870685, -0.120021, 0.476972, 3.4487], [-0.491353, -0.255416, 0.832667, 1.80496], [0.0218885, -0.959353, -0.28136, 1.52224], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.76513, -0.181711, 0.617703, 3.53462], [-0.643787, -0.231773, 0.729259, 1.81963], [0.0106526, -0.955648, -0.29432, 1.51259], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.636113, -0.235276, 0.73485, 3.63547], [-0.771596, -0.193521, 0.605962, 1.80426], [-0.000359386, -0.952468, -0.304639, 1.51487], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.543273, -0.207119, 0.813607, 3.85616], [-0.839451, -0.149287, 0.522527, 1.65786], [0.013236, -0.966858, -0.25497, 1.51928], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.577305, -0.296373, 0.760843, 4.01856], [-0.81632, -0.188408, 0.546008, 1.56083], [-0.0184734, -0.936304, -0.350704, 1.49272], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.485689, -0.371584, 0.791221, 4.06186], [-0.873988, -0.189998, 0.447265, 1.54109], [-0.0158661, -0.90875, -0.41704, 1.47093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.579127, -0.380854, 0.720806, 3.81751], [-0.81523, -0.266921, 0.513958, 1.53092], [-0.00334448, -0.88527, -0.465065, 1.46459], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.49541, -0.454333, 0.740372, 3.50247], [-0.867432, -0.213451, 0.449445, 1.65221], [-0.0461646, -0.864881, -0.499849, 1.46391], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.603675, -0.340184, 0.721007, 3.20775], [-0.797061, -0.27617, 0.537051, 1.62639], [0.0164244, -0.898891, -0.437865, 1.5102], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.588771, -0.259653, 0.76546, 3.06582], [-0.807857, -0.220352, 0.546636, 1.59705], [0.0267347, -0.940226, -0.3395, 1.54088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.0978157, -0.226627, 0.969057, 3.14091], [-0.994558, -0.0573423, 0.0869795, 1.65875], [0.0358562, -0.972292, -0.231003, 1.55158], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.255277, -0.191964, 0.94762, 3.21194], [-0.965928, 0.00743028, -0.258703, 1.70323], [0.0426207, -0.981374, -0.18732, 1.54147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.258535, -0.27435, 0.926224, 3.32347], [-0.965622, 0.0465156, -0.255754, 1.65232], [0.0270821, -0.960504, -0.276944, 1.49715], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.151911, -0.370728, 0.916234, 3.59578], [-0.987924, 0.0283486, -0.152327, 1.57321], [0.0304977, -0.928309, -0.370557, 1.47655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.170878, -0.406399, 0.897575, 3.90513], [-0.985174, 0.0563543, -0.162039, 1.57586], [0.0152704, -0.911956, -0.410004, 1.4702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.209555, -0.507854, 0.835566, 4.1286], [-0.977782, 0.104176, -0.181904, 1.52056], [0.00533469, -0.855121, -0.518401, 1.4523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.398295, -0.425399, 0.812648, 4.42313], [-0.917065, 0.166527, -0.3623, 1.6324], [0.0187937, -0.889553, -0.456445, 1.48534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.50699, -0.445034, 0.738177, 4.68445], [-0.858622, 0.185541, -0.477853, 1.63913], [0.0756985, -0.876082, -0.476183, 1.46203], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.694408, -0.31221, 0.648322, 4.81078], [-0.714789, 0.195479, -0.671464, 1.63414], [0.082904, -0.929684, -0.358907, 1.54257], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.745709, -0.376942, 0.549394, 4.83216], [-0.664287, 0.357029, -0.656698, 1.67709], [0.0513877, -0.854661, -0.516637, 1.46541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.734315, -0.446878, 0.510962, 4.86147], [-0.676204, 0.415678, -0.608243, 1.6932], [0.0594147, -0.792157, -0.607419, 1.39684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.507748, -0.497254, 0.703512, 4.93214], [-0.861379, 0.27901, -0.424476, 1.5824], [0.0147855, -0.821518, -0.569991, 1.40205], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.0773332, -0.547317, 0.833345, 5.0933], [-0.994555, -0.0162175, -0.102945, 1.47011], [0.0698581, -0.836768, -0.543083, 1.40736], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.126278, -0.534017, 0.83599, 5.34879], [-0.990335, -0.116597, 0.0751122, 1.48389], [0.0573626, -0.837396, -0.543579, 1.40921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.323562, -0.473279, 0.819338, 5.52863], [-0.945693, -0.190285, 0.263545, 1.48274], [0.0311771, -0.860115, -0.509146, 1.43894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.601694, -0.393441, 0.695103, 5.57243], [-0.798705, -0.290001, 0.527229, 1.5294], [-0.00585338, -0.872412, -0.488735, 1.43176], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.758448, -0.297102, 0.580076, 5.72003], [-0.650573, -0.398224, 0.646662, 1.74471], [0.0388752, -0.867841, -0.495318, 1.41283], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.933121, -0.133072, 0.334032, 5.8645], [-0.356667, -0.460231, 0.813005, 1.88528], [0.0455435, -0.87777, -0.476913, 1.38733], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.998917, 0.0426056, -0.0186995, 5.95397], [0.0372831, -0.492499, 0.869514, 1.98503], [0.0278367, -0.86927, -0.493554, 1.42293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.962829, 0.122664, -0.240655, 5.96648], [0.269662, -0.385058, 0.882617, 2.10842], [0.0155992, -0.914704, -0.403823, 1.46645], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.864012, 0.240635, -0.442241, 6.04221], [0.503301, -0.390014, 0.771089, 2.15262], [0.0130713, -0.88881, -0.458089, 1.44598], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.938991, 0.161385, -0.303728, 6.04448], [0.342308, -0.524464, 0.779591, 2.03602], [-0.0334797, -0.835998, -0.547711, 1.40253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.999395, -0.0190588, -0.0290781, 6.0547], [0.0123012, -0.588425, 0.808458, 2.06033], [-0.0325184, -0.808327, -0.587834, 1.38608], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.934652, -0.257269, 0.245433, 6.09963], [-0.351925, -0.570873, 0.741791, 2.20069], [-0.0507287, -0.77969, -0.624107, 1.38365], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.774649, -0.36062, 0.519492, 6.07468], [-0.631868, -0.407954, 0.659027, 2.16049], [-0.0257295, -0.838765, -0.543886, 1.4275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.667631, -0.288298, 0.686406, 6.09352], [-0.744458, -0.267324, 0.611817, 2.15437], [0.00710756, -0.919468, -0.3931, 1.50978], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.610994, -0.266416, 0.745459, 6.1041], [-0.791598, -0.214674, 0.57209, 2.1983], [0.00761667, -0.939648, -0.342059, 1.53772], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.562792, -0.373638, 0.737333, 6.20166], [-0.825714, -0.295376, 0.480572, 2.36633], [0.0382308, -0.879288, -0.474753, 1.40725], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.471948, -0.439421, 0.764313, 6.3003], [-0.879082, -0.300373, 0.370124, 2.616], [0.0669385, -0.846573, -0.528047, 1.34708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.100291, -0.487682, 0.867242, 6.46155], [-0.994956, 0.0473728, -0.088421, 2.90949], [0.0020376, -0.871735, -0.489973, 1.37461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.354093, -0.557059, 0.751201, 6.53813], [-0.934472, 0.242654, -0.26054, 3.15734], [-0.0371452, -0.794232, -0.606478, 1.38587], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.548388, -0.36315, 0.753255, 6.56674], [-0.835487, 0.275753, -0.475312, 3.33266], [-0.0351031, -0.88999, -0.454627, 1.46716], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.595365, -0.129814, 0.792899, 6.61788], [-0.800846, 0.175358, -0.572622, 3.39618], [-0.0647067, -0.975909, -0.208363, 1.56581], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.611484, -0.0832929, 0.78686, 6.64964], [-0.789513, 0.130216, -0.599761, 3.4543], [-0.0525059, -0.987981, -0.145386, 1.59311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.433133, 0.010575, 0.901268, 6.60913], [-0.89905, 0.0660035, -0.432842, 3.54631], [-0.0640642, -0.997763, -0.0190809, 1.6625], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.442011, 0.00929713, 0.896961, 6.59863], [-0.895176, 0.0593383, -0.441746, 3.5432], [-0.0573313, -0.998195, -0.0179056, 1.70909], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.609946, -0.204702, 0.765547, 6.62029], [-0.791826, 0.195542, -0.578597, 3.4786], [-0.0312566, -0.959093, -0.281359, 1.55082], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.722474, -0.291139, 0.627111, 6.60316], [-0.691388, 0.309151, -0.653, 3.45263], [-0.0037584, -0.905353, -0.424644, 1.48992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.914967, -0.196058, 0.352698, 6.5602], [-0.403246, 0.476923, -0.780985, 3.36283], [-0.015091, -0.8568, -0.515428, 1.45495], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.974893, -0.093447, 0.202117, 6.54099], [-0.220947, 0.518751, -0.825881, 3.31137], [-0.027672, -0.849803, -0.526373, 1.45768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.997907, -0.00877947, 0.0640597, 6.57226], [-0.0614104, 0.438755, -0.896506, 3.28123], [-0.0202357, -0.898564, -0.438377, 1.49878], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.986596, 0.0213271, -0.161786, 6.53051], [0.159235, 0.342633, -0.925876, 3.18375], [0.0356869, -0.939227, -0.341436, 1.5205], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.91541, 0.0516125, -0.3992, 6.44626], [0.391654, 0.34311, -0.853746, 3.10108], [0.0929056, -0.937876, -0.334301, 1.48176], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.887508, 0.033389, -0.45958, 6.40566], [0.442849, 0.337413, -0.830685, 3.0554], [0.127333, -0.940764, -0.314243, 1.46201], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.907203, 0.0362658, -0.419128, 6.36404], [0.408012, 0.318627, -0.855572, 2.91214], [0.102517, -0.947186, -0.303856, 1.47629], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.924069, 0.0673991, -0.376237, 6.53419], [0.376473, 0.330637, -0.865418, 2.68445], [0.0660694, -0.941348, -0.330905, 1.48572], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.878455, 0.0961279, -0.468056, 6.68616], [0.475524, 0.271892, -0.836631, 2.44112], [0.0468369, -0.957515, -0.284556, 1.52965], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.654116, 0.241309, -0.716869, 6.77375], [0.75619, 0.186664, -0.627162, 2.26697], [-0.0175266, -0.952327, -0.304576, 1.53369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.52052, 0.295556, -0.801065, 6.73569], [0.853824, 0.172962, -0.490987, 2.26349], [-0.00656025, -0.939538, -0.342383, 1.53029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.308198, 0.329996, -0.892254, 6.76035], [0.951194, 0.122326, -0.283315, 2.07522], [0.0156525, -0.936023, -0.351591, 1.52863], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.0131676, 0.396017, -0.918149, 6.78333], [0.999708, 0.0133788, 0.0201078, 2.0165], [0.0202467, -0.918146, -0.395725, 1.52746], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.167206, 0.452473, -0.875963, 6.75981], [0.985642, -0.0555347, 0.159455, 2.06524], [0.0235029, -0.890047, -0.455262, 1.51915], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.503057, 0.380835, -0.775821, 6.75047], [0.864091, -0.204241, 0.460035, 2.08118], [0.0167428, -0.901804, -0.431822, 1.50948], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.628537, 0.360217, -0.689337, 6.75334], [0.775083, -0.216348, 0.593666, 2.13839], [0.0647124, -0.907434, -0.415181, 1.51409], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.399499, 0.35882, -0.843593, 6.77632], [0.90837, -0.0309268, 0.417021, 1.98162], [0.123546, -0.932894, -0.338297, 1.48284], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.110981, 0.372753, -0.92127, 6.78821], [0.993813, -0.0457854, 0.101195, 1.57509], [-0.00446016, -0.9268, -0.375527, 1.45566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.0475242, 0.375475, -0.925613, 6.71805], [0.998439, -0.00936648, -0.0550629, 1.35611], [-0.0293445, -0.926785, -0.374444, 1.46062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.0549918, 0.451884, -0.89038, 6.48209], [0.99845, -0.0325195, 0.0451622, 1.17732], [-0.00854656, -0.891484, -0.452973, 1.46531], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.0337562, 0.288308, -0.956943, 6.14351], [0.997903, 0.043196, 0.0482151, 1.2592], [0.0552369, -0.956563, -0.286245, 1.3857], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.0506878, 0.316401, -0.947271, 5.7696], [0.996282, 0.0821839, -0.0258599, 1.2563], [0.0696682, -0.945059, -0.31939, 1.35692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.146594, 0.32674, -0.933676, 5.32448], [0.988547, 0.0825893, -0.126308, 1.23012], [0.035842, -0.941499, -0.335105, 1.41863], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.176747, 0.45859, -0.870894, 4.89994], [0.984216, 0.090405, -0.152141, 1.12033], [0.00896303, -0.884038, -0.46733, 1.41635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.318206, 0.552238, -0.77057, 4.50902], [0.947814, 0.168308, -0.27078, 1.17548], [-0.0198418, -0.816521, -0.576975, 1.40464], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.149627, 0.592966, -0.791203, 4.01933], [0.988476, -0.0711432, 0.133616, 1.20325], [0.0229412, -0.802078, -0.596778, 1.36441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.564403, 0.513975, -0.645971, 3.65513], [0.825326, -0.33528, 0.45434, 1.30243], [0.0169387, -0.789568, -0.61343, 1.35127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.921107, 0.211755, -0.326682, 3.55073], [0.389094, -0.528634, 0.754421, 1.311], [-0.0129427, -0.822013, -0.569322, 1.39302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.950863, 0.152312, -0.269555, 3.53614], [0.309418, -0.498198, 0.809975, 1.2994], [-0.0109227, -0.85358, -0.520847, 1.40574], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0734_00"}, {"annotation": [{"question_id": "test-scene0735-0", "question": "What color shower curtain is closest to the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-1", "question": "Where is toilet paper found?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-2", "question": "To what part of the toilet is toilet paper closest?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-3", "question": "How is the bathroom vanity mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-4", "question": "How many sinks does the bathroom vanity have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-5", "question": "What type of vanity is the bathroom vanity?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-6", "question": "Where is the shower curtain located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-7", "question": "What colors does the shower curtain look like?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-8", "question": "What is the shower curtain's design?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-9", "question": "What type of sink is in the middle of a bathroom counter top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-10", "question": "The sink is right of a toilet and what part of a shower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-11", "question": "What color is the towel above a toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-12", "question": "What is the toilet paper next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-13", "question": "Where is the toilet paper closest to the toilet bowl?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-14", "question": "What color is the toilet paper?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-15", "question": "What is behind a curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-16", "question": "Where is the white bathtub located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-17", "question": "How is the towel positioned on a towel rack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-18", "question": "What color is the towel?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-19", "question": "What shape is the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-20", "question": "What kind of towels are hanging over the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-21", "question": "How are the towels arranged?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-22", "question": "Which towel is closest to the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-23", "question": "What color is the bathtub?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-24", "question": "Where is the left towel closest to the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-25", "question": "Where is the toilet tissue located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-26", "question": "Where is the telephone spaced?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-27", "question": "Where is the bathroom vanity located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-28", "question": "What is the color of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-29", "question": "Where is the toilet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-30", "question": "What is a towel hanging on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-31", "question": "Where is the towel hanging on a rack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-32", "question": "Where is a bathtub located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-33", "question": "What is right most away from the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-34", "question": "What hangs over the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-35", "question": "Where is a toilet paper found?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-36", "question": "What color shower curtain hangs over the tub?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-37", "question": "What are next to the tub?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-38", "question": "What color shower curtain does the white bathtub have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-39", "question": "What is outside the tub on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-40", "question": "What color is the shower curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-41", "question": "What is on the floor next to the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-42", "question": "Where is the beige phone located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0735-43", "question": "Where is the towel hanging?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.884283, -0.285817, 0.369258, 0.471508], [-0.466932, -0.548339, 0.693758, 1.78004], [0.00419109, -0.785897, -0.618344, 1.42252], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.880414, -0.24459, 0.40626, 0.468083], [-0.473601, -0.496784, 0.72726, 1.76577], [0.0239434, -0.832695, -0.553214, 1.45124], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.950409, -0.142156, 0.276614, 0.418246], [-0.310899, -0.411114, 0.856929, 1.74881], [-0.0080979, -0.900432, -0.434922, 1.51515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.963833, -0.106663, 0.24423, 0.439444], [-0.266134, -0.336793, 0.903185, 1.76795], [-0.0140818, -0.935518, -0.352999, 1.57152], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.938459, -0.0637881, 0.33945, 0.454073], [-0.343267, -0.281076, 0.896194, 1.83919], [0.0382448, -0.957563, -0.285675, 1.59469], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.787041, -0.13299, 0.602395, 0.432442], [-0.616699, -0.194602, 0.762767, 2.03337], [0.0157874, -0.971825, -0.235174, 1.61309], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.676402, -0.106778, 0.728751, 0.447826], [-0.735225, -0.156821, 0.659433, 2.0485], [0.0438703, -0.981838, -0.18458, 1.62215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.706402, -0.249996, 0.662192, 0.443241], [-0.707483, -0.277826, 0.649831, 2.03013], [0.0215185, -0.927532, -0.373125, 1.56283], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.59751, -0.436617, 0.672568, 0.445607], [-0.801784, -0.313693, 0.508664, 2.06735], [-0.0111115, -0.843186, -0.537507, 1.50203], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.481595, -0.499107, 0.720388, 0.448108], [-0.876063, -0.251561, 0.411378, 1.99922], [-0.0241005, -0.829222, -0.558399, 1.46519], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.304264, -0.541425, 0.783762, 0.475254], [-0.952148, -0.147865, 0.267487, 1.95277], [-0.0289332, -0.827644, -0.560507, 1.44672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.126664, -0.543981, 0.829482, 0.500378], [-0.991776, -0.0539678, 0.116054, 1.89204], [-0.0183659, -0.83736, -0.546343, 1.45045], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.0319075, -0.519214, 0.854048, 0.493108], [-0.999469, 0.0222451, -0.0238167, 1.81256], [-0.00663248, -0.854355, -0.519648, 1.46389], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.149609, -0.496221, 0.855208, 0.471819], [-0.988727, 0.0697777, -0.132479, 1.71932], [0.0060645, -0.865387, -0.501067, 1.46323], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.253709, -0.443399, 0.859668, 0.473236], [-0.967254, 0.122966, -0.222037, 1.65278], [-0.00725874, -0.88785, -0.460077, 1.48341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.416218, -0.320827, 0.850784, 0.615725], [-0.909265, 0.147616, -0.389162, 1.68783], [-0.000735819, -0.935564, -0.353157, 1.50936], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.57983, -0.201151, 0.789516, 0.739974], [-0.814737, 0.141919, -0.562195, 1.74755], [0.0010387, -0.969225, -0.246174, 1.55941], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.712206, -0.0602306, 0.699381, 0.840109], [-0.7015, 0.0245999, -0.712245, 1.70152], [0.0256941, -0.997881, -0.059772, 1.5008], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.823704, -0.0133034, 0.566864, 0.903285], [-0.565429, -0.0555725, -0.822923, 1.67345], [0.0424497, -0.998366, 0.0382531, 1.5514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.869793, -0.108152, 0.481417, 0.958515], [-0.493145, 0.1582, -0.855442, 1.82345], [0.0163571, -0.981466, -0.190936, 1.58429], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.867477, -0.211945, 0.450071, 0.971768], [-0.496766, 0.320648, -0.80648, 2.00565], [0.0266148, -0.923182, -0.383441, 1.52327], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.873332, -0.246275, 0.420287, 0.919653], [-0.48577, 0.375954, -0.789105, 2.13796], [0.036328, -0.893312, -0.447965, 1.4736], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.915584, -0.236732, 0.32506, 0.905174], [-0.4018, 0.505947, -0.763266, 2.27751], [0.0162265, -0.829443, -0.558355, 1.42533], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.97176, -0.13945, 0.190358, 0.817739], [-0.235481, 0.5211, -0.820368, 2.29169], [0.0152048, -0.842026, -0.539222, 1.43836], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.982264, -0.1136, 0.14917, 0.741205], [-0.187432, 0.573252, -0.797654, 2.32052], [0.00510156, -0.811466, -0.584377, 1.39355], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.982957, -0.101479, 0.15329, 0.730433], [-0.183806, 0.527436, -0.829474, 2.32784], [0.00332344, -0.843513, -0.537099, 1.41197], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.924788, -0.182946, 0.333613, 0.76407], [-0.377955, 0.542605, -0.750153, 2.30922], [-0.0437827, -0.819823, -0.57094, 1.41774], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.890014, -0.249397, 0.381675, 0.806146], [-0.455739, 0.51107, -0.728773, 2.08011], [-0.0133086, -0.822562, -0.568519, 1.40432], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.893976, -0.256916, 0.367151, 0.744085], [-0.448113, 0.510771, -0.733695, 1.86452], [0.000968188, -0.820431, -0.571745, 1.38428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.843382, -0.337448, 0.418134, 0.64586], [-0.534446, 0.446537, -0.717615, 1.57891], [0.0554459, -0.828694, -0.556949, 1.40063], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.763671, -0.355285, 0.539053, 0.586329], [-0.645595, 0.424851, -0.634593, 1.45712], [-0.00355557, -0.832631, -0.553817, 1.41802], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.647007, -0.425613, 0.632641, 0.529894], [-0.761778, 0.325119, -0.56035, 1.49117], [0.032809, -0.844483, -0.534577, 1.42461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.271364, -0.580929, 0.767387, 0.439953], [-0.961919, 0.136563, -0.236774, 1.62916], [0.032752, -0.802416, -0.595865, 1.40706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.131616, -0.60557, 0.784832, 0.360215], [-0.991292, -0.0836381, 0.101705, 1.81615], [0.00405219, -0.791384, -0.611305, 1.39306], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.352407, -0.566623, 0.744814, 0.261959], [-0.935777, -0.203624, 0.287852, 1.91931], [-0.0114419, -0.798421, -0.601991, 1.39319], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0735_00"}, {"annotation": [{"question_id": "test-scene0736-0", "question": "What color is the computer chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-1", "question": "What is in the corner of the room next to the black chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-2", "question": "What is next to the gray cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-3", "question": "Where is the white desk located in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-4", "question": "Where is a white file cabinet placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-5", "question": "How many window have blinds up?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-6", "question": "What size is the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-7", "question": "What is placed in the centre of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-8", "question": "In what part of the room is a table placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-9", "question": "What is placed next to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-10", "question": "Where is a file cabinet placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-11", "question": "A monitor is placed next to the computer and what else?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-12", "question": "What color is the table next to another table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-13", "question": "What is on the right of the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-14", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-15", "question": "What color table is the chair to the left of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-16", "question": "What is to the right of the taller black can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-17", "question": "What shape is the trash can that is right of another can that is taller?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-18", "question": "What color are the desk chairs ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-19", "question": "What is hanging above the desk chair ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-20", "question": "What is above the desk ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-21", "question": "What color is the desk chair in front of the white desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-22", "question": "What type of setup is the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-23", "question": "What kind of table is sitting against a wall in a room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-24", "question": "How many small trashcans are sitting directly to the left of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-25", "question": "How many monitors are on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-26", "question": "What shade is on the window in the corner on the right of an idential window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-27", "question": "What type of cabinet is sitting in the corner to the right of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-28", "question": "What color is the file cabinet in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-29", "question": "How many trash cans is the white door beside?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-30", "question": "What shape is the bottom of the black chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-31", "question": "What color is the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-32", "question": "What is sitting next to a receptacle that looks like a dog bowl?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-33", "question": "Where is the computer tower located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-34", "question": "What kind of floor is the tower on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-35", "question": "What color is a flat-screen computer monitor on a computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-36", "question": "On what side of a grouping of two, symmetrical computer monitors is the black, flat-screen computer monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-37", "question": "How much room does the chair have between the desk and the wall in an office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-38", "question": "The small round trash can is next to the stack of what color trash cans next to the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-39", "question": "What is behind the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-40", "question": "What is the computer monitor facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-41", "question": "How many computer monitors are facing a whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-42", "question": "What color is the door to the office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-43", "question": "Where is the door to the office located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-44", "question": "What do the two window panels have raised halfway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-45", "question": "The blinds are located to a window panel with the blinds what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-46", "question": "What part of the window panel is closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-47", "question": "Where are the monitors located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-48", "question": "What is sitting on a desk facing the desk chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-49", "question": "On what side of the room is the black monitor sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-50", "question": "What is on the left side of the room when facing the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-51", "question": "The monitor in front of the turned chairs away from the table has what to the right of it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-52", "question": "What color are the displays on the monitors on the right side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-53", "question": "What are behind the desks?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-54", "question": "Where are windows located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-55", "question": "What is on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-56", "question": "Where is a monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-57", "question": "What is on top of a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-58", "question": "What is placed on the ground?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-59", "question": "Where is a computer tower placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-60", "question": "What color chair is behind the file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-61", "question": "Where can the file cabinet be found when it is open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-62", "question": "What color is top of the desk with red object?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-63", "question": "Where is the black trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-64", "question": "What is front of white table with blue monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-65", "question": "What is on the left side of the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-66", "question": "What is attached on the far left wall of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-67", "question": "What is on the left side of the black trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-68", "question": "Where are the computer towers located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-69", "question": "What is next to a trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-70", "question": "What is next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-71", "question": "What is now closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-72", "question": "What color are most of the monitors over the desks?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-73", "question": "How many computer monitors are on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-74", "question": "What color desk is on the front side of a computer chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-75", "question": "Where are the two small printers located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-76", "question": "What is on the left side of the wall in the office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-77", "question": "On what side of the wall in the office is a wooden whiteboard located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-78", "question": "What is to the right of the black trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-79", "question": "What is the black rolling desk chair sitting in front of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-80", "question": "Where do you enter the office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-81", "question": "Where is the black computer tower located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-82", "question": "What color is the round metal table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-83", "question": "What color is the rolling desk chair near the metal table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-84", "question": "What color round table is near the desk chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-85", "question": "How many computer towers are under the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-86", "question": "The computer tower is closer to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-87", "question": "What is on the left side of the powered off monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-88", "question": "What color bind covers the window with horizontal lines?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-89", "question": "What is in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-90", "question": "What is next to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-91", "question": "What is hung on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-92", "question": "What is on top of a computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-93", "question": "What does the file cabinet have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-94", "question": "What shape is the base of the desk chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-95", "question": "What is sitting under the desk that is on the left side of the room if you are facing the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-96", "question": "Where is the computer monitor with a white background and black text box located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-97", "question": "What kind of table sits at the end of the two desks?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-98", "question": "What is on top of the white desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-99", "question": "On what side of the window is the white desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-100", "question": "What color is the small round table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-101", "question": "Where does the silver table sit in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-102", "question": "Where is the grey file cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-103", "question": "What color is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-104", "question": "What color is the rolling desk chair underneath the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-105", "question": "In what part of the room is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-106", "question": "What color is the chair that touches the file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-107", "question": "What color was the yoga mat on the file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-108", "question": "What type of chair is pulled out from the desk near the window with blue shades?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-109", "question": "What are the trashcans on the same side of the room as?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-110", "question": "What type of table is sitting with a white hand bag on top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-111", "question": "What is sitting to the left of the black chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-112", "question": "Where is the black box sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-113", "question": "What item has written on the black table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-114", "question": "Where is the whiteboard located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-115", "question": "How many black keyboards are in front of the computer monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-116", "question": "The monitors are to the left of what on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-117", "question": "Where is another monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-118", "question": "How many monitors does the desk have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-119", "question": "What color are the chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-120", "question": "What is behind the black chair to the right of the main door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-121", "question": "Where is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-122", "question": "What color are the computer monitors on the right side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-123", "question": "What color are the window blinds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-124", "question": "How many computer towers are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-125", "question": "What is past at the edge of the desk that does not have a chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-126", "question": "What is on the wall opposite the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-127", "question": "Where is the big whiteboard located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0736-128", "question": "Where is the window located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.999203, 0.00418097, 0.0397041, 2.78185], [-0.0342202, -0.422555, 0.905691, 2.05549], [0.0205638, -0.906328, -0.422075, 1.71838], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.998874, -0.00886358, 0.046613, 2.80646], [-0.0458485, -0.43324, 0.900112, 2.04667], [0.0122164, -0.901235, -0.433158, 1.70404], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.999695, -0.00658573, 0.0238214, 2.80146], [-0.0242729, -0.443098, 0.896145, 2.04503], [0.00465343, -0.896449, -0.443122, 1.70093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.992167, 0.082735, -0.0935968, 2.67721], [0.120737, -0.442795, 0.888457, 2.02879], [0.0320623, -0.892798, -0.449316, 1.67942], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.996866, 0.00948903, 0.0785418, 2.60092], [-0.060092, -0.554907, 0.829739, 2.04523], [0.0514568, -0.831858, -0.552597, 1.64281], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.952395, -0.155323, 0.262335, 2.52356], [-0.303472, -0.56527, 0.767056, 1.88846], [0.0291487, -0.810151, -0.585497, 1.63831], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.982601, -0.105894, 0.152586, 2.39861], [-0.185643, -0.53466, 0.824425, 1.77659], [-0.00572023, -0.838407, -0.545015, 1.65761], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.999614, -0.0093684, 0.0261485, 2.1209], [-0.0272183, -0.518073, 0.854903, 1.75255], [0.00553773, -0.855285, -0.518128, 1.64273], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.973385, -0.0675235, 0.219005, 2.02119], [-0.227977, -0.38298, 0.895183, 1.76905], [0.0234285, -0.921285, -0.388181, 1.71501], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.965118, -0.0675524, 0.252952, 2.03701], [-0.260578, -0.341692, 0.902965, 1.75966], [0.0254343, -0.937381, -0.347376, 1.71327], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.969307, -0.0990524, 0.225018, 2.12682], [-0.242733, -0.53095, 0.811894, 1.81123], [0.0390535, -0.841594, -0.538697, 1.62567], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.998765, -0.00603446, 0.0493115, 2.21596], [-0.0445293, -0.548836, 0.834743, 1.86273], [0.0220267, -0.835909, -0.548427, 1.62797], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.933885, 0.198412, -0.297475, 2.05809], [0.355881, -0.434886, 0.827178, 1.96063], [0.0347546, -0.878355, -0.476744, 1.64466], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.686942, 0.356185, -0.633438, 1.93219], [0.725271, -0.281152, 0.628439, 2.03802], [0.0457487, -0.891115, -0.451465, 1.64999], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.887345, 0.276589, -0.368942, 1.91651], [0.456244, -0.41075, 0.789383, 2.3492], [0.0667913, -0.868782, -0.490669, 1.63797], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.991027, 0.0906108, -0.0982581, 1.70782], [0.129665, -0.47336, 0.871274, 2.54856], [0.0324353, -0.876197, -0.480861, 1.66284], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.992035, -0.0424029, 0.118615, 1.55361], [-0.124399, -0.477854, 0.869587, 2.7524], [0.0198072, -0.877416, -0.479322, 1.6581], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.98943, -0.0656756, 0.129286, 1.45895], [-0.144846, -0.490054, 0.859573, 3.02154], [0.00690429, -0.869214, -0.494387, 1.66866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.966435, -0.128431, 0.222509, 1.27368], [-0.256822, -0.459874, 0.850034, 3.31978], [-0.00684454, -0.878648, -0.477422, 1.6877], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.969557, -0.120926, 0.212922, 1.24276], [-0.244839, -0.466011, 0.850228, 3.60452], [-0.00359092, -0.876476, -0.481432, 1.71537], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.983187, -0.0743282, 0.166789, 1.25254], [-0.18196, -0.47527, 0.860819, 3.8494], [0.0152865, -0.876695, -0.480804, 1.72445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.830428, -0.293001, 0.473856, 1.29184], [-0.55695, -0.415232, 0.719298, 4.02834], [-0.0139951, -0.861239, -0.508007, 1.72098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.272904, -0.559191, 0.782835, 1.39604], [-0.96176, -0.138889, 0.236068, 4.00412], [-0.0232801, -0.817322, -0.57571, 1.7174], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.376186, -0.538773, 0.753796, 1.43553], [-0.922567, 0.29311, -0.250912, 3.73175], [-0.0857606, -0.789816, -0.607318, 1.6845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.648114, -0.454793, 0.610829, 1.42007], [-0.757565, 0.466908, -0.456171, 3.45759], [-0.0777372, -0.758393, -0.647145, 1.65201], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.777958, -0.386241, 0.49558, 1.53699], [-0.62829, 0.485362, -0.608008, 3.28559], [-0.00569826, -0.784373, -0.620263, 1.64938], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.422136, -0.58095, 0.695916, 1.64914], [-0.906532, 0.271364, -0.32336, 3.10715], [-0.000990599, -0.767371, -0.641202, 1.63896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.10308, -0.632028, 0.76806, 1.68305], [-0.994621, 0.0734225, -0.0730677, 2.87625], [-0.0102121, -0.77146, -0.636196, 1.65804], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.165251, -0.479984, 0.861573, 1.98737], [-0.98539, 0.0438353, -0.164579, 2.73262], [0.0412276, -0.876182, -0.480214, 1.68035], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.0529473, -0.49559, 0.866941, 2.20197], [-0.998396, -0.0436985, 0.0359955, 2.46784], [0.020045, -0.867456, -0.497109, 1.66382], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.459175, -0.414571, 0.785678, 2.49007], [-0.887491, -0.252855, 0.385257, 2.39813], [0.0389464, -0.874183, -0.484033, 1.65868], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.678237, -0.35855, 0.641433, 2.87388], [-0.733633, -0.380452, 0.563061, 2.38385], [0.0421487, -0.852466, -0.521081, 1.66454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.901843, -0.22014, 0.371776, 3.23357], [-0.430835, -0.523037, 0.7354, 2.44593], [0.0325612, -0.82339, -0.566541, 1.67], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.976259, -0.0974028, 0.193474, 3.4944], [-0.213546, -0.582467, 0.784303, 2.73416], [0.0362989, -0.806998, -0.589438, 1.66517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.976577, 0.129475, -0.171856, 3.74729], [0.215113, -0.568965, 0.793729, 2.94528], [0.00498819, -0.812105, -0.583489, 1.67562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.869471, 0.331577, -0.366165, 3.81374], [0.489498, -0.478643, 0.728899, 3.25493], [0.0664232, -0.812993, -0.578472, 1.65672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.688463, 0.434344, -0.58083, 3.94067], [0.723649, -0.35784, 0.590155, 3.49746], [0.0484864, -0.826617, -0.560672, 1.66693], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.706718, 0.422121, -0.567771, 3.90446], [0.706195, -0.372258, 0.602256, 3.74527], [0.0428677, -0.826582, -0.561181, 1.6559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.828877, 0.344915, -0.44045, 3.88395], [0.559316, -0.494965, 0.664963, 3.99383], [0.0113486, -0.797523, -0.603181, 1.65235], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.967739, 0.165684, -0.189814, 3.91976], [0.251221, -0.577129, 0.777052, 4.18024], [0.0191978, -0.799669, -0.600134, 1.65688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.997621, -0.0318286, 0.0611585, 3.88705], [-0.0685937, -0.547638, 0.833899, 4.1204], [0.00695088, -0.83611, -0.548518, 1.70588], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.95821, 0.12642, -0.256616, 3.8474], [0.283318, -0.295368, 0.912408, 3.9658], [0.0395504, -0.946982, -0.318842, 1.74411], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.788376, 0.303681, -0.535016, 3.92289], [0.614206, -0.339286, 0.712485, 3.79716], [0.0348444, -0.890316, -0.454008, 1.68866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.578611, 0.58178, -0.571613, 3.91073], [0.810795, -0.334306, 0.480469, 3.55668], [0.0884341, -0.741466, -0.665138, 1.61325], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.225717, 0.76348, -0.605104, 3.93408], [0.96828, -0.107492, 0.225563, 3.2279], [0.107169, -0.636824, -0.763525, 1.57423], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.197484, 0.724417, -0.660469, 3.97984], [0.973614, 0.223528, -0.0459457, 2.96129], [0.11435, -0.652116, -0.749446, 1.58917], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.175925, 0.670157, -0.721069, 3.7835], [0.983557, 0.150045, -0.100516, 2.80973], [0.0408312, -0.726895, -0.685534, 1.62291], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.200245, 0.696917, -0.688628, 3.52032], [0.978346, -0.104676, 0.178556, 2.66371], [0.0523558, -0.709471, -0.702787, 1.64199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.508442, 0.631463, -0.585441, 3.27957], [0.856553, -0.301138, 0.419086, 2.41163], [0.0883387, -0.714542, -0.693992, 1.64739], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.741494, 0.461623, -0.48692, 2.9032], [0.670886, -0.520879, 0.527824, 2.28205], [-0.00997031, -0.718045, -0.695925, 1.63196], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.987802, 0.0664468, -0.140828, 2.67028], [0.150001, -0.648812, 0.746018, 2.15063], [-0.0418005, -0.758042, -0.650865, 1.65179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.998392, -0.00574131, -0.056398, 2.6451], [0.0416948, -0.59968, 0.799153, 1.93103], [-0.0384089, -0.80022, -0.598476, 1.6503], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.999369, -0.0173449, 0.0309955, 2.59837], [-0.0355184, -0.485816, 0.873339, 1.86793], [-8.98379e-05, -0.873889, -0.486125, 1.69354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.994752, -0.0256008, 0.0990598, 2.24005], [-0.0986584, -0.496512, 0.862405, 1.92397], [0.0271061, -0.867652, -0.496432, 1.67605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.97907, -0.0811154, 0.186664, 2.08349], [-0.201182, -0.524537, 0.827277, 2.16142], [0.0308073, -0.847515, -0.529877, 1.69296], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.942415, -0.17266, 0.286432, 1.86488], [-0.331534, -0.595081, 0.732096, 2.36036], [0.0440467, -0.7849, -0.618055, 1.65943], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.881581, -0.297376, 0.366584, 1.659], [-0.472003, -0.564199, 0.677417, 2.44047], [0.00537872, -0.770226, -0.637749, 1.66827], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.713432, -0.476748, 0.513543, 1.54846], [-0.699871, -0.448643, 0.555787, 2.61132], [-0.0345728, -0.755931, -0.653738, 1.62792], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.551301, -0.64724, 0.526449, 1.41967], [-0.83168, -0.376311, 0.408288, 2.79823], [-0.0661514, -0.662926, -0.745756, 1.63611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.525904, -0.640087, 0.560101, 1.41118], [-0.848441, -0.348515, 0.398354, 2.85263], [-0.0597774, -0.684709, -0.726361, 1.56555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.457145, -0.696971, 0.552495, 1.53742], [-0.883982, -0.287648, 0.368557, 2.77323], [-0.0979495, -0.65688, -0.747606, 1.57233], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.733121, -0.489905, 0.471729, 1.79161], [-0.680093, -0.530901, 0.505587, 2.46782], [0.00275169, -0.691475, -0.722395, 1.58049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.80587, -0.376932, 0.456614, 2.12689], [-0.591996, -0.526914, 0.609838, 2.32024], [0.010729, -0.761764, -0.647766, 1.61638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.898432, -0.263939, 0.350937, 2.52825], [-0.438288, -0.587973, 0.679846, 2.16967], [0.0269032, -0.764607, -0.643935, 1.64252], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.984468, -0.0936078, 0.14853, 2.81712], [-0.174234, -0.624939, 0.760982, 2.02842], [0.0215886, -0.775041, -0.631541, 1.65819], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.996989, 0.0751708, -0.0190553, 3.07091], [0.0620162, -0.625328, 0.777894, 2.14831], [0.0465591, -0.776733, -0.628107, 1.65161], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.946395, 0.191592, -0.260057, 3.36412], [0.322973, -0.548637, 0.771159, 2.17245], [0.00507115, -0.813812, -0.581106, 1.69877], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.950687, 0.232115, -0.205712, 3.42485], [0.303153, -0.555318, 0.774416, 2.26003], [0.0655181, -0.79859, -0.598299, 1.75041], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.946411, 0.236681, -0.219747, 3.22186], [0.319409, -0.585236, 0.745303, 2.28008], [0.047795, -0.775552, -0.629472, 1.73306], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.981675, 0.122494, -0.145978, 2.82502], [0.190503, -0.64997, 0.735695, 2.19389], [-0.00476316, -0.750022, -0.661395, 1.6701], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.992719, -0.0462658, -0.111214, 2.55046], [0.0507254, -0.676858, 0.734364, 2.32641], [-0.109252, -0.734658, -0.669583, 1.65985], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.926327, -0.260896, 0.271757, 2.40199], [-0.368787, -0.480745, 0.795538, 2.33434], [-0.0769064, -0.837149, -0.541542, 1.7115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.946338, -0.220417, 0.236352, 2.35033], [-0.319866, -0.534341, 0.78241, 2.19572], [-0.0461639, -0.816025, -0.576171, 1.64514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.953015, -0.210387, 0.217944, 2.53482], [-0.302444, -0.620385, 0.723637, 2.07235], [-0.0170344, -0.755553, -0.654866, 1.51787], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.96536, -0.156621, 0.208686, 2.56129], [-0.258301, -0.460577, 0.849205, 2.07448], [-0.0368871, -0.873692, -0.485078, 1.12851], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.992108, -0.0621579, 0.108896, 2.63413], [-0.12474, -0.401187, 0.907463, 2.03602], [-0.0127184, -0.913885, -0.405774, 0.993034], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.990063, -0.0587769, 0.127758, 2.67962], [-0.140603, -0.395754, 0.90753, 2.01666], [-0.0027811, -0.916474, -0.400085, 0.930341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.999891, 0.00415438, -0.0141465, 2.54619], [0.0145438, -0.435461, 0.90009, 2.00029], [-0.00242097, -0.900198, -0.435474, 0.887564], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.974342, 0.0928442, -0.205031, 2.4707], [0.224992, -0.377341, 0.898328, 1.94324], [0.00603776, -0.921409, -0.388548, 0.874871], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.994459, -0.0128854, 0.104335, 2.52132], [-0.0999926, -0.422323, 0.900913, 2.02076], [0.0324545, -0.906354, -0.421272, 0.866923], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.967859, -0.130185, 0.215178, 2.45283], [-0.251254, -0.463126, 0.849933, 2.09871], [-0.0109939, -0.876679, -0.48095, 1.09764], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.975586, -0.0350872, 0.216798, 2.29991], [-0.197828, -0.569096, 0.798119, 2.00588], [0.0953751, -0.821522, -0.562143, 1.27487], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.868995, -0.245934, 0.429377, 2.01346], [-0.492748, -0.509449, 0.705451, 2.14491], [0.0452517, -0.824608, -0.563892, 1.21849], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.835159, -0.333143, 0.437637, 1.89209], [-0.549824, -0.485032, 0.680027, 2.3982], [-0.0142781, -0.808554, -0.588249, 1.0487], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.811342, -0.286506, 0.509547, 1.71119], [-0.584078, -0.43312, 0.686483, 2.42471], [0.0240135, -0.854588, -0.518751, 0.958102], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.765137, -0.276004, 0.581712, 1.66252], [-0.64289, -0.37726, 0.666608, 2.47231], [0.0354705, -0.884023, -0.466096, 0.897774], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.744132, -0.271387, 0.610424, 1.68562], [-0.663939, -0.401462, 0.630883, 2.51329], [0.0738486, -0.874744, -0.478925, 0.860563], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.747988, -0.386276, 0.539727, 1.69763], [-0.663692, -0.428842, 0.612868, 2.35891], [-0.00527854, -0.81663, -0.577137, 1.09941], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.841718, -0.352247, 0.409185, 1.91478], [-0.532937, -0.420578, 0.734229, 2.01617], [-0.0865353, -0.836084, -0.541734, 1.28478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.829777, -0.315869, 0.460106, 2.21104], [-0.558061, -0.460365, 0.690386, 1.86894], [-0.00625534, -0.829633, -0.558274, 1.29942], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.892372, -0.27171, 0.360341, 2.56409], [-0.450918, -0.569665, 0.687136, 1.91311], [0.0185719, -0.775665, -0.630872, 1.29994], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.995909, -0.0639465, 0.0638428, 2.90056], [-0.0896762, -0.612654, 0.785247, 1.91113], [-0.0111002, -0.78776, -0.615882, 1.33085], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.994244, 0.107049, -0.00438745, 3.19327], [0.0734199, -0.650937, 0.755573, 2.08163], [0.0780273, -0.751546, -0.655049, 1.24264], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.909877, 0.250768, -0.330513, 3.41561], [0.413758, -0.606969, 0.678523, 2.28739], [-0.0304596, -0.754125, -0.656024, 1.10422], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.895038, 0.227835, -0.383405, 3.52746], [0.44263, -0.559124, 0.701041, 2.29709], [-0.0546494, -0.797165, -0.601283, 1.09666], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.98622, 0.126581, -0.106527, 3.46291], [0.162222, -0.613495, 0.772857, 2.25049], [0.032475, -0.779488, -0.625575, 1.29333], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.98883, 0.0891566, -0.119444, 3.38847], [0.14905, -0.590139, 0.793423, 2.29491], [0.000249952, -0.802363, -0.596836, 1.50956], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.993879, -0.0325402, 0.105576, 3.55728], [-0.0960048, -0.727247, 0.679628, 2.49602], [0.0546646, -0.685604, -0.72592, 1.44781], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.98051, 0.0659622, 0.185068, 3.58734], [-0.102702, -0.630934, 0.769009, 2.69688], [0.167491, -0.773027, -0.611863, 1.49955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.973372, 0.207865, -0.0966412, 3.65675], [0.200083, -0.564669, 0.800697, 2.91233], [0.111867, -0.798712, -0.591223, 1.51215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.84173, 0.356494, -0.405466, 3.87713], [0.539067, -0.513248, 0.66782, 3.12482], [0.0299692, -0.780697, -0.624191, 1.53501], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.66077, 0.43382, -0.612523, 3.84491], [0.740474, -0.243238, 0.626525, 3.27437], [0.12281, -0.867546, -0.481957, 1.5895], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.580917, 0.526198, -0.621008, 3.91921], [0.81104, -0.309596, 0.496352, 3.42681], [0.0689182, -0.792001, -0.606617, 1.54417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.600983, 0.467811, -0.648053, 3.95189], [0.7976, -0.298765, 0.523998, 3.56888], [0.0515165, -0.831801, -0.552678, 1.58323], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.664925, 0.409629, -0.624563, 3.95632], [0.745768, -0.317893, 0.585468, 3.64244], [0.0412804, -0.855072, -0.516864, 1.60449], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.750274, 0.356774, -0.556598, 3.93114], [0.660241, -0.360773, 0.658729, 3.75876], [0.0342119, -0.861717, -0.506235, 1.61622], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.845256, 0.262388, -0.465505, 3.8184], [0.533511, -0.365256, 0.762859, 3.7824], [0.0301362, -0.893163, -0.448721, 1.65029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.950909, 0.159928, -0.264943, 3.75274], [0.309132, -0.450878, 0.837345, 3.84962], [0.0144582, -0.878141, -0.478183, 1.63369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.983999, 0.101212, -0.14664, 3.86242], [0.178152, -0.572697, 0.800175, 3.98626], [-0.00299338, -0.813495, -0.581564, 1.59537], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.999818, -0.00845744, -0.0171018, 3.83146], [0.00739345, -0.654583, 0.755954, 3.87081], [-0.017588, -0.755943, -0.654401, 1.55447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.997841, -0.0374759, 0.0539445, 3.80478], [-0.0652921, -0.655533, 0.752338, 3.75389], [0.00716794, -0.754236, -0.656565, 1.57904], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.977792, -0.0938911, 0.187371, 3.83864], [-0.208723, -0.516979, 0.830161, 3.63362], [0.0189222, -0.850833, -0.525095, 1.63197], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.981069, -0.0837837, 0.174596, 3.86296], [-0.193423, -0.379541, 0.90473, 3.56573], [-0.00953526, -0.921373, -0.388562, 1.68688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.980132, -0.073683, 0.184156, 3.86257], [-0.197639, -0.284272, 0.938152, 3.55364], [-0.0167755, -0.955908, -0.293186, 1.71621], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.986468, -0.0523995, 0.15536, 3.83448], [-0.162411, -0.182399, 0.969718, 3.5428], [-0.0224753, -0.981827, -0.188441, 1.74033], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[0.984351, -0.0843535, 0.154721, 3.79738], [-0.172636, -0.28539, 0.942735, 3.5775], [-0.0353671, -0.954692, -0.295486, 1.69669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.994105, -0.015261, 0.107347, 3.69266], [-0.103792, -0.42031, 0.901425, 3.88347], [0.0313625, -0.907252, -0.419416, 1.66418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[0.993058, 0.0764316, -0.0894165, 3.72739], [0.114973, -0.469961, 0.875167, 4.07352], [0.0248682, -0.879372, -0.475486, 1.63994], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[0.969324, 0.13715, -0.203962, 3.80966], [0.245582, -0.574232, 0.780991, 4.2212], [-0.0100087, -0.807123, -0.590299, 1.60272], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[0.938337, 0.27215, -0.213212, 3.77596], [0.339288, -0.606462, 0.719088, 4.34076], [0.0663948, -0.747086, -0.661403, 1.54078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[0.738472, 0.543029, -0.399724, 3.84381], [0.673724, -0.570062, 0.47024, 4.25643], [0.0274869, -0.616563, -0.786826, 1.46093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[0.490259, 0.743293, -0.45515, 3.91387], [0.87157, -0.420235, 0.252525, 4.10281], [-0.00356993, -0.520498, -0.853856, 1.41176], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[0.182781, 0.808139, -0.559913, 3.91528], [0.977723, -0.0896384, 0.189795, 3.82332], [0.103191, -0.582131, -0.80652, 1.40354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.0887155, 0.833389, -0.54552, 3.92987], [0.993886, 0.110206, 0.00672999, 3.89598], [0.0657283, -0.541588, -0.838071, 1.38518], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.342818, 0.752912, -0.561783, 3.95845], [0.939285, 0.284154, -0.192353, 3.83269], [0.014808, -0.593616, -0.804612, 1.41189], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.267863, 0.70364, -0.658134, 3.92029], [0.96342, 0.201616, -0.17656, 3.82236], [0.00845572, -0.681353, -0.731906, 1.44459], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.160812, 0.653011, -0.740079, 3.81027], [0.986952, -0.100235, 0.126012, 3.86549], [0.00810555, -0.750686, -0.660609, 1.50029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[0.571699, 0.513737, -0.639715, 3.74213], [0.820212, -0.338545, 0.461129, 3.94497], [0.0203263, -0.788329, -0.614919, 1.53137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.589724, 0.449832, -0.670729, 3.74865], [0.807303, -0.351072, 0.474353, 4.04795], [-0.0220944, -0.821218, -0.570186, 1.57515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.576773, 0.466588, -0.670544, 3.70408], [0.814793, -0.387565, 0.431168, 4.24085], [-0.0587013, -0.79504, -0.603709, 1.54014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[0.755438, 0.408625, -0.512191, 3.58097], [0.655179, -0.479925, 0.58345, 4.48456], [-0.00740078, -0.776336, -0.630276, 1.54772], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[0.846466, 0.349243, -0.401901, 3.60811], [0.53244, -0.552721, 0.641098, 4.69188], [0.00175998, -0.756656, -0.653811, 1.56298], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[0.983807, 0.156358, -0.0876122, 3.50368], [0.177497, -0.782117, 0.597318, 4.80456], [0.0248725, -0.603196, -0.797205, 1.54766], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[0.982404, 0.0262113, 0.184923, 3.42537], [-0.0720905, -0.86016, 0.504903, 4.91374], [0.172297, -0.50935, -0.843135, 1.50555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.95159, -0.0589842, 0.301658, 3.44541], [-0.193378, -0.877735, 0.438391, 5.01316], [0.238917, -0.475502, -0.84665, 1.48807], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.899766, -0.135001, 0.414965, 3.48827], [-0.312441, -0.863162, 0.396651, 5.12071], [0.304634, -0.486545, -0.818823, 1.51685], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.870691, -0.15841, 0.465623, 3.52355], [-0.364346, -0.84368, 0.394279, 5.17291], [0.330379, -0.512943, -0.7923, 1.5474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[0.834807, -0.0950878, 0.542269, 3.52107], [-0.318457, -0.886867, 0.334741, 5.23876], [0.449091, -0.452134, -0.770644, 1.54082], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.843519, -0.035158, 0.535947, 3.4894], [-0.191266, -0.952103, 0.238574, 5.33278], [0.501889, -0.30375, -0.809841, 1.51906], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[0.849534, 0.0585304, 0.524278, 3.44817], [-0.161284, -0.917422, 0.363764, 5.34342], [0.502275, -0.393588, -0.769941, 1.53625], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[0.947299, 0.0400705, 0.317835, 3.43584], [-0.146754, -0.827635, 0.541741, 5.27652], [0.284759, -0.559834, -0.778137, 1.57971], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[0.981371, -0.0633983, 0.181362, 3.45297], [-0.176079, -0.67445, 0.717017, 5.16669], [0.0768622, -0.735593, -0.673049, 1.62049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[0.999188, -0.0138292, 0.0378474, 3.34776], [-0.0383154, -0.616841, 0.786155, 5.11204], [0.012474, -0.786967, -0.616869, 1.62388], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[0.989129, 0.1308, -0.0672054, 3.2513], [0.136932, -0.652608, 0.74522, 5.04771], [0.0536156, -0.746321, -0.663423, 1.57122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[0.974254, 0.0728365, -0.213366, 3.20403], [0.209696, -0.640357, 0.738898, 5.01997], [-0.0828119, -0.764616, -0.639143, 1.5829], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[0.963082, -0.17832, 0.201684, 3.51473], [-0.269145, -0.621265, 0.735928, 5.07388], [-0.00593092, -0.763041, -0.646323, 1.59043], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[0.836695, -0.291366, 0.463731, 3.67442], [-0.546861, -0.490458, 0.678524, 5.00018], [0.0297416, -0.821314, -0.5697, 1.62907], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[0.538321, -0.372431, 0.755981, 3.63228], [-0.841728, -0.281564, 0.460669, 4.85688], [0.04129, -0.884317, -0.465057, 1.62302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3600", "pose": [[-0.992423, 0.0147589, 0.12198, 3.78553], [-0.122454, -0.200381, -0.972035, 2.50727], [0.0100963, -0.979607, 0.20067, 1.79313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3620", "pose": [[-0.984905, 0.0432371, 0.16761, 3.77136], [-0.172938, -0.287218, -0.942124, 2.62906], [0.00740576, -0.956889, 0.29036, 1.82085], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3640", "pose": [[-0.978944, 0.0941269, 0.181136, 3.79669], [-0.204004, -0.419645, -0.884466, 2.73608], [-0.00723916, -0.902795, 0.430011, 1.8354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3660", "pose": [[-0.904294, 0.259964, 0.338633, 3.84138], [-0.426645, -0.522263, -0.738388, 2.78511], [-0.0150986, -0.812195, 0.583191, 1.86685], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3680", "pose": [[-0.97632, 0.117116, 0.181891, 3.86127], [-0.212101, -0.352676, -0.911391, 2.67269], [-0.0425895, -0.928388, 0.369165, 1.83711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3700", "pose": [[-0.989324, -0.00444825, -0.145668, 3.82187], [0.138936, -0.330555, -0.933504, 2.60417], [-0.0439988, -0.943776, 0.327643, 1.8482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3720", "pose": [[-0.873364, -0.072306, -0.481671, 3.74457], [0.481041, -0.283143, -0.829717, 2.57164], [-0.0763885, -0.956348, 0.282069, 1.84787], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3740", "pose": [[-0.669787, -0.0838946, -0.737799, 3.67699], [0.735009, -0.216179, -0.642673, 2.54281], [-0.10558, -0.972743, 0.206457, 1.82818], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3760", "pose": [[-0.678312, 0.106382, -0.727032, 3.6874], [0.734311, 0.0630315, -0.67588, 2.45226], [-0.0260758, -0.992325, -0.120873, 1.75567], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3780", "pose": [[-0.738152, 0.282543, -0.612618, 3.57664], [0.674109, 0.273106, -0.686287, 2.35621], [-0.026596, -0.919556, -0.392058, 1.67985], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3800", "pose": [[-0.858393, 0.32616, -0.395957, 3.40544], [0.512986, 0.550065, -0.658995, 2.2616], [0.00286424, -0.768797, -0.639487, 1.58611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3820", "pose": [[-0.945787, 0.15375, -0.286091, 3.21776], [0.305451, 0.720465, -0.6226, 2.11288], [0.110393, -0.676233, -0.72837, 1.50975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3840", "pose": [[-0.996395, -0.0415997, -0.0739473, 3.03629], [0.0161887, 0.762328, -0.646989, 2.01841], [0.0832866, -0.645853, -0.758906, 1.47879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3860", "pose": [[-0.960675, -0.250916, 0.118932, 2.76355], [-0.271426, 0.758201, -0.59284, 1.96774], [0.0585785, -0.601808, -0.796489, 1.46266], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3880", "pose": [[-0.861408, -0.454163, 0.227402, 2.61538], [-0.497509, 0.664318, -0.557822, 1.78407], [0.102275, -0.593647, -0.7982, 1.46077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3900", "pose": [[-0.574135, -0.713773, 0.40112, 2.39956], [-0.814414, 0.447446, -0.369489, 1.73115], [0.0842516, -0.538814, -0.838201, 1.44607], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3920", "pose": [[-0.770318, -0.520356, 0.368564, 2.31634], [-0.637224, 0.649543, -0.414776, 1.65487], [-0.0235672, -0.554367, -0.831938, 1.46508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3940", "pose": [[-0.974028, 0.00804302, 0.226286, 2.49271], [-0.0948112, 0.893053, -0.439849, 1.59263], [-0.205623, -0.449879, -0.869096, 1.4555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3960", "pose": [[-0.916809, 0.399141, 0.0121871, 2.64911], [0.320545, 0.753792, -0.573627, 1.68928], [-0.238145, -0.522, -0.819026, 1.49406], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3980", "pose": [[-0.676786, 0.709543, -0.196238, 2.83058], [0.677061, 0.495253, -0.544347, 1.75921], [-0.28905, -0.501271, -0.815584, 1.51419], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4000", "pose": [[-0.4321, 0.716324, -0.547878, 3.02911], [0.89886, 0.292864, -0.326007, 1.66572], [-0.0730731, -0.633333, -0.770422, 1.51906], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4020", "pose": [[-0.149347, 0.634279, -0.758542, 2.99411], [0.988341, 0.118753, -0.0952922, 1.66109], [0.0296372, -0.763929, -0.644619, 1.5269], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4040", "pose": [[-0.123991, 0.562409, -0.81751, 2.79619], [0.991043, 0.111373, -0.0736916, 1.6319], [0.0496041, -0.819325, -0.57118, 1.53412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4060", "pose": [[-0.0456124, 0.62437, -0.779796, 2.591], [0.998345, 0.0558579, -0.0136715, 1.51868], [0.0350218, -0.779129, -0.625885, 1.53394], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4080", "pose": [[0.0149459, 0.673687, -0.738867, 2.36427], [0.999249, 0.0163634, 0.0351328, 1.33614], [0.0357589, -0.738836, -0.672936, 1.53072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4100", "pose": [[0.0694931, 0.668863, -0.740131, 2.12955], [0.997221, -0.0265909, 0.0696015, 1.3369], [0.0268731, -0.74291, -0.668851, 1.5278], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4120", "pose": [[0.265019, 0.723991, -0.63687, 2.16402], [0.963483, -0.172601, 0.204719, 1.30215], [0.0382906, -0.667867, -0.743295, 1.52195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4140", "pose": [[0.37313, 0.685231, -0.625486, 2.3117], [0.927417, -0.256637, 0.272095, 1.38272], [0.0259252, -0.681613, -0.731253, 1.52969], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4160", "pose": [[0.326788, 0.753838, -0.570033, 2.50415], [0.944415, -0.283398, 0.166633, 1.6201], [-0.0359319, -0.592801, -0.804547, 1.50065], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4180", "pose": [[0.248988, 0.789072, -0.561578, 2.42905], [0.965642, -0.157698, 0.206558, 1.87525], [0.0744299, -0.593714, -0.801226, 1.49417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4200", "pose": [[-0.0885049, 0.714961, -0.69354, 2.39318], [0.992199, 0.124652, 0.00188404, 2.06917], [0.0877979, -0.687963, -0.720416, 1.53793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4220", "pose": [[-0.263934, 0.585547, -0.766469, 2.446], [0.958904, 0.245076, -0.142972, 2.33023], [0.104126, -0.772705, -0.626167, 1.5848], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4240", "pose": [[-0.308683, 0.451483, -0.837185, 2.44], [0.946821, 0.229875, -0.22514, 2.39876], [0.0908009, -0.862161, -0.498431, 1.61669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4260", "pose": [[-0.127123, 0.31254, -0.94136, 2.46408], [0.990909, 0.0821484, -0.10654, 2.41926], [0.0440332, -0.946346, -0.320142, 1.68474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4280", "pose": [[-0.135458, 0.173384, -0.975495, 2.49977], [0.989781, 0.0679628, -0.125362, 2.38765], [0.0445617, -0.982507, -0.180818, 1.71269], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4300", "pose": [[-0.319198, 0.132994, -0.93831, 2.51501], [0.947285, 0.0159007, -0.319997, 2.18839], [-0.027638, -0.990989, -0.131059, 1.72989], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4320", "pose": [[-0.250601, 0.289175, -0.923892, 2.49048], [0.968063, 0.0676769, -0.2414, 1.91243], [-0.00728044, -0.954881, -0.296899, 1.70405], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4340", "pose": [[-0.165014, 0.704604, -0.690148, 2.26175], [0.984819, 0.0794841, -0.154321, 1.87364], [-0.0538789, -0.705136, -0.707023, 1.54192], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4360", "pose": [[0.498101, 0.646321, -0.578071, 2.04502], [0.866229, -0.401092, 0.297948, 1.92411], [-0.0392895, -0.649149, -0.759645, 1.53566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4380", "pose": [[0.87307, 0.362792, -0.325779, 2.03816], [0.477146, -0.498092, 0.724042, 1.84442], [0.100409, -0.787583, -0.607973, 1.58289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4400", "pose": [[0.97047, 0.145345, -0.192515, 2.22812], [0.240136, -0.506541, 0.828101, 1.73274], [0.0228436, -0.849877, -0.526486, 1.60123], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4420", "pose": [[0.996657, 0.0269667, -0.0771184, 2.3507], [0.0809169, -0.456002, 0.886293, 1.65998], [-0.0112657, -0.88957, -0.456659, 1.6587], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4440", "pose": [[0.996861, 0.0382931, -0.0693041, 2.28641], [0.0781628, -0.336078, 0.938585, 1.65768], [0.0126497, -0.941055, -0.338016, 1.68744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4460", "pose": [[0.951759, 0.0732494, -0.297975, 2.00075], [0.306622, -0.189974, 0.93268, 1.70364], [0.0117111, -0.979053, -0.203269, 1.73211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4480", "pose": [[0.895583, 0.0560098, -0.441356, 1.93725], [0.444823, -0.130601, 0.886045, 1.73354], [-0.00801405, -0.989852, -0.141878, 1.74285], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4500", "pose": [[0.861182, 0.109098, -0.496451, 2.00143], [0.508285, -0.178185, 0.842554, 1.89516], [0.00346111, -0.97793, -0.208902, 1.73616], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4520", "pose": [[0.884783, 0.188356, -0.42624, 1.92792], [0.46577, -0.386364, 0.796104, 2.07251], [-0.0147329, -0.902909, -0.429579, 1.67749], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4540", "pose": [[0.963378, 0.156876, -0.217472, 1.70382], [0.266719, -0.476956, 0.837481, 2.29959], [0.0276562, -0.864814, -0.501331, 1.65953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4560", "pose": [[0.977433, 0.0673768, -0.200212, 1.60632], [0.208125, -0.469442, 0.858084, 2.60238], [-0.036173, -0.880389, -0.472871, 1.67072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4580", "pose": [[0.99866, 0.0218228, -0.0469246, 1.44831], [0.051589, -0.49149, 0.869354, 2.83347], [-0.00409116, -0.87061, -0.491958, 1.64628], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4600", "pose": [[0.995892, -0.00932559, 0.0900701, 1.26539], [-0.0814404, -0.527082, 0.845903, 2.96717], [0.0395858, -0.849763, -0.525676, 1.63856], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4620", "pose": [[0.871051, -0.263987, 0.414223, 1.35671], [-0.49103, -0.489643, 0.720513, 3.06384], [0.0126156, -0.831, -0.556129, 1.62196], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4640", "pose": [[0.491598, -0.57358, 0.655239, 1.39001], [-0.870697, -0.31099, 0.381015, 3.07321], [-0.0147701, -0.75782, -0.652296, 1.60139], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4660", "pose": [[0.358976, -0.72709, 0.585215, 1.40038], [-0.932944, -0.261098, 0.247879, 3.06527], [-0.0274317, -0.634955, -0.772062, 1.56412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4680", "pose": [[0.311659, -0.565591, 0.763529, 1.42423], [-0.950094, -0.19713, 0.241786, 3.04993], [0.0137624, -0.800779, -0.598801, 1.62441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4700", "pose": [[0.330718, -0.451429, 0.828757, 1.43572], [-0.942385, -0.204834, 0.264487, 3.05338], [0.0503602, -0.868479, -0.493162, 1.6537], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4720", "pose": [[0.42951, -0.443203, 0.786824, 1.51368], [-0.902063, -0.251543, 0.350727, 3.19333], [0.0424771, -0.860405, -0.507837, 1.65813], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4740", "pose": [[0.212882, -0.484191, 0.84867, 1.48019], [-0.976832, -0.124971, 0.17373, 3.46608], [0.0219402, -0.865992, -0.499577, 1.65064], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4760", "pose": [[0.119933, -0.487781, 0.864689, 1.4707], [-0.991838, -0.0968511, 0.0829342, 3.54821], [0.0432923, -0.867577, -0.495415, 1.64913], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4780", "pose": [[-0.173377, -0.516624, 0.838475, 1.5296], [-0.983782, 0.130586, -0.122962, 3.80884], [-0.0459678, -0.846195, -0.530886, 1.64094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4800", "pose": [[-0.262286, -0.498592, 0.826204, 1.51314], [-0.964588, 0.16019, -0.209547, 3.9444], [-0.0278709, -0.851907, -0.522951, 1.65606], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4820", "pose": [[-0.43001, -0.422945, 0.797627, 1.54947], [-0.901579, 0.247547, -0.354789, 4.18123], [-0.0473934, -0.871687, -0.487766, 1.66862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4840", "pose": [[-0.435537, -0.363218, 0.823638, 1.55656], [-0.899232, 0.217329, -0.37967, 4.27023], [-0.0410974, -0.906002, -0.421272, 1.72082], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4860", "pose": [[-0.157985, -0.506996, 0.847347, 1.53742], [-0.987323, 0.0944308, -0.127581, 4.3469], [-0.0153326, -0.85676, -0.515487, 1.69841], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4880", "pose": [[-0.0616656, -0.709973, 0.701524, 1.54038], [-0.998046, 0.0367209, -0.0505672, 4.34494], [0.0101407, -0.703271, -0.710849, 1.62115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4900", "pose": [[-0.168445, -0.779385, 0.603478, 1.58478], [-0.985647, 0.140153, -0.0941114, 4.13328], [-0.0112301, -0.610668, -0.791807, 1.57993], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4920", "pose": [[0.286246, -0.715185, 0.637632, 1.52601], [-0.957537, -0.189603, 0.217194, 4.15561], [-0.0344377, -0.672727, -0.739089, 1.6258], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4940", "pose": [[0.387438, -0.727496, 0.566252, 1.52081], [-0.921107, -0.330886, 0.205126, 4.42091], [0.0381366, -0.601052, -0.798299, 1.53846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4960", "pose": [[0.550802, -0.595517, 0.584788, 1.54465], [-0.833414, -0.430331, 0.346752, 4.66854], [0.0451556, -0.678361, -0.733339, 1.53169], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4980", "pose": [[0.670167, -0.52675, 0.522887, 1.54836], [-0.742205, -0.472827, 0.474939, 4.692], [-0.00293911, -0.706377, -0.707829, 1.56807], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5000", "pose": [[0.480032, -0.662866, 0.574611, 1.71795], [-0.876117, -0.39554, 0.27562, 4.93755], [0.0445827, -0.635733, -0.77062, 1.49105], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5020", "pose": [[0.370509, -0.796386, 0.478009, 1.78263], [-0.928189, -0.336565, 0.158714, 5.17695], [0.0344835, -0.502487, -0.863897, 1.51572], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5040", "pose": [[0.25504, -0.808244, 0.530751, 1.74889], [-0.96658, -0.227892, 0.117426, 5.11907], [0.0260451, -0.542962, -0.839353, 1.62079], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5060", "pose": [[0.297317, -0.713327, 0.63464, 1.77224], [-0.954777, -0.22082, 0.199097, 5.14526], [-0.0018805, -0.665135, -0.746721, 1.65861], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5080", "pose": [[0.180168, -0.599926, 0.779505, 1.80654], [-0.983635, -0.108779, 0.14363, 5.13695], [-0.0013738, -0.792626, -0.609706, 1.69761], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5100", "pose": [[-0.160659, -0.553185, 0.81742, 1.8539], [-0.986913, 0.10164, -0.125188, 5.11503], [-0.0138308, -0.826835, -0.562275, 1.69782], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5120", "pose": [[-0.321943, -0.648336, 0.689938, 1.85732], [-0.946685, 0.211307, -0.243182, 5.0754], [0.0118749, -0.731444, -0.681798, 1.63523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5140", "pose": [[-0.0790446, -0.802956, 0.590774, 1.81434], [-0.995926, 0.037812, -0.0818608, 5.09847], [0.0433922, -0.594838, -0.802674, 1.57127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5160", "pose": [[0.144955, -0.814328, 0.562012, 1.79877], [-0.985798, -0.167538, 0.0115031, 5.0223], [0.0847913, -0.555698, -0.827049, 1.55128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5180", "pose": [[0.692006, -0.579673, 0.430241, 1.54322], [-0.72133, -0.578758, 0.380424, 4.81271], [0.0284843, -0.573601, -0.818639, 1.55963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5200", "pose": [[0.816488, -0.447873, 0.364358, 1.48711], [-0.563433, -0.755871, 0.333469, 4.85881], [0.126056, -0.477565, -0.869506, 1.5075], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5220", "pose": [[0.905411, -0.33552, 0.260112, 1.51267], [-0.412202, -0.841392, 0.349497, 4.93101], [0.101593, -0.423657, -0.900107, 1.4028], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5240", "pose": [[0.932323, -0.224202, 0.283739, 1.43869], [-0.354036, -0.725815, 0.589789, 4.78669], [0.0737101, -0.650327, -0.75607, 1.53886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5260", "pose": [[0.959716, -0.116454, 0.255703, 1.28373], [-0.266152, -0.668448, 0.694507, 4.56716], [0.090046, -0.734586, -0.672514, 1.60649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5280", "pose": [[0.989591, 0.00151964, 0.1439, 1.23349], [-0.113209, -0.609109, 0.784965, 4.47533], [0.0888436, -0.793085, -0.602597, 1.64173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5300", "pose": [[0.965163, -0.096449, 0.243226, 1.30685], [-0.258524, -0.494805, 0.829659, 4.43288], [0.0403297, -0.863635, -0.502502, 1.68846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5320", "pose": [[0.96985, -0.0832325, 0.229052, 1.2954], [-0.24079, -0.472213, 0.84796, 4.4181], [0.0375834, -0.877546, -0.478017, 1.68821], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5340", "pose": [[0.999586, 0.0287398, 0.00147009, 1.19162], [0.0121751, -0.468638, 0.883306, 4.4227], [0.026075, -0.882923, -0.468794, 1.67533], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5360", "pose": [[0.997163, 0.0349569, -0.0666645, 1.159], [0.0745679, -0.337724, 0.938287, 4.398], [0.0102855, -0.940596, -0.339372, 1.70386], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5380", "pose": [[0.99832, 0.0296181, -0.049798, 1.16755], [0.0505576, -0.0254735, 0.998396, 4.35363], [0.0283021, -0.999237, -0.0269281, 1.76418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5400", "pose": [[0.9995, 0.0273444, 0.015868, 1.19222], [-0.0178182, 0.0726205, 0.9972, 4.34957], [0.0261155, -0.996985, 0.0730714, 1.80032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5420", "pose": [[0.990286, -0.00842277, 0.138794, 1.24645], [-0.135505, 0.165472, 0.976861, 4.34133], [-0.0311944, -0.986178, 0.162723, 1.86035], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5440", "pose": [[0.953933, -0.0214767, 0.299251, 1.29983], [-0.293179, 0.14507, 0.944987, 4.35116], [-0.0637076, -0.989188, 0.13209, 1.87523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5460", "pose": [[0.911568, -0.13811, 0.387258, 1.34893], [-0.406244, -0.157507, 0.900087, 4.39877], [-0.0633149, -0.977813, -0.199685, 1.74883], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5480", "pose": [[0.992679, -0.050791, 0.109587, 1.23826], [-0.12036, -0.491947, 0.862265, 4.44549], [0.0101154, -0.869142, -0.494459, 1.66655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5500", "pose": [[0.995333, 0.0869433, -0.041868, 1.10487], [0.0878867, -0.637567, 0.765366, 4.33837], [0.0398497, -0.765473, -0.642232, 1.54298], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5520", "pose": [[0.998328, 0.0561122, -0.0138877, 1.08241], [0.0490348, -0.694827, 0.717503, 4.17691], [0.0306111, -0.716985, -0.696416, 1.4921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5540", "pose": [[0.984459, 0.123278, -0.125071, 1.14081], [0.175569, -0.674756, 0.716854, 4.05322], [0.00397984, -0.727672, -0.685914, 1.45317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5560", "pose": [[0.99173, 0.0515837, -0.117523, 1.15736], [0.120921, -0.682452, 0.720859, 3.95131], [-0.043019, -0.729108, -0.683045, 1.41233], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5580", "pose": [[0.998403, -0.0198745, 0.0528889, 1.15251], [-0.0520535, -0.687553, 0.724266, 3.80682], [0.0219695, -0.725862, -0.687489, 1.35673], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5600", "pose": [[0.912701, -0.259803, 0.315403, 1.3467], [-0.406634, -0.501305, 0.763768, 3.66908], [-0.0403165, -0.825346, -0.563187, 1.4055], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5620", "pose": [[0.919561, -0.303539, 0.249544, 1.35398], [-0.375951, -0.494853, 0.783442, 3.56693], [-0.114317, -0.814239, -0.569164, 1.38938], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5640", "pose": [[0.788993, -0.428776, 0.440047, 1.35395], [-0.613882, -0.520692, 0.593319, 3.65154], [-0.0252724, -0.738262, -0.674041, 1.17829], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5660", "pose": [[0.833845, -0.250506, 0.491884, 1.35007], [-0.550833, -0.319726, 0.770947, 3.66626], [-0.0358588, -0.913795, -0.404589, 0.704073], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5680", "pose": [[0.77838, -0.296398, 0.553419, 1.3453], [-0.626384, -0.307633, 0.716244, 3.62865], [-0.0420431, -0.904163, -0.425114, 0.702559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5700", "pose": [[0.354174, -0.408258, 0.84136, 1.39055], [-0.935175, -0.151785, 0.320014, 3.6028], [-0.00294259, -0.900159, -0.435551, 0.692123], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5720", "pose": [[0.0494919, -0.482123, 0.874705, 1.39314], [-0.997795, 0.0149176, 0.0646788, 3.50324], [-0.0442317, -0.875977, -0.480321, 0.734236], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5740", "pose": [[0.0409412, -0.628929, 0.776384, 1.36514], [-0.999151, -0.0222388, 0.0346734, 3.48087], [-0.00454128, -0.777145, -0.629305, 0.870472], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5760", "pose": [[0.0321723, -0.561431, 0.826898, 1.31757], [-0.999469, -0.0223163, 0.0237347, 3.4631], [0.00512791, -0.827223, -0.561851, 1.01153], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5780", "pose": [[0.175021, -0.770665, 0.612735, 1.35875], [-0.984067, -0.156707, 0.0839904, 3.43255], [0.0312913, -0.617672, -0.785813, 1.24607], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5800", "pose": [[0.138488, -0.898134, 0.417345, 1.37716], [-0.990209, -0.118107, 0.0744138, 3.43448], [-0.0175422, -0.423564, -0.905696, 1.57596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5820", "pose": [[0.0437062, -0.86657, 0.497138, 1.40824], [-0.999008, -0.042159, 0.0143403, 3.42499], [0.0085319, -0.497271, -0.867553, 1.60942], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5840", "pose": [[0.0410823, -0.886564, 0.46078, 1.42106], [-0.999152, -0.0377946, 0.016364, 3.33445], [0.00290725, -0.461061, -0.887364, 1.58765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5860", "pose": [[0.135699, -0.809405, 0.571358, 1.47487], [-0.989177, -0.143176, 0.0321037, 3.24181], [0.0558198, -0.569531, -0.820073, 1.62793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5880", "pose": [[0.166624, -0.822622, 0.543627, 1.46637], [-0.985285, -0.160199, 0.0595789, 3.05609], [0.0380776, -0.545554, -0.83721, 1.59487], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5900", "pose": [[0.43228, -0.772216, 0.465636, 1.51498], [-0.901704, -0.37474, 0.215637, 2.87379], [0.00797421, -0.513082, -0.858303, 1.56846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5920", "pose": [[0.654449, -0.614724, 0.440239, 1.67041], [-0.754553, -0.568282, 0.328186, 2.74405], [0.048436, -0.546965, -0.835753, 1.60107], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5940", "pose": [[0.910641, -0.300146, 0.283983, 1.80406], [-0.41142, -0.722347, 0.555832, 2.41992], [0.0383036, -0.622999, -0.781284, 1.65028], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5960", "pose": [[0.961916, -0.14064, 0.234388, 2.0197], [-0.262367, -0.715614, 0.647349, 2.2247], [0.0766884, -0.684191, -0.725259, 1.62699], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5980", "pose": [[0.994926, 0.0111113, 0.0999983, 2.26229], [-0.0765754, -0.561062, 0.824225, 1.98708], [0.0652634, -0.8277, -0.557364, 1.70624], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6000", "pose": [[0.997885, -0.0196841, 0.0619558, 2.49729], [-0.0640767, -0.458532, 0.886365, 1.91261], [0.0109615, -0.88846, -0.458823, 1.72878], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6020", "pose": [[0.99943, 0.0137949, 0.03081, 2.69409], [-0.0202697, -0.484602, 0.8745, 1.98602], [0.0269942, -0.874626, -0.484047, 1.7304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6040", "pose": [[0.999026, 0.0326616, 0.029679, 2.98268], [-0.00442171, -0.595042, 0.803682, 1.99888], [0.0439098, -0.803031, -0.594318, 1.6972], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6060", "pose": [[0.987995, 0.102248, -0.115805, 2.99762], [0.153576, -0.568869, 0.807962, 1.95094], [0.0167345, -0.816048, -0.577742, 1.68406], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6080", "pose": [[0.918326, 0.290754, -0.26859, 2.82253], [0.38792, -0.526139, 0.756767, 1.84242], [0.0787172, -0.79915, -0.595956, 1.63971], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6100", "pose": [[0.750753, 0.454468, -0.479406, 2.63188], [0.655342, -0.421158, 0.627019, 1.69006], [0.0830543, -0.78491, -0.614018, 1.60602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6120", "pose": [[0.179308, 0.646255, -0.741757, 2.50237], [0.982904, -0.0856424, 0.162986, 1.62747], [0.0418046, -0.758301, -0.650563, 1.58962], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6140", "pose": [[-0.149012, 0.675605, -0.722048, 2.50772], [0.988821, 0.105812, -0.105061, 1.7072], [0.00542143, -0.729631, -0.683819, 1.58143], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6160", "pose": [[-0.12739, 0.654947, -0.74486, 2.49826], [0.991826, 0.0785915, -0.100523, 1.7589], [-0.00729749, -0.751577, -0.659605, 1.58711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6180", "pose": [[-0.21297, 0.456545, -0.863835, 2.50127], [0.976684, 0.123951, -0.175283, 1.75592], [0.0270483, -0.881024, -0.472298, 1.63444], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6200", "pose": [[-0.211495, 0.301896, -0.929586, 2.5128], [0.97733, 0.0748633, -0.198044, 1.76755], [0.00980321, -0.950397, -0.310885, 1.68573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6220", "pose": [[-0.198833, 0.117998, -0.972904, 2.52489], [0.979917, 0.0392091, -0.195511, 1.77621], [0.0150768, -0.992239, -0.123424, 1.72318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6240", "pose": [[0.0467229, 0.145599, -0.98824, 2.49481], [0.998849, -0.0175338, 0.0446411, 1.8664], [-0.0108278, -0.989188, -0.14625, 1.73025], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6260", "pose": [[0.158651, 0.305225, -0.938972, 2.46658], [0.987274, -0.0595811, 0.147444, 1.89736], [-0.0109412, -0.950415, -0.310793, 1.69778], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6280", "pose": [[0.139848, 0.637713, -0.757473, 2.44146], [0.990032, -0.10296, 0.0961028, 1.86813], [-0.0167032, -0.763362, -0.645755, 1.58921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6300", "pose": [[0.0839417, 0.710918, -0.698247, 2.44328], [0.99581, -0.085374, 0.0327907, 1.78783], [-0.0363005, -0.698074, -0.715105, 1.54473], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6320", "pose": [[-0.122301, 0.684715, -0.718477, 2.3555], [0.991908, 0.109182, -0.0647941, 1.5697], [0.0340795, -0.720587, -0.692527, 1.50894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6340", "pose": [[0.317735, 0.688599, -0.651825, 2.19748], [0.944729, -0.288509, 0.155726, 1.48286], [-0.080824, -0.665278, -0.742208, 1.53674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6360", "pose": [[0.487614, 0.599787, -0.63442, 2.06184], [0.867858, -0.412192, 0.277344, 1.34519], [-0.0951556, -0.685824, -0.72152, 1.57238], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6380", "pose": [[0.622583, 0.557312, -0.549359, 2.0033], [0.779038, -0.50787, 0.367653, 1.24425], [-0.0741054, -0.656865, -0.750358, 1.5808], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6400", "pose": [[0.742272, 0.501251, -0.444725, 2.00708], [0.669733, -0.576857, 0.467646, 1.3176], [-0.0221347, -0.644967, -0.76389, 1.55431], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6420", "pose": [[0.99921, 0.0250795, 0.0308527, 2.16395], [-0.00960901, -0.600647, 0.799456, 1.57812], [0.0385815, -0.799121, -0.599931, 1.56616], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6440", "pose": [[0.993141, -0.0510377, 0.105193, 2.28543], [-0.115694, -0.558976, 0.821073, 1.69609], [0.016895, -0.827612, -0.561046, 1.58615], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6460", "pose": [[0.940435, -0.0964476, 0.326007, 2.2496], [-0.335549, -0.417527, 0.844439, 1.69661], [0.0546726, -0.903531, -0.42502, 1.6681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6480", "pose": [[0.891322, -0.186902, 0.413053, 2.18837], [-0.450443, -0.468445, 0.76004, 1.70689], [0.0514397, -0.863497, -0.501724, 1.634], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6500", "pose": [[0.471797, -0.559237, 0.681661, 2.34215], [-0.881487, -0.281888, 0.37884, 1.80647], [-0.019709, -0.77961, -0.625955, 1.57102], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6520", "pose": [[-0.315448, -0.646116, 0.695001, 2.31532], [-0.948943, 0.21501, -0.230821, 1.79515], [-0.000294715, -0.732329, -0.680951, 1.54881], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6540", "pose": [[-0.387047, -0.704922, 0.594373, 2.21415], [-0.92166, 0.27679, -0.271901, 1.79352], [0.0271527, -0.653049, -0.756829, 1.5289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6560", "pose": [[-0.35338, -0.742384, 0.569201, 2.07915], [-0.934008, 0.245878, -0.259177, 1.63858], [0.0524548, -0.623226, -0.780281, 1.52168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6580", "pose": [[-0.315702, -0.403779, 0.858659, 2.02801], [-0.948811, 0.125235, -0.289957, 1.62718], [0.0095439, -0.906244, -0.422647, 1.61387], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6600", "pose": [[-0.293288, -0.0496414, 0.954735, 1.99744], [-0.956017, 0.0189831, -0.292695, 1.64757], [-0.00359401, -0.998587, -0.0530256, 1.69948], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6620", "pose": [[-0.249723, 0.11673, 0.961256, 1.95194], [-0.967942, -0.00246763, -0.251161, 1.65046], [-0.0269461, -0.993161, 0.113604, 1.75793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6640", "pose": [[-0.229388, 0.213861, 0.94955, 1.91409], [-0.972817, -0.0185362, -0.230834, 1.65776], [-0.0317651, -0.976688, 0.212299, 1.78958], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6660", "pose": [[-0.193687, 0.232015, 0.953234, 1.90846], [-0.980793, -0.022975, -0.193695, 1.68045], [-0.0230397, -0.972441, 0.232008, 1.80161], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6680", "pose": [[-0.100681, 0.144142, 0.984422, 1.94098], [-0.994621, 0.0096116, -0.103132, 1.71551], [-0.0243274, -0.98951, 0.142399, 1.76534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6700", "pose": [[-0.127359, 0.0713303, 0.989289, 2.05395], [-0.991412, -0.0390185, -0.124819, 1.79207], [0.0296971, -0.996689, 0.075687, 1.72944], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6720", "pose": [[-0.0877374, -0.249306, 0.964442, 2.24336], [-0.995626, -0.00925553, -0.0929667, 1.9483], [0.0321035, -0.968381, -0.247404, 1.72358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6740", "pose": [[0.00545543, -0.444901, 0.895564, 2.31768], [-0.999294, -0.035715, -0.0116552, 1.98751], [0.0371704, -0.894867, -0.444782, 1.65072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6760", "pose": [[0.00432652, -0.529346, 0.848395, 2.37189], [-0.999752, -0.0208272, -0.00789635, 1.94884], [0.0218495, -0.84815, -0.529305, 1.60344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6780", "pose": [[0.114466, -0.617607, 0.778113, 2.53619], [-0.993417, -0.0746615, 0.0868784, 1.92592], [0.00443843, -0.782935, -0.622087, 1.54997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6800", "pose": [[-0.0248759, -0.616392, 0.787047, 2.7436], [-0.999299, 0.0373598, -0.00232537, 2.19724], [-0.0279706, -0.786553, -0.61689, 1.57875], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6820", "pose": [[-0.142749, -0.566921, 0.81131, 2.98142], [-0.989697, 0.0909325, -0.110595, 2.31502], [-0.0110759, -0.818738, -0.574061, 1.61793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6840", "pose": [[-0.40544, -0.670546, 0.621278, 3.20192], [-0.914054, 0.289085, -0.284493, 2.38727], [0.0111634, -0.683226, -0.730121, 1.5801], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6860", "pose": [[-0.453317, -0.645418, 0.614767, 3.27924], [-0.8868, 0.256977, -0.38412, 2.50271], [0.0899372, -0.719304, -0.688849, 1.58423], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6880", "pose": [[-0.41735, -0.664616, 0.619763, 3.38678], [-0.906719, 0.259022, -0.332819, 2.34828], [0.0606646, -0.700852, -0.710722, 1.59151], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6900", "pose": [[-0.541818, -0.651143, 0.531457, 3.53694], [-0.837437, 0.364326, -0.407389, 2.31002], [0.0716452, -0.665792, -0.74269, 1.59299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6920", "pose": [[-0.933894, -0.324684, 0.149745, 3.71836], [-0.338356, 0.66714, -0.663656, 2.44604], [0.115578, -0.670451, -0.732897, 1.62462], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6940", "pose": [[-0.985579, 0.0514874, -0.161194, 4.01683], [0.154399, 0.663448, -0.732118, 2.59557], [0.0692492, -0.746448, -0.66183, 1.68722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6960", "pose": [[-0.980692, 0.0958913, -0.170435, 4.15741], [0.191123, 0.654531, -0.731479, 2.73208], [0.0414122, -0.74993, -0.66022, 1.67265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6980", "pose": [[-0.9999, 0.00482458, -0.0132976, 4.18405], [0.0130126, 0.682345, -0.730915, 2.96424], [0.00554718, -0.731015, -0.682339, 1.66518], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7000", "pose": [[-0.986787, 0.099908, -0.127556, 4.21667], [0.162018, 0.601236, -0.782475, 3.07852], [-0.00148411, -0.792801, -0.609478, 1.66929], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7020", "pose": [[-0.984534, -0.0927898, 0.148602, 4.19062], [-0.173801, 0.624042, -0.761817, 3.2193], [-0.0220454, -0.775862, -0.630518, 1.61354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7040", "pose": [[-0.965355, -0.158656, 0.207165, 4.12383], [-0.258497, 0.689828, -0.676252, 3.29525], [-0.0356166, -0.706375, -0.706941, 1.5686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7060", "pose": [[-0.95725, 0.217957, -0.19018, 4.05447], [0.288843, 0.684777, -0.669067, 3.18146], [-0.0155971, -0.695396, -0.718458, 1.54961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7080", "pose": [[-0.565475, 0.638389, -0.522205, 4.02243], [0.824677, 0.446937, -0.346634, 3.15688], [0.0121059, -0.626663, -0.779196, 1.53541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7100", "pose": [[-0.244959, 0.712158, -0.657895, 3.95021], [0.969529, 0.177901, -0.168417, 3.33071], [-0.00289962, -0.679104, -0.734037, 1.54582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7120", "pose": [[0.122167, 0.746311, -0.654291, 3.90597], [0.992362, -0.0804792, 0.0934924, 3.32103], [0.0171175, -0.660715, -0.750442, 1.54356], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7140", "pose": [[0.232271, 0.594982, -0.769446, 3.92308], [0.970843, -0.0936086, 0.220683, 3.13304], [0.0592757, -0.798269, -0.599377, 1.626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7160", "pose": [[0.0538757, 0.535151, -0.843037, 3.95181], [0.995842, 0.0333195, 0.0847916, 2.96532], [0.0734658, -0.844099, -0.53113, 1.64353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7180", "pose": [[0.283531, 0.599873, -0.748174, 3.9413], [0.958823, -0.163989, 0.231875, 3.16006], [0.0164032, -0.78311, -0.621667, 1.57354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7200", "pose": [[0.46206, 0.59383, -0.658686, 3.93089], [0.886663, -0.324534, 0.329403, 3.47902], [-0.0181564, -0.736236, -0.676481, 1.56132], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7220", "pose": [[0.334971, 0.619167, -0.71023, 3.90639], [0.942226, -0.221832, 0.251, 3.70653], [-0.00214046, -0.753275, -0.657702, 1.58674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7240", "pose": [[0.357747, 0.576504, -0.734616, 3.78211], [0.932796, -0.18381, 0.310009, 3.82413], [0.0436917, -0.796152, -0.603518, 1.66312], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7260", "pose": [[0.15152, 0.568023, -0.808945, 3.83866], [0.986771, -0.0391843, 0.157313, 3.97553], [0.0576595, -0.822079, -0.566446, 1.72035], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7280", "pose": [[0.087142, 0.540224, -0.836997, 3.66332], [0.996188, -0.0438694, 0.0754009, 4.0794], [0.00401479, -0.840377, -0.541988, 1.83869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7300", "pose": [[0.181076, 0.543776, -0.819463, 3.38968], [0.982829, -0.0699912, 0.17073, 4.12849], [0.0354837, -0.836307, -0.547112, 1.88205], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7320", "pose": [[-0.0169701, 0.592026, -0.80574, 3.24862], [0.999684, 0.0249861, -0.00269607, 4.25599], [0.0185362, -0.805532, -0.592263, 1.90337], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7340", "pose": [[0.238632, 0.612754, -0.753384, 3.21435], [0.971058, -0.158588, 0.178594, 4.45261], [-0.0100439, -0.774198, -0.632864, 1.88603], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7360", "pose": [[0.51316, 0.541677, -0.665773, 3.25782], [0.857804, -0.349868, 0.376518, 4.54903], [-0.0289816, -0.764316, -0.64419, 1.83209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7380", "pose": [[0.855451, 0.320711, -0.406631, 3.39492], [0.512044, -0.641375, 0.571358, 4.54114], [-0.0775619, -0.696981, -0.712882, 1.72715], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7400", "pose": [[0.990373, 0.108796, -0.0855865, 3.52667], [0.137956, -0.826637, 0.545563, 4.51069], [-0.0113939, -0.552118, -0.833688, 1.58678], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7420", "pose": [[0.993767, 0.1032, -0.0421538, 3.5375], [0.111031, -0.882471, 0.457074, 4.56023], [0.00997071, -0.458905, -0.888429, 1.51645], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7440", "pose": [[0.984129, 0.177453, -0.00129154, 3.58016], [0.166571, -0.921219, 0.351581, 4.78128], [0.0611993, -0.346216, -0.936157, 1.46812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7460", "pose": [[0.994296, 0.0727243, 0.0780186, 3.48495], [0.0553108, -0.977025, 0.205824, 5.01389], [0.0911944, -0.200335, -0.975474, 1.42566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7480", "pose": [[0.987527, 0.109018, 0.113607, 3.39895], [0.0863359, -0.978306, 0.188317, 5.08564], [0.131672, -0.17616, -0.975515, 1.38753], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7500", "pose": [[0.973694, -0.0662295, 0.218025, 3.51715], [-0.112128, -0.972228, 0.205426, 5.08117], [0.198364, -0.224469, -0.954078, 1.39488], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7520", "pose": [[0.896809, -0.27436, 0.347074, 3.5996], [-0.388021, -0.864639, 0.319122, 5.10288], [0.212539, -0.420863, -0.881873, 1.47386], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7540", "pose": [[0.818163, -0.247972, 0.518767, 3.61393], [-0.535312, -0.657831, 0.529811, 5.07081], [0.209883, -0.711174, -0.670955, 1.58154], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7560", "pose": [[0.803303, -0.267984, 0.531874, 3.65192], [-0.586612, -0.51034, 0.62884, 5.01618], [0.102918, -0.817152, -0.567159, 1.62697], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7580", "pose": [[0.818545, -0.188558, 0.542615, 3.64071], [-0.572278, -0.349606, 0.741804, 4.93397], [0.049828, -0.917726, -0.394076, 1.61944], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7600", "pose": [[0.969003, -0.112352, 0.220024, 3.6881], [-0.247046, -0.436078, 0.865335, 4.83993], [-0.001275, -0.892868, -0.450317, 1.61795], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7620", "pose": [[0.995205, 0.0101353, -0.0972838, 3.71624], [0.0928116, -0.411752, 0.906557, 4.66806], [-0.0308686, -0.911239, -0.410719, 1.65459], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7640", "pose": [[0.827934, 0.250826, -0.501609, 3.5797], [0.559722, -0.31347, 0.767103, 4.31915], [0.0351702, -0.915873, -0.399925, 1.64379], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7660", "pose": [[0.615929, 0.366549, -0.697333, 3.62753], [0.784769, -0.207885, 0.583885, 4.12994], [0.0690572, -0.906877, -0.415699, 1.6551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7680", "pose": [[0.192907, 0.682812, -0.704666, 3.85584], [0.980793, -0.113063, 0.158941, 3.98948], [0.0288548, -0.721792, -0.691508, 1.53886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7700", "pose": [[-0.257297, 0.754981, -0.60316, 3.96255], [0.964857, 0.235199, -0.11719, 3.74378], [0.053386, -0.612115, -0.788964, 1.503], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7720", "pose": [[-0.383604, 0.586111, -0.713667, 4.01185], [0.918382, 0.323341, -0.228091, 3.46747], [0.097071, -0.742916, -0.662309, 1.55058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7740", "pose": [[-0.546169, 0.422224, -0.723483, 3.97933], [0.83023, 0.387743, -0.400468, 3.21859], [0.111438, -0.81938, -0.562315, 1.58418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7760", "pose": [[-0.461177, 0.0378108, -0.886503, 3.77018], [0.886062, 0.0725665, -0.457853, 3.08722], [0.0470186, -0.996647, -0.0669687, 1.65086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7780", "pose": [[-0.403088, -0.261249, -0.87708, 3.78166], [0.914843, -0.0897449, -0.393711, 3.03435], [0.0241435, -0.96109, 0.275177, 1.76206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7800", "pose": [[-0.447454, -0.310318, -0.838742, 3.81318], [0.893996, -0.130488, -0.428653, 3.03603], [0.023573, -0.941634, 0.335811, 1.78239], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7820", "pose": [[-0.104699, -0.432227, -0.895667, 3.84354], [0.993315, -0.0894828, -0.0729312, 3.08492], [-0.0486239, -0.897314, 0.438706, 1.81797], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7840", "pose": [[0.241845, -0.410217, -0.879337, 3.83886], [0.964632, 0.00370597, 0.263575, 3.12326], [-0.104864, -0.911981, 0.396604, 1.82953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7860", "pose": [[0.464731, -0.251993, -0.848837, 3.81029], [0.885291, 0.113955, 0.450859, 3.14361], [-0.0168841, -0.960996, 0.276046, 1.80428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7880", "pose": [[0.7245, -0.215413, -0.65475, 3.77335], [0.687588, 0.159451, 0.708377, 3.09478], [-0.0481927, -0.963417, 0.263638, 1.81937], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7900", "pose": [[0.911921, -0.119929, -0.392451, 3.7393], [0.40973, 0.212888, 0.887017, 2.92842], [-0.0228308, -0.969689, 0.243275, 1.82805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7920", "pose": [[0.996654, -0.0441955, -0.0687573, 3.86428], [0.0781825, 0.270121, 0.959647, 2.87364], [-0.0238392, -0.961811, 0.272673, 1.84583], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7940", "pose": [[0.987484, -0.0918584, -0.128207, 3.9599], [0.11184, -0.16533, 0.979876, 2.96039], [-0.111206, -0.981951, -0.152987, 1.86794], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7960", "pose": [[0.923354, 0.0970741, -0.371475, 3.88867], [0.381863, -0.332919, 0.862175, 2.89055], [-0.0399762, -0.937945, -0.344471, 1.76367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7980", "pose": [[0.737767, 0.309575, -0.599886, 3.61444], [0.674297, -0.295837, 0.676612, 2.73459], [0.031994, -0.903683, -0.427004, 1.75504], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8000", "pose": [[0.770472, 0.311496, -0.556186, 3.53115], [0.635682, -0.310066, 0.706942, 2.68229], [0.0477558, -0.898237, -0.43691, 1.75315], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0736_00"}, {"annotation": [{"question_id": "test-scene0737-0", "question": "Where is the black computer tower located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-1", "question": "Where is the large white shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-2", "question": "What color is the file cabinet against the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-3", "question": "Where is the white door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-4", "question": "What color is the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-5", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-6", "question": "What color is the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-7", "question": "What does the white shelf contain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-8", "question": "Along with papers and bags, what else is on the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-9", "question": "What color is the file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-10", "question": "What color frame is on the window above the desk with the phone?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-11", "question": "What kind of desk is in the house?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-12", "question": "What type of window is currently open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-13", "question": "What is the current status of the two panel window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-14", "question": "Where is a file cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-15", "question": "What is hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-16", "question": "Where is the desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-17", "question": "What is under the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-18", "question": "Where is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-19", "question": "Where is the shelving located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-20", "question": "Where is the computer tower located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-21", "question": "Where is the white bookshelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-22", "question": "What color is the trash can on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-23", "question": "What is under the white desk with the monitor on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-24", "question": "What is beside a white file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-25", "question": "What is beside a shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-26", "question": "What color is the monitor on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-27", "question": "On what part of the desk is the black monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-28", "question": "What is behind a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-29", "question": "Windows are behind what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-30", "question": "The large glass door is located to the side of what shelf in the office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-31", "question": "What kind of bag is inside the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-32", "question": "Where is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-33", "question": "Where is computer tower located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-34", "question": "The tall white bookshelf is located next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-35", "question": "What is sandwiched between a desk and a shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-36", "question": "How many panels does the large open window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-37", "question": "The white filing cabinet is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-38", "question": "What is the color of the chair next to the computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-39", "question": "What color phone is on top of the white desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-40", "question": "Where is a white file cabinet underneath a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-41", "question": "What is on a white table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0737-42", "question": "What type of panel is in the door?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.964587, -0.116366, 0.23671, 2.51021], [-0.263546, -0.461877, 0.846885, 1.3465], [0.0107827, -0.879278, -0.476188, 1.65617], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.961997, -0.123249, 0.243665, 2.51816], [-0.272947, -0.459964, 0.844946, 1.34318], [0.00793814, -0.879343, -0.476124, 1.65083], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.979626, -0.0887058, 0.180181, 2.49652], [-0.20053, -0.481313, 0.853303, 1.36159], [0.0110304, -0.872049, -0.489294, 1.63706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.996874, 0.0591021, -0.0524331, 2.4544], [0.0756705, -0.523355, 0.848748, 1.41064], [0.0227216, -0.850063, -0.526191, 1.61542], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.9648, 0.12251, -0.23271, 2.37854], [0.262758, -0.412117, 0.872421, 1.5454], [0.0109765, -0.902857, -0.429801, 1.65474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.785526, 0.261457, -0.560882, 2.40035], [0.618795, -0.341298, 0.707537, 1.53136], [-0.0064373, -0.90286, -0.429887, 1.6573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.652543, 0.217394, -0.725898, 2.54717], [0.757392, -0.216623, 0.61598, 1.51086], [-0.0233353, -0.951743, -0.306008, 1.6949], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.457395, 0.3858, -0.801217, 2.63104], [0.887835, -0.14705, 0.436035, 1.3743], [0.0504033, -0.910788, -0.409786, 1.63933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.036832, 0.529168, -0.847718, 2.69681], [0.993314, 0.112268, 0.026923, 1.33072], [0.109418, -0.841057, -0.529765, 1.57058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.996274, -0.03847, -0.0771961, 3.29904], [0.0211053, 0.759077, -0.650659, 1.4141], [0.0836287, -0.649864, -0.755436, 1.48904], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.876939, -0.396223, 0.272001, 3.42809], [-0.475537, 0.633416, -0.610449, 1.38228], [0.0695842, -0.664674, -0.743886, 1.47892], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.389624, -0.609637, 0.690316, 3.39718], [-0.919158, 0.210357, -0.333014, 1.30517], [0.0578044, -0.76426, -0.642313, 1.59565], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.0226735, -0.575655, 0.817379, 3.23822], [-0.998305, -0.0308078, -0.0493891, 1.32473], [0.0536126, -0.817113, -0.57398, 1.58983], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.296738, -0.504074, 0.811083, 3.03154], [-0.954143, -0.191615, 0.229991, 1.31027], [0.0394835, -0.842136, -0.537818, 1.63624], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.675118, -0.376748, 0.634253, 2.84047], [-0.737412, -0.369079, 0.56569, 1.23588], [0.0209673, -0.849613, -0.52699, 1.63128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.873754, -0.231179, 0.427915, 2.63751], [-0.486197, -0.438525, 0.75585, 1.28346], [0.0129146, -0.868477, -0.495561, 1.65152], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.853699, -0.219192, 0.472391, 2.50211], [-0.519087, -0.285345, 0.805685, 1.32149], [-0.0418049, -0.933024, -0.357378, 1.72863], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.788048, -0.0824553, 0.610067, 2.47018], [-0.615592, -0.0971135, 0.782059, 1.27676], [-0.00523928, -0.991852, -0.127289, 1.78211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.79666, 0.0100738, 0.604345, 2.46201], [-0.60442, 0.0186738, 0.796447, 1.23977], [-0.0032623, -0.999775, 0.0209654, 1.79919], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.847632, 0.0048302, 0.530563, 2.43824], [-0.527696, 0.111891, 0.842032, 1.21039], [-0.0552983, -0.993709, 0.0973915, 1.82912], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.952864, -0.00856011, 0.303277, 2.33876], [-0.299054, 0.142053, 0.943604, 1.20377], [-0.0511588, -0.989822, 0.132797, 1.81692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.995544, 0.00560948, 0.0941329, 2.27651], [-0.0937859, 0.162973, 0.982163, 1.19052], [-0.00983167, -0.986615, 0.162773, 1.81069], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.98329, -0.0277884, -0.179912, 2.23656], [0.182013, 0.1688, 0.968699, 1.15426], [0.00345074, -0.985259, 0.171037, 1.80707], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.928504, -0.0356848, -0.369605, 2.20263], [0.371181, 0.116731, 0.921194, 1.12829], [0.0102717, -0.992522, 0.12163, 1.81832], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.828894, 0.0434043, -0.55772, 2.23652], [0.558154, 0.0024932, 0.829734, 1.12347], [0.0374046, -0.999055, -0.0221597, 1.76686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.782753, 0.0812065, -0.617013, 2.1782], [0.622213, -0.0826222, 0.778476, 1.18773], [0.0122384, -0.993267, -0.1152, 1.7051], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.801238, 0.180511, -0.570468, 1.98562], [0.597788, -0.282641, 0.750176, 1.28271], [-0.0258223, -0.942088, -0.33437, 1.64528], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.736497, 0.360824, -0.57217, 1.90451], [0.67581, -0.355957, 0.645427, 1.4928], [0.0292171, -0.862033, -0.50601, 1.56998], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.698769, 0.460786, -0.547173, 1.81839], [0.715202, -0.434623, 0.547347, 1.59204], [0.0143963, -0.773808, -0.633256, 1.49232], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.941374, 0.236158, -0.240924, 1.56458], [0.337125, -0.631597, 0.698163, 1.58074], [0.0127092, -0.738454, -0.674184, 1.43556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.999045, 0.0216186, 0.037991, 1.57356], [-0.0146767, -0.652774, 0.757411, 1.4797], [0.0411736, -0.757244, -0.651833, 1.51165], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.99718, -0.0428368, 0.0616296, 1.70105], [-0.0739235, -0.702578, 0.707757, 1.23482], [0.0129814, -0.710317, -0.703763, 1.46561], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.999377, -0.0322846, 0.0142926, 1.74764], [-0.0323365, -0.67443, 0.737631, 1.13124], [-0.0141749, -0.737633, -0.675053, 1.48412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.991902, -0.0783375, 0.0999696, 1.85177], [-0.126998, -0.620805, 0.77361, 1.20686], [0.00145897, -0.780041, -0.625727, 1.54119], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.974255, -0.0821668, 0.209943, 2.07782], [-0.217369, -0.589435, 0.778022, 1.39196], [0.0598204, -0.803626, -0.592121, 1.60304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.987316, -0.062044, 0.146146, 2.40322], [-0.154301, -0.591838, 0.791151, 1.36772], [0.0374086, -0.803666, -0.593904, 1.63603], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.964303, -0.144427, 0.221947, 2.80639], [-0.26332, -0.611529, 0.74612, 1.34252], [0.0279673, -0.777929, -0.62773, 1.6288], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.993178, -0.0500558, 0.105323, 3.05752], [-0.114192, -0.600543, 0.791397, 1.38054], [0.0236366, -0.798025, -0.602161, 1.62126], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.997846, 0.00305602, 0.0655296, 3.28684], [-0.0491756, -0.626306, 0.778025, 1.34717], [0.0434191, -0.779571, -0.624807, 1.49665], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.991475, -0.115899, 0.0595447, 3.20097], [-0.122802, -0.678354, 0.7244, 1.26656], [-0.043565, -0.725537, -0.686803, 1.29766], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.9967, -0.00343645, 0.0811114, 3.1742], [-0.0678973, -0.583009, 0.809624, 1.21439], [0.0445064, -0.812459, -0.581318, 1.1478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.999227, 0.0283782, 0.0272169, 3.13373], [-0.00242069, -0.646472, 0.762934, 1.20283], [0.0392455, -0.76241, -0.645904, 1.19045], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.997487, 0.0421147, -0.0569722, 2.89965], [0.0702925, -0.688813, 0.721523, 1.18903], [-0.00885659, -0.723715, -0.690042, 1.34525], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.986864, -0.0690855, 0.146042, 2.61118], [-0.143081, -0.793529, 0.591473, 1.20415], [0.075026, -0.604599, -0.792989, 1.41665], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.880529, -0.295576, 0.370547, 2.28503], [-0.466628, -0.677838, 0.56815, 1.31432], [0.0832392, -0.673179, -0.73478, 1.50299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.569207, -0.592048, 0.570511, 1.93178], [-0.82156, -0.436821, 0.36637, 1.4018], [0.0323028, -0.67725, -0.735044, 1.52165], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.440875, -0.629547, 0.639766, 1.64728], [-0.897513, -0.30127, 0.322036, 1.40216], [-0.00999457, -0.716175, -0.697849, 1.5295], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.251271, -0.668015, 0.700442, 1.51744], [-0.967402, -0.14972, 0.204249, 1.59458], [-0.031571, -0.728931, -0.683859, 1.54169], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.397137, -0.638488, 0.659254, 1.53533], [-0.917461, -0.257893, 0.302913, 1.54798], [-0.0233896, -0.725138, -0.688207, 1.49452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.465936, -0.448308, 0.762839, 1.54775], [-0.884817, -0.237702, 0.400746, 1.36996], [0.00167036, -0.861695, -0.507424, 1.04932], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.510465, -0.358925, 0.781408, 1.50164], [-0.859878, -0.219419, 0.46094, 1.28642], [0.00601289, -0.907209, -0.420638, 0.821857], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.51971, -0.31147, 0.795543, 1.49799], [-0.853688, -0.225801, 0.469288, 1.23681], [0.033465, -0.923039, -0.383249, 0.732605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.526585, -0.32191, 0.786818, 1.5339], [-0.849674, -0.22935, 0.474818, 1.27745], [0.0276083, -0.918571, -0.394291, 0.657111], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.506752, -0.32185, 0.79976, 1.52568], [-0.861749, -0.215308, 0.459382, 1.31641], [0.0243428, -0.921984, -0.386462, 0.749556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.470927, -0.43669, 0.766505, 1.54421], [-0.881545, -0.265706, 0.390229, 1.33933], [0.0332555, -0.859478, -0.51009, 1.16462], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.504445, -0.515054, 0.693005, 1.43625], [-0.863431, -0.305403, 0.401518, 1.23867], [0.00484303, -0.800905, -0.598772, 1.42648], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.15989, -0.588064, 0.792853, 1.57602], [-0.987133, -0.096908, 0.127192, 1.14935], [0.0020366, -0.802988, -0.595992, 1.48805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.237584, -0.569064, 0.787223, 1.7888], [-0.971251, 0.151717, -0.183451, 1.30074], [-0.0150398, -0.808176, -0.58875, 1.50479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.230043, -0.600289, 0.765986, 2.14059], [-0.973173, 0.144973, -0.178653, 1.23401], [-0.00380409, -0.786534, -0.617535, 1.47313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.0146613, -0.63384, 0.773325, 2.54284], [-0.998419, -0.0512572, -0.0230832, 1.22227], [0.0542695, -0.771764, -0.63359, 1.44858], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.201401, -0.560148, 0.803537, 2.85014], [-0.97854, -0.151535, 0.13963, 1.19735], [0.0435505, -0.814415, -0.578647, 1.21341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.17887, -0.3091, 0.934058, 2.75894], [-0.980975, -0.12884, 0.145218, 1.17386], [0.0754569, -0.942262, -0.326265, 0.895625], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.150333, -0.164857, 0.974794, 2.69066], [-0.973175, -0.198371, 0.116535, 1.26621], [0.174159, -0.966163, -0.190256, 0.636091], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.0702769, -0.110096, 0.991434, 2.72534], [-0.988125, -0.143822, 0.0540713, 1.30934], [0.136637, -0.98346, -0.118896, 0.549178], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.00728565, -0.149914, 0.988673, 2.75537], [-0.991158, -0.132076, -0.012723, 1.3161], [0.132487, -0.979838, -0.149551, 0.539637], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.245441, -0.0958271, 0.964664, 2.72612], [-0.963598, -0.13294, 0.231964, 1.34021], [0.106014, -0.986481, -0.124968, 0.560604], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.269555, -0.0558753, 0.961363, 2.70177], [-0.953882, -0.152439, 0.258598, 1.28721], [0.1321, -0.986732, -0.0943891, 0.732211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.293749, -0.209723, 0.932592, 2.70548], [-0.953464, -0.133653, 0.270267, 1.20343], [0.0679621, -0.968583, -0.239223, 1.1434], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.287982, -0.357806, 0.88828, 2.78221], [-0.95639, -0.154758, 0.247726, 1.2747], [0.0488306, -0.920883, -0.386769, 1.5058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.332128, -0.433036, 0.837957, 3.02001], [-0.942664, -0.183286, 0.278911, 1.33927], [0.0328072, -0.882545, -0.469082, 1.51422], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.565949, -0.441415, 0.696315, 3.3389], [-0.823767, -0.336886, 0.455978, 1.40315], [0.0333032, -0.831662, -0.554283, 1.50286], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.65915, -0.472311, 0.585187, 3.57282], [-0.748768, -0.484407, 0.452435, 1.55558], [0.0697786, -0.736391, -0.672948, 1.50966], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.914726, -0.233606, 0.329706, 3.66127], [-0.3969, -0.67253, 0.624639, 1.56878], [0.0758181, -0.702233, -0.707898, 1.50811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.99844, -0.0371668, 0.0416661, 3.69537], [-0.0556272, -0.726329, 0.685093, 1.52209], [0.00480048, -0.686342, -0.727264, 1.51414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.991219, 0.11813, -0.0594255, 3.58731], [0.120707, -0.624785, 0.77141, 1.55099], [0.0539983, -0.771809, -0.633557, 1.58427], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.981533, 0.120758, -0.14836, 3.3215], [0.191084, -0.582651, 0.78994, 1.64581], [0.00894959, -0.803701, -0.594966, 1.62276], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.866096, 0.349943, -0.356956, 3.11932], [0.494973, -0.500583, 0.710224, 1.69833], [0.0698518, -0.791806, -0.606765, 1.61043], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.630637, 0.554098, -0.543391, 3.02906], [0.770847, -0.366062, 0.521339, 1.68331], [0.0899578, -0.747646, -0.657976, 1.56095], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.499482, 0.663138, -0.557465, 3.08187], [0.865105, -0.347663, 0.361558, 1.58099], [0.0459526, -0.662857, -0.747335, 1.51685], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.581434, 0.671886, -0.458808, 3.32425], [0.809778, -0.423355, 0.406239, 1.41641], [0.0787073, -0.607733, -0.790231, 1.46075], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.483833, 0.618422, -0.619243, 3.49131], [0.869042, -0.255975, 0.423373, 1.35868], [0.103312, -0.742989, -0.661282, 1.40944], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.367327, 0.576812, -0.72963, 3.60644], [0.927738, -0.171452, 0.331522, 1.44969], [0.0661294, -0.798682, -0.598109, 1.37896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.254282, 0.638789, -0.726148, 3.51287], [0.962396, -0.0929273, 0.255263, 1.33838], [0.09558, -0.76375, -0.638397, 1.3877], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.683422, 0.561454, -0.466588, 3.60205], [0.722851, 0.609824, -0.324963, 1.21962], [0.102085, -0.55936, -0.822615, 1.35308], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.989108, 0.0584969, -0.135071, 3.66556], [0.128356, 0.791934, -0.596964, 1.39268], [0.0720468, -0.607798, -0.790817, 1.37308], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.964203, -0.258848, 0.0575365, 3.62419], [-0.234436, 0.730764, -0.641112, 1.30679], [0.123905, -0.631651, -0.765288, 1.36048], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.743259, -0.573265, 0.344868, 3.43182], [-0.658848, 0.537743, -0.526073, 1.19532], [0.116128, -0.618224, -0.777376, 1.37454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.420334, -0.709315, 0.565856, 3.21743], [-0.897983, 0.235715, -0.371572, 1.10151], [0.130181, -0.664313, -0.736031, 1.45142], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.214779, -0.709385, 0.6713, 3.21027], [-0.971172, 0.0823421, -0.223707, 0.992227], [0.103418, -0.699995, -0.70662, 1.44283], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.0321242, -0.767474, 0.640275, 3.09266], [-0.996848, -0.0711032, -0.0352147, 0.944116], [0.0725519, -0.637125, -0.767339, 1.44381], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.310061, -0.74331, 0.59275, 2.87472], [-0.941672, -0.325911, 0.0838846, 0.998243], [0.130831, -0.584185, -0.801006, 1.41959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.874637, -0.345276, 0.340286, 2.35593], [-0.482034, -0.694004, 0.534792, 1.14508], [0.0515096, -0.631778, -0.773436, 1.46767], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.960621, -0.0841611, 0.264813, 2.21901], [-0.257067, -0.630948, 0.731998, 1.20174], [0.105477, -0.771247, -0.627737, 1.53331], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.991849, 0.121477, -0.0384681, 2.17505], [0.099579, -0.550595, 0.828812, 1.25889], [0.0795009, -0.825886, -0.558204, 1.54209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.982659, 0.130222, -0.131999, 1.94886], [0.182734, -0.559336, 0.808549, 1.34924], [0.031459, -0.818649, -0.573432, 1.50348], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.993875, 0.0809706, -0.0752117, 1.67988], [0.10982, -0.64758, 0.754042, 1.46681], [0.0123496, -0.757683, -0.652506, 1.46055], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.995677, -0.0824434, 0.042805, 1.53896], [-0.0892166, -0.720333, 0.687867, 1.68643], [-0.0258762, -0.688711, -0.724574, 1.44883], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.917073, -0.273631, 0.290007, 1.43256], [-0.398697, -0.637268, 0.659492, 1.75371], [0.00435443, -0.720427, -0.693517, 1.4945], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.985576, -0.0500488, 0.161666, 1.45346], [-0.156615, -0.631716, 0.759215, 1.56461], [0.0641291, -0.773583, -0.630443, 1.41109], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.992287, 0.0187488, 0.122541, 1.55137], [-0.0936756, -0.534039, 0.840254, 1.34331], [0.0811955, -0.845252, -0.528163, 1.21128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.994232, 0.107237, -0.00167084, 1.5787], [0.0675896, -0.614401, 0.786094, 1.32932], [0.0832714, -0.781673, -0.618105, 1.2195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.828793, 0.457777, -0.321781, 1.65398], [0.552493, -0.5784, 0.600172, 1.50417], [0.0886268, -0.6752, -0.732292, 1.18388], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.560983, 0.597566, -0.572899, 1.87376], [0.826993, -0.373475, 0.420237, 1.69218], [0.0371559, -0.709529, -0.703696, 1.28498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.502426, 0.655118, -0.56426, 1.93333], [0.858468, -0.300259, 0.415786, 1.78077], [0.102964, -0.693301, -0.713255, 1.41357], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.412014, 0.592749, -0.692021, 1.95723], [0.90436, -0.173288, 0.390007, 1.87835], [0.111257, -0.786524, -0.607455, 1.32127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.437484, 0.497199, -0.749268, 1.9405], [0.896965, -0.182224, 0.402801, 1.78969], [0.0637375, -0.848285, -0.52569, 1.26343], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.622559, 0.341147, -0.704301, 1.92527], [0.781678, -0.228043, 0.580497, 1.69778], [0.037424, -0.911929, -0.408637, 1.15814], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.639926, 0.244386, -0.72854, 1.92052], [0.762915, -0.0886004, 0.640399, 1.63247], [0.0919558, -0.965622, -0.243144, 0.972054], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.655894, 0.246537, -0.713459, 1.94953], [0.750401, -0.110446, 0.651691, 1.59647], [0.0818675, -0.96282, -0.257442, 0.886809], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.639064, 0.313225, -0.702487, 1.99752], [0.766644, -0.185665, 0.614643, 1.61886], [0.0620944, -0.931353, -0.358784, 1.33214], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.642161, 0.312161, -0.700132, 1.97759], [0.763018, -0.172473, 0.622941, 1.6429], [0.0737036, -0.934242, -0.34894, 1.37143], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.714154, 0.0991103, -0.692938, 1.95321], [0.699234, -0.0550398, 0.712771, 1.68232], [0.0325038, -0.993553, -0.108608, 1.13013], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.682018, 0.121457, -0.72118, 1.92737], [0.730839, -0.0768433, 0.678211, 1.67189], [0.0269558, -0.989618, -0.141174, 1.15438], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[0.649074, 0.230761, -0.724882, 1.98027], [0.75979, -0.149395, 0.632773, 1.66754], [0.0377252, -0.961473, -0.272298, 1.44498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.645783, 0.219067, -0.73142, 1.97083], [0.763043, -0.151271, 0.628397, 1.62248], [0.0270189, -0.963912, -0.264846, 1.55726], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[0.652553, 0.16042, -0.740568, 1.96461], [0.756281, -0.0772039, 0.649675, 1.59644], [0.047046, -0.984025, -0.171702, 1.61748], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[0.722689, -0.00353917, -0.691165, 1.90307], [0.69087, -0.0259416, 0.722514, 1.61227], [-0.0204869, -0.999657, -0.0163026, 1.44768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[0.747271, -0.0435191, -0.663093, 1.93112], [0.660689, -0.0583327, 0.74839, 1.65], [-0.0712493, -0.997348, -0.0148378, 1.41218], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[0.714345, -0.00427893, -0.699781, 2.01476], [0.699767, -0.0044707, 0.714357, 1.61634], [-0.00618505, -0.999981, -0.000199407, 1.68541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[0.673621, -0.0790823, -0.734834, 2.00923], [0.738671, 0.0390816, 0.672932, 1.54994], [-0.0244985, -0.996102, 0.0847419, 1.77221], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[0.683752, -0.0784695, -0.725483, 1.94825], [0.728433, 0.0145059, 0.684964, 1.54542], [-0.043225, -0.996811, 0.0670782, 1.7834], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[0.548849, -0.0522447, -0.834288, 1.94033], [0.83347, -0.0421812, 0.550952, 1.76998], [-0.0639755, -0.997743, 0.0203933, 1.83412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[0.344941, -0.000692611, -0.938625, 1.96799], [0.938495, 0.016873, 0.344881, 1.98955], [0.0155985, -0.999858, 0.00647022, 1.86681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[0.0466595, 0.0268882, -0.998549, 2.04405], [0.998236, 0.0354826, 0.0476003, 2.13831], [0.0367111, -0.999009, -0.0251852, 1.90989], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[-0.125549, 0.0332259, -0.991531, 2.16547], [0.99145, 0.0400167, -0.124198, 2.30959], [0.0355513, -0.998647, -0.0379658, 1.89147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.249852, 0.0513219, -0.966923, 2.18721], [0.965901, 0.0832286, -0.245171, 2.38972], [0.067893, -0.995208, -0.0703667, 1.84782], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[-0.244425, 0.273502, -0.930298, 2.14753], [0.969664, 0.0720573, -0.233583, 2.44065], [0.0031493, -0.959169, -0.282817, 1.74436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[-0.250175, 0.334084, -0.908736, 2.14887], [0.967931, 0.0641168, -0.242899, 2.47142], [-0.0228836, -0.94036, -0.339411, 1.67923], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[-0.285876, 0.41811, -0.862241, 2.1121], [0.957424, 0.0868899, -0.2753, 2.49724], [-0.0401855, -0.904232, -0.425148, 1.59708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.256683, 0.423141, -0.868946, 2.08401], [0.966446, 0.103237, -0.235213, 2.4958], [-0.00982085, -0.900164, -0.435441, 1.52227], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.0995805, 0.44658, -0.889185, 2.05153], [0.994999, 0.0516616, -0.0854844, 2.44548], [0.00776115, -0.893251, -0.449491, 1.54086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[0.301542, 0.420239, -0.855846, 1.97125], [0.94122, -0.27453, 0.196822, 2.20148], [-0.152243, -0.864889, -0.478319, 1.5925], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.918571, 0.274487, -0.284402, 1.86502], [0.39419, -0.688999, 0.608189, 1.97948], [-0.0290128, -0.670774, -0.741095, 1.45892], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.998007, 0.0631045, 0.000723869, 2.00684], [0.047297, -0.755504, 0.653435, 1.86662], [0.0417815, -0.652098, -0.756983, 1.4513], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.99649, -0.0343601, 0.0763422, 2.04301], [-0.0787786, -0.693455, 0.716181, 1.71936], [0.0283318, -0.719681, -0.693727, 1.5086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[0.9626, -0.14634, 0.228008, 1.89372], [-0.265471, -0.677555, 0.68589, 1.81276], [0.0541144, -0.720766, -0.691063, 1.52173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.923994, -0.250475, 0.28896, 1.95723], [-0.381178, -0.663836, 0.643448, 1.8414], [0.0306544, -0.704687, -0.708856, 1.59577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[0.950289, -0.142668, 0.276762, 2.05135], [-0.302482, -0.63385, 0.711857, 1.89687], [0.0738661, -0.760185, -0.645494, 1.77002], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[0.895633, -0.171996, 0.410194, 2.00968], [-0.435932, -0.522606, 0.732698, 2.27624], [0.0883485, -0.835045, -0.543042, 1.90751], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[0.742454, -0.372208, 0.556977, 1.95441], [-0.667261, -0.484586, 0.565632, 2.21316], [0.0593705, -0.791605, -0.608143, 1.79102], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[0.474633, -0.420437, 0.773276, 2.06936], [-0.879134, -0.269356, 0.393157, 1.9842], [0.0429887, -0.866418, -0.497466, 1.76566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[0.187354, -0.309143, 0.932378, 2.14504], [-0.981821, -0.0883517, 0.167995, 1.89274], [0.0304425, -0.946903, -0.320076, 1.82954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[0.00184223, -0.14024, 0.990116, 2.14417], [-0.99976, -0.0218694, -0.00123736, 1.97299], [0.0218267, -0.989876, -0.140246, 1.90384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.0830632, 0.0712713, 0.993993, 2.09965], [-0.995946, -0.0405155, -0.0803214, 2.00085], [0.0345474, -0.996634, 0.0743476, 1.97068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.0623455, 0.106703, 0.992335, 2.06822], [-0.997458, -0.0410391, -0.0582546, 2.04086], [0.0345085, -0.993444, 0.10899, 2.00043], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[-0.141486, -0.203719, 0.968753, 2.12091], [-0.989699, 0.00750373, -0.142967, 1.95782], [0.0218557, -0.979001, -0.202682, 1.85155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[-0.130225, -0.454496, 0.881178, 2.14838], [-0.991018, 0.0323983, -0.129747, 1.93889], [0.0304209, -0.890159, -0.454633, 1.75443], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[0.0877569, -0.655675, 0.749926, 2.13899], [-0.994816, -0.0965158, 0.0320283, 1.77585], [0.0513795, -0.748849, -0.660746, 1.64198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[0.290363, -0.647562, 0.704523, 1.94049], [-0.952428, -0.266799, 0.147307, 1.56164], [0.0925753, -0.71378, -0.694225, 1.58298], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[0.372106, -0.587639, 0.718484, 1.71815], [-0.925676, -0.291882, 0.240685, 1.5226], [0.0682761, -0.754643, -0.652574, 1.55412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[0.468228, -0.551247, 0.690573, 1.7572], [-0.883213, -0.315338, 0.347126, 1.47533], [0.026412, -0.772456, -0.634518, 1.57171], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0737_00"}, {"annotation": [{"question_id": "test-scene0738-0", "question": "What color does the desk appear in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-1", "question": "What is underneath the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-2", "question": "What color is the dresser left of the suitcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-3", "question": "What color is the pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-4", "question": "What color scarf is on the top of the brown suitcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-5", "question": "What color is the garbage can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-6", "question": "Where is the garbage can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-7", "question": "What color is the recycling bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-8", "question": "The recycling bin is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-9", "question": "What color is the dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-10", "question": "What is to the right of the dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-11", "question": "What is the item on the left side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-12", "question": "What is directly to the left of the pillow on the left side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-13", "question": "Where is the rectangular pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-14", "question": "What color suitcase is in a hotel room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-15", "question": "What is sitting on the carpet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-16", "question": "What type of suitcase is in a hotel room at the foot of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-17", "question": "Where is the black stand up wheeled suitcase located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-18", "question": "What is against the wall of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-19", "question": "What is on a chair in a hotel room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-20", "question": "Where is the red pillow on a chair in a hotel room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-21", "question": "What color is the pillow on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-22", "question": "Where is the white pillow on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-23", "question": "What is hanging on the wall in a hotel room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-24", "question": "Where is the photo hanging in a hotel room located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-25", "question": "What is thrown on a chair in the back corner of a hotel room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-26", "question": "Where is the large bed located in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-27", "question": "What is on top of the large bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-28", "question": "What is sitting in the floor with another suitcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-29", "question": "What color is the leather chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-30", "question": "What is next to the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-31", "question": "What is on the black rolling chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-32", "question": "Where is the black rolling chair sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-33", "question": "On what kind of bed is the yellow pillow on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-34", "question": "Where is a large trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-35", "question": "What is right next to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-36", "question": "Where is a nightstand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-37", "question": "Where is the red velvet pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-38", "question": "What is the item that is to the left of an office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-39", "question": "What is the item on the left hand side by the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-40", "question": "What is the window above?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-41", "question": "Where is the window on the rolling chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-42", "question": "What type of chair is the chair under a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-43", "question": "The white pillows are next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-44", "question": "What is on the opposite side of the room from the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-45", "question": "What is to the left of the bed and to the right of the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-46", "question": "What does the nightstand have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-47", "question": "What type of desk is on the left of the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-48", "question": "What color is the desk against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-49", "question": "To what side of the window is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-50", "question": "What color is the frame on the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-51", "question": "What is to the right of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-52", "question": "What does the nigthstand have in it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-53", "question": "What is to the right of the suitcases and the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-54", "question": "What is running through the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-55", "question": "What color is the chair that is pulled into the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-56", "question": "The nightstand is to the left of the bed and right next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-57", "question": "What color is the pillow on the tan leather chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-58", "question": "What is on top of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-59", "question": "Where is the black suitcase located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-60", "question": "What is on the nightstand to the right of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-61", "question": "What is to the left of the left pillow on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-62", "question": "What color duvet is in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-63", "question": "What is the current state of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-64", "question": "What color is the pillow on the lounge chair to the right of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-65", "question": "What color recycling bin is under the desk next to a garbage can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-66", "question": "What is beside the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-67", "question": "What is near a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-68", "question": "The black chair is near what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-69", "question": "On what part of the bed is the pillow on the right located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-70", "question": "The wooden dresser is near what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-71", "question": "What is on the left side of the dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-72", "question": "The messy bed has a white comforter and what else?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-73", "question": "What color is the comforter on the messy bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-74", "question": "What type of table is near the matching colored, chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-75", "question": "Where can the blue recycling bin and the round trash bin be found?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-76", "question": "Where is the wooden desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-77", "question": "Where is the standing suitcase located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-78", "question": "The standing suitcase sits near what part of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-79", "question": "What are by the bed on both sides?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-80", "question": "Where is the little cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-81", "question": "Where are the two suitcases located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-82", "question": "Where is the fancy chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-83", "question": "What color is the night stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-84", "question": "What is sitting on the left side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-85", "question": "In what corner of the room is a night stand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-86", "question": "What color is the night stand in the left corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-87", "question": "Where is the footrest placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-88", "question": "The nightstands are in what position relative to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0738-89", "question": "What does the night stand on the right of the bed have on it?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.943142, -0.214335, 0.254056, 2.33126], [-0.32496, -0.433846, 0.840344, 0.526359], [-0.0698944, -0.875122, -0.478829, 1.57544], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.941624, -0.21354, 0.260278, 2.31113], [-0.330843, -0.443757, 0.83284, 0.525128], [-0.0623444, -0.870334, -0.4885, 1.55598], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.921277, -0.195314, 0.336304, 2.31806], [-0.388496, -0.4225, 0.81888, 0.539627], [-0.0178505, -0.885069, -0.465118, 1.56715], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.921411, -0.167018, 0.350865, 2.32063], [-0.387582, -0.330041, 0.860728, 0.550449], [-0.0279575, -0.929074, -0.368836, 1.59427], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.925809, -0.149667, 0.3471, 2.30802], [-0.377771, -0.334931, 0.863198, 0.546725], [-0.0129381, -0.93028, -0.366622, 1.58648], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.882692, -0.202686, 0.423998, 2.35487], [-0.469356, -0.334757, 0.817094, 0.540164], [-0.0236774, -0.920248, -0.390619, 1.57378], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.829748, -0.283959, 0.480506, 2.39237], [-0.556681, -0.358872, 0.749211, 0.524255], [-0.0403049, -0.889144, -0.455848, 1.54503], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.783276, -0.371744, 0.498283, 2.4258], [-0.61706, -0.36742, 0.695873, 0.493718], [-0.075608, -0.852531, -0.517179, 1.52046], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.615017, -0.515274, 0.596864, 2.46741], [-0.78389, -0.317683, 0.533474, 0.508035], [-0.0852717, -0.795971, -0.599299, 1.47226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.292513, -0.6562, 0.695585, 2.48099], [-0.952703, -0.137287, 0.271125, 0.545373], [-0.0824173, -0.741993, -0.665322, 1.4384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.181445, -0.636155, 0.749923, 2.48492], [-0.980365, -0.0571415, 0.188729, 0.557498], [-0.0772092, -0.769442, -0.634033, 1.44354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.247649, -0.668443, 0.701323, 2.49176], [-0.96601, -0.114982, 0.231524, 0.560559], [-0.0741212, -0.734822, -0.674198, 1.42794], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.298539, -0.71042, 0.637321, 2.47294], [-0.950724, -0.162834, 0.263835, 0.550322], [-0.0836562, -0.684681, -0.724026, 1.40403], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.0446952, -0.745954, 0.664497, 2.58207], [-0.99637, 0.0149547, 0.0838054, 0.532199], [-0.0724524, -0.66583, -0.742577, 1.37858], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.282938, -0.714067, 0.640355, 2.8485], [-0.958677, 0.231241, -0.165728, 0.505591], [-0.0297356, -0.660785, -0.749986, 1.35493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.358702, -0.709318, 0.606796, 3.08321], [-0.932609, 0.299945, -0.200681, 0.642302], [-0.0396584, -0.637888, -0.769107, 1.36771], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.32255, -0.731041, 0.601283, 3.14489], [-0.946172, 0.267021, -0.182916, 0.649896], [-0.0268366, -0.627916, -0.777818, 1.36448], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.309633, -0.713667, 0.628337, 3.15251], [-0.95049, 0.250632, -0.183715, 0.665789], [-0.0263701, -0.654113, -0.755937, 1.37464], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.341411, -0.758468, 0.555126, 3.15608], [-0.939604, 0.26024, -0.222306, 0.659166], [0.0241463, -0.597496, -0.801508, 1.3387], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.362939, -0.756595, 0.543911, 3.162], [-0.931362, 0.276404, -0.236991, 0.66021], [0.0289674, -0.592591, -0.804982, 1.338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.384905, -0.749935, 0.538002, 3.15774], [-0.922043, 0.286512, -0.260284, 0.652224], [0.0410525, -0.596245, -0.801752, 1.33599], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.392875, -0.747373, 0.535802, 3.16278], [-0.918477, 0.290219, -0.268653, 0.650017], [0.0452837, -0.597668, -0.800464, 1.33416], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.312584, -0.7274, 0.610885, 3.1689], [-0.949865, 0.234681, -0.206595, 0.670028], [0.00691441, -0.644837, -0.764289, 1.36773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.12604, -0.554255, 0.822749, 3.18905], [-0.991796, 0.0882464, -0.0924883, 0.698751], [-0.0213425, -0.827656, -0.56083, 1.4836], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.100194, -0.496594, 0.862181, 3.3539], [-0.994894, 0.060552, -0.0807398, 0.890207], [-0.0121119, -0.865868, -0.500125, 1.53451], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.183404, -0.43025, 0.883882, 3.65226], [-0.982153, 0.11834, -0.14619, 1.11352], [-0.0417004, -0.894919, -0.444275, 1.57836], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.208245, -0.259485, 0.943028, 3.88242], [-0.976805, 0.104315, -0.187001, 1.28516], [-0.0498481, -0.960097, -0.275189, 1.67882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.295259, -0.115087, 0.948461, 3.89743], [-0.952302, 0.115556, -0.282433, 1.47386], [-0.0770959, -0.986611, -0.143717, 1.74331], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.322326, -0.210904, 0.922836, 3.89787], [-0.946598, 0.063907, -0.31602, 1.55008], [0.00767428, -0.975416, -0.22024, 1.65644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.389742, -0.411808, 0.823721, 3.92907], [-0.920428, 0.144815, -0.3631, 1.50502], [0.0302406, -0.899691, -0.43548, 1.57894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.614004, -0.402954, 0.678695, 3.91825], [-0.789256, 0.304062, -0.5335, 1.4257], [0.00861058, -0.863235, -0.50473, 1.54483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.495646, -0.455292, 0.739625, 4.03766], [-0.868227, 0.237435, -0.435668, 1.39378], [0.0227429, -0.858099, -0.51298, 1.53685], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.242693, -0.497146, 0.833035, 4.3411], [-0.970046, 0.133728, -0.202802, 1.32285], [-0.0105782, -0.8573, -0.514709, 1.5365], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.244265, -0.482897, 0.840919, 4.71531], [-0.969412, 0.143033, -0.199453, 1.44107], [-0.023964, -0.863917, -0.503064, 1.55517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.124248, -0.49976, 0.857206, 4.9673], [-0.991356, -0.0258381, 0.128628, 1.53802], [-0.0421348, -0.865778, -0.498651, 1.5592], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.548342, -0.474904, 0.688322, 5.15686], [-0.835382, -0.273488, 0.476803, 1.55133], [-0.0381879, -0.836463, -0.546691, 1.53536], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.768328, -0.377754, 0.516695, 5.29889], [-0.639372, -0.415634, 0.646879, 1.63137], [-0.0296053, -0.827376, -0.560868, 1.54111], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.980753, -0.120418, 0.153696, 5.36202], [-0.194867, -0.554326, 0.809165, 1.53681], [-0.0122401, -0.823542, -0.567123, 1.50644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.990094, -0.103254, 0.0951432, 5.41322], [-0.134671, -0.506711, 0.851532, 1.49869], [-0.0397139, -0.85591, -0.515597, 1.53831], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.983192, -0.106021, 0.14864, 5.43726], [-0.180685, -0.448133, 0.875517, 1.49814], [-0.0262126, -0.887658, -0.459758, 1.5611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.96112, -0.147065, 0.23371, 5.46873], [-0.274262, -0.410117, 0.869819, 1.51254], [-0.0320713, -0.900098, -0.434506, 1.58004], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.906837, -0.207002, 0.367148, 5.52272], [-0.420311, -0.379209, 0.824342, 1.49765], [-0.0314141, -0.901859, -0.430886, 1.57719], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.880743, -0.295594, 0.370023, 5.55571], [-0.47054, -0.457569, 0.754469, 1.50478], [-0.0537056, -0.838603, -0.542089, 1.53912], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.857677, -0.35807, 0.36902, 5.64541], [-0.509753, -0.498055, 0.701493, 1.50834], [-0.0673911, -0.789764, -0.609698, 1.4973], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.858032, -0.300722, 0.416351, 5.91624], [-0.513588, -0.507018, 0.692214, 1.63996], [0.00293379, -0.807774, -0.589485, 1.50262], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.918658, -0.236274, 0.316611, 6.22968], [-0.394898, -0.526654, 0.752789, 1.70684], [-0.0111199, -0.816584, -0.577119, 1.49768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.960017, -0.138892, 0.243057, 6.53223], [-0.277681, -0.582593, 0.763857, 1.76015], [0.0355096, -0.800808, -0.597867, 1.49984], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.995021, 0.0246984, 0.0965558, 6.74086], [-0.0614976, -0.610229, 0.789835, 1.82514], [0.0784286, -0.79184, -0.605672, 1.50199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.913984, 0.329131, -0.237287, 6.96773], [0.38779, -0.536519, 0.74951, 1.68736], [0.119378, -0.777058, -0.618004, 1.48786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.839088, 0.370069, -0.398723, 7.05593], [0.539476, -0.471791, 0.697409, 1.45386], [0.0699754, -0.800289, -0.595517, 1.50529], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.607944, 0.499971, -0.616792, 7.11511], [0.792677, -0.337724, 0.507548, 1.30366], [0.0454536, -0.797478, -0.601633, 1.51799], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.386785, 0.539092, -0.748183, 7.1182], [0.920317, -0.174244, 0.350223, 1.24046], [0.0584365, -0.824026, -0.56353, 1.55408], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.702345, 0.389468, -0.595841, 7.08448], [0.710743, -0.430063, 0.556678, 1.09136], [-0.0394413, -0.81447, -0.578864, 1.54034], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.903538, 0.264613, -0.337046, 7.20026], [0.428471, -0.568353, 0.702415, 1.08366], [-0.00569317, -0.779073, -0.626908, 1.51296], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.98402, 0.0947101, -0.150778, 7.2778], [0.17381, -0.694751, 0.697933, 1.11924], [-0.0386519, -0.712987, -0.700111, 1.47901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.995133, 0.0597109, -0.078393, 7.22003], [0.0981777, -0.669235, 0.736536, 1.18635], [-0.0084841, -0.740648, -0.67184, 1.48285], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.986371, 0.111748, -0.120768, 7.04682], [0.163513, -0.583961, 0.795143, 1.48938], [0.018332, -0.804053, -0.594274, 1.48636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.972704, 0.167638, -0.160451, 6.80906], [0.228368, -0.568874, 0.790082, 1.83925], [0.041171, -0.805158, -0.59163, 1.51286], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.738266, 0.477749, -0.476151, 6.74349], [0.659662, -0.364093, 0.657482, 2.14607], [0.140748, -0.799495, -0.58395, 1.49239], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.377218, 0.618959, -0.688909, 6.75333], [0.915281, -0.135658, 0.379286, 2.28117], [0.141306, -0.773619, -0.617694, 1.49439], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.208108, 0.611643, -0.763272, 6.98208], [0.972563, 0.212357, -0.0950013, 2.29415], [0.10398, -0.762101, -0.639054, 1.49946], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.650435, 0.482958, -0.586247, 7.23183], [0.755946, 0.48682, -0.437666, 2.28282], [0.0740224, -0.727844, -0.681735, 1.52281], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.909256, 0.29329, -0.295356, 7.3572], [0.41617, 0.653402, -0.632352, 2.45782], [0.00752423, -0.697888, -0.716168, 1.56274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.961264, 0.226833, -0.156585, 7.42384], [0.273565, 0.715744, -0.642552, 2.47961], [-0.0336774, -0.660498, -0.750072, 1.5751], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.819075, 0.43584, -0.373041, 7.27725], [0.571921, 0.569381, -0.590518, 2.28933], [-0.0449688, -0.697029, -0.715632, 1.56123], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.535304, 0.569955, -0.623379, 6.91945], [0.844613, 0.368903, -0.387993, 2.107], [0.00882751, -0.734208, -0.678867, 1.52461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.121247, 0.647112, -0.752692, 6.50262], [0.992622, 0.0799217, -0.0911845, 1.87298], [0.00114986, -0.758195, -0.652027, 1.50984], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.21037, 0.600289, -0.771621, 6.11571], [0.97762, -0.127466, 0.167369, 1.84241], [0.00211403, -0.789561, -0.613669, 1.51908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.601545, 0.454284, -0.657092, 5.98561], [0.798453, -0.367504, 0.476879, 1.76783], [-0.0248453, -0.811521, -0.583795, 1.53477], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.751939, 0.40042, -0.523691, 5.96493], [0.657838, -0.404109, 0.635567, 1.72611], [0.0428655, -0.822411, -0.567277, 1.54151], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.598867, 0.504401, -0.622043, 5.89021], [0.796453, -0.293854, 0.528499, 1.58996], [0.0837856, -0.811929, -0.577712, 1.51433], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.370047, 0.592913, -0.715206, 5.59995], [0.922518, -0.143645, 0.358228, 1.39592], [0.109662, -0.792351, -0.600128, 1.49233], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.171958, 0.658192, -0.732949, 5.29861], [0.980462, -0.0422025, 0.19213, 1.13403], [0.0955261, -0.751666, -0.652589, 1.47137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.0213108, 0.707914, -0.705977, 4.99718], [0.998648, 0.0184112, 0.0486073, 0.950515], [0.0474077, -0.706059, -0.706565, 1.45032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.0812762, 0.718478, -0.690784, 4.64316], [0.996458, 0.0735678, -0.040724, 0.897063], [0.0215601, -0.691648, -0.721913, 1.44708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.115741, 0.681492, -0.722616, 4.25802], [0.991515, -0.035924, 0.124931, 0.890948], [0.0591803, -0.730944, -0.679867, 1.44132], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.373927, 0.621814, -0.688132, 3.80232], [0.926285, -0.213071, 0.310801, 1.02328], [0.0466397, -0.753623, -0.65565, 1.42117], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.672583, 0.546224, -0.499271, 3.34702], [0.73419, -0.407996, 0.542683, 1.04789], [0.0927261, -0.731559, -0.675443, 1.40461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.855998, 0.373943, -0.35698, 3.01057], [0.513369, -0.533368, 0.672288, 1.04239], [0.0609962, -0.758739, -0.648532, 1.41076], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.97739, 0.126524, -0.169414, 2.67494], [0.21143, -0.594643, 0.775691, 1.02777], [-0.0025973, -0.793972, -0.607949, 1.47166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.995781, -0.0698834, 0.0594744, 2.46967], [-0.0851915, -0.463115, 0.882194, 0.979722], [-0.0341072, -0.883539, -0.467114, 1.55567], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.927135, -0.225273, 0.299454, 2.43042], [-0.367963, -0.396149, 0.841231, 0.822153], [-0.0708786, -0.890122, -0.450176, 1.55613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.873729, -0.29484, 0.386867, 2.31218], [-0.483215, -0.43508, 0.759742, 0.757752], [-0.055684, -0.850749, -0.522614, 1.55023], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.804473, -0.355817, 0.475623, 2.2173], [-0.591035, -0.399757, 0.700622, 0.774475], [-0.0591598, -0.844742, -0.531894, 1.54977], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0738_00"}, {"annotation": [{"question_id": "test-scene0739-0", "question": "What is next to the shelves on the right of the door and desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-1", "question": "What color frame does the window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-2", "question": "What color is the fan on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-3", "question": "What shape is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-4", "question": "Where is the l-shaped desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-5", "question": "What is in front of the large window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-6", "question": "What is the shape of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-7", "question": "What type of desk is in front of the office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-8", "question": "What is to the right of the l-shaped desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-9", "question": "What is the unit between the whiteboard and the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-10", "question": "Where is the desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-11", "question": "What is on the right and left of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-12", "question": "What is next to the shelving unit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-13", "question": "What kind of blinds did the large double window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-14", "question": "What is sitting on the desk with a chair in front of it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-15", "question": "What is sitting in front of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-16", "question": "Where does the trash can sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-17", "question": "What is on top of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-18", "question": "What type of door is closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-19", "question": "What is next to the computer table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-20", "question": "Where is the black chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-21", "question": "What is a fan?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-22", "question": "Where is a trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-23", "question": "What's the biggest item sitting on top of the computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-24", "question": "What color office chair is pushed under the computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-25", "question": "What color is the receiver of a small cord phone?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-26", "question": "What color is the led screen on the receiver of a small cord phone?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-27", "question": "What is propped up against a wall in an office type setting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-28", "question": "What is stacked on the shelf to the left of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-29", "question": "Where is the black fan located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-30", "question": "What color is the computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-31", "question": "What are the desks facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-32", "question": "What colors are on the double pane glass window in the office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-33", "question": "What is in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-34", "question": "What is in the room right by the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-35", "question": "The telephone is on the desk against what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-36", "question": "What color is the chair in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-37", "question": "What is facing against the black chair in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-38", "question": "What shape is the desk in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-39", "question": "What is beside the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-40", "question": "What the desk in front of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-41", "question": "Where is the monitor placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-42", "question": "What color is the work desk in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-43", "question": "Where is the work desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-44", "question": "On what color desk is the monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-45", "question": "Where is the beige door located in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-46", "question": "What is next to the beige door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-47", "question": "What is the trash can to the left of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0739-48", "question": "Where is the trash bag sitting on the floor?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.391819, 0.427151, -0.814875, 3.09096], [0.919944, 0.168941, -0.353783, 2.27871], [-0.0134529, -0.888258, -0.459149, 1.62311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.403651, 0.435223, -0.804766, 3.06851], [0.914671, 0.171719, -0.36591, 2.29055], [-0.0210593, -0.883795, -0.4674, 1.62019], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.489369, 0.443667, -0.750785, 3.00365], [0.871893, 0.231211, -0.431677, 2.31869], [-0.0179308, -0.865853, -0.499977, 1.60689], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.62847, 0.406199, -0.663346, 2.89389], [0.776996, 0.36741, -0.511162, 2.2205], [0.0360864, -0.836667, -0.546522, 1.57501], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.909204, 0.21305, -0.357714, 2.78558], [0.413119, 0.568505, -0.711432, 2.27852], [0.0517915, -0.794614, -0.604901, 1.54977], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.998664, 0.00445691, -0.0514944, 2.7526], [0.0439883, 0.596411, -0.801473, 2.35705], [0.0271396, -0.802667, -0.59581, 1.54707], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.977776, -0.142601, 0.153688, 2.81123], [-0.206437, 0.526908, -0.824471, 2.36123], [0.0365911, -0.837874, -0.544636, 1.58168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.950633, -0.184249, 0.249701, 2.95465], [-0.30768, 0.454888, -0.83571, 2.26912], [0.0403922, -0.87128, -0.489121, 1.60244], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.854436, -0.428708, 0.293511, 2.99178], [-0.50819, 0.572082, -0.64379, 2.21055], [0.108086, -0.699237, -0.706672, 1.49308], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.726877, -0.50817, 0.461967, 2.97915], [-0.680807, 0.444747, -0.581981, 2.13275], [0.0902862, -0.737539, -0.669242, 1.51167], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.626874, -0.356201, 0.692929, 3.06777], [-0.777923, 0.236851, -0.582012, 2.13472], [0.0431921, -0.903893, -0.425573, 1.58175], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.20372, -0.468288, 0.859771, 3.07573], [-0.974331, 0.0110363, -0.224853, 2.14016], [0.0958072, -0.883507, -0.458515, 1.56693], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.372154, -0.521156, 0.768049, 3.00156], [-0.925937, -0.26584, 0.268273, 2.20274], [0.064366, -0.811003, -0.58149, 1.59909], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.604637, -0.4731, 0.640774, 2.96959], [-0.795347, -0.401924, 0.453742, 2.19866], [0.0428773, -0.783986, -0.619296, 1.58912], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.723789, -0.30447, 0.619216, 3.04623], [-0.688898, -0.370047, 0.623287, 2.24633], [0.0393669, -0.877704, -0.477584, 1.64322], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.901201, -0.144326, 0.408666, 3.20471], [-0.433382, -0.290881, 0.852977, 2.18081], [-0.00423363, -0.945811, -0.32469, 1.74998], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.941563, -0.0945439, 0.323296, 3.27758], [-0.336789, -0.24801, 0.908331, 2.11722], [-0.0056963, -0.964133, -0.265359, 1.78425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.995792, -0.0134929, 0.0906477, 3.14841], [-0.0869363, -0.452088, 0.887727, 2.15499], [0.0290026, -0.891871, -0.451358, 1.70775], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.98335, 0.10922, -0.145243, 2.9907], [0.180802, -0.507523, 0.842456, 2.21027], [0.0182986, -0.854688, -0.51882, 1.66454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.882292, 0.267282, -0.387457, 2.92157], [0.470693, -0.495385, 0.730097, 2.243], [0.00320098, -0.826531, -0.562881, 1.65589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.551618, 0.474732, -0.685819, 2.95729], [0.83405, -0.322703, 0.447464, 2.20891], [-0.00888997, -0.818836, -0.573959, 1.64564], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.223285, 0.592456, -0.774041, 2.99408], [0.974353, -0.158426, 0.159808, 2.11967], [-0.0279493, -0.789871, -0.612635, 1.60632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.166693, 0.635099, -0.754231, 2.98534], [0.985961, -0.114889, 0.121165, 2.08976], [-0.00970094, -0.763839, -0.645334, 1.61465], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.194376, 0.551056, -0.811515, 2.86092], [0.980877, -0.100808, 0.166489, 2.089], [0.00993726, -0.828357, -0.560112, 1.67184], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.156688, 0.628701, -0.761699, 2.68701], [0.986847, -0.130724, 0.0951037, 2.14566], [-0.0397807, -0.766581, -0.640914, 1.6931], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.249024, 0.665005, -0.7041, 2.59926], [0.968425, -0.162054, 0.189453, 2.42538], [0.0118848, -0.729046, -0.684362, 1.69359], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.270376, 0.52698, -0.805723, 2.5383], [0.962391, -0.17094, 0.211147, 2.39372], [-0.0264602, -0.832509, -0.553379, 1.7644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.120996, 0.317126, -0.940634, 2.64051], [0.992597, -0.0285674, 0.118048, 2.30435], [0.0105647, -0.947953, -0.318235, 1.75856], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.0302927, 0.352042, -0.935494, 2.81805], [0.999183, -0.0143915, -0.0377708, 2.28294], [-0.0267601, -0.935874, -0.351318, 1.74414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.04572, 0.34347, -0.938051, 3.10213], [0.998214, -0.0204497, -0.0561401, 2.17749], [-0.0384652, -0.938941, -0.341921, 1.76118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.0679276, 0.317821, -0.945715, 3.19217], [0.996791, -0.0186284, -0.0778566, 2.26226], [-0.0423617, -0.947968, -0.315535, 1.77597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.0881216, 0.232655, -0.968559, 3.19416], [0.995441, -0.0150749, -0.0941885, 2.24762], [-0.0365144, -0.972442, -0.230266, 1.7798], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.0960871, 0.10765, -0.989535, 3.21719], [0.994663, -0.0271619, -0.09954, 2.25049], [-0.0375932, -0.993818, -0.104465, 1.80504], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.110906, -0.00655604, -0.99381, 3.25025], [0.992786, -0.0465774, -0.110484, 2.22775], [-0.0455648, -0.998893, 0.0116744, 1.79318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.130057, 0.0764263, -0.988557, 3.22939], [0.990979, -0.0225093, -0.132116, 2.24847], [-0.0323489, -0.996821, -0.0728094, 1.93438], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.148456, 0.40307, -0.903048, 3.17655], [0.986813, 0.000812098, -0.161864, 2.1828], [-0.064509, -0.915169, -0.397875, 1.75469], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.150667, 0.497538, -0.854257, 3.06769], [0.986, 0.0131791, -0.166227, 2.04843], [-0.071446, -0.867342, -0.492558, 1.73772], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.389208, 0.544959, -0.742656, 2.91051], [0.91445, 0.131518, -0.382733, 1.92583], [-0.110901, -0.828084, -0.549525, 1.71543], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.202875, 0.590213, -0.781339, 2.75999], [0.973351, 0.0344296, -0.226723, 1.85531], [-0.106914, -0.806513, -0.581469, 1.71815], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.0466146, 0.619201, -0.783848, 2.70687], [0.983502, -0.165758, -0.0724526, 1.5904], [-0.174791, -0.767538, -0.616712, 1.71745], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.115828, 0.67291, -0.7306, 2.66565], [0.969345, -0.237046, -0.06465, 1.43185], [-0.216689, -0.700715, -0.679738, 1.69648], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.172469, 0.631355, -0.756072, 2.61529], [0.949251, -0.311488, -0.0435716, 1.49285], [-0.263016, -0.710187, -0.653036, 1.75151], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.212902, 0.60597, -0.766469, 2.69069], [0.945966, -0.324202, 0.00644729, 1.79002], [-0.244584, -0.726426, -0.64225, 1.72695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.0295366, 0.673648, -0.738462, 2.67283], [0.997555, -0.0269483, -0.0644827, 2.12087], [-0.0633388, -0.738561, -0.671205, 1.6833], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.0652088, 0.664393, -0.744534, 2.59613], [0.997821, 0.0358502, -0.0554012, 2.36764], [-0.0101164, -0.746523, -0.665282, 1.66302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.159859, 0.679157, -0.716374, 2.56498], [0.986756, 0.13018, -0.096778, 2.57628], [0.0275303, -0.722356, -0.690973, 1.64237], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.102684, 0.666878, -0.738059, 2.55071], [0.993757, 0.101329, -0.0467024, 2.65887], [0.043642, -0.738246, -0.673118, 1.66199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.121242, 0.644776, -0.754695, 2.62849], [0.992497, 0.066603, -0.102543, 2.42858], [-0.0158522, -0.761464, -0.648013, 1.68653], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.115473, 0.693473, -0.711169, 2.78558], [0.992811, 0.0578663, -0.104777, 2.12799], [-0.0315073, -0.718155, -0.695169, 1.66619], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.316565, 0.629483, -0.709604, 3.05939], [0.94813, 0.232805, -0.216456, 2.08553], [0.0289441, -0.741318, -0.670529, 1.65299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.184306, 0.597984, -0.78003, 3.16138], [0.982721, 0.125901, -0.13568, 2.00094], [0.0170715, -0.791558, -0.610856, 1.71922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.465649, 0.562376, -0.683304, 3.13447], [0.884733, -0.277967, 0.374143, 2.17375], [0.0204725, -0.778761, -0.626987, 1.72192], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.617185, 0.484981, -0.619578, 3.15248], [0.786812, -0.377257, 0.488471, 2.21772], [0.00315875, -0.788968, -0.614426, 1.73199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.72753, 0.420579, -0.542046, 3.13358], [0.686041, -0.453962, 0.568565, 2.25444], [-0.00694212, -0.785514, -0.618805, 1.74176], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.831142, 0.277269, -0.482001, 3.03407], [0.552771, -0.506119, 0.662033, 2.34202], [-0.0603881, -0.81668, -0.573923, 1.74757], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.963002, 0.120726, -0.240941, 2.83536], [0.265493, -0.578502, 0.771265, 2.23485], [-0.0462729, -0.806697, -0.58915, 1.73109], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.999344, 0.00387496, -0.0360274, 2.7717], [0.031966, -0.562488, 0.826188, 2.1685], [-0.0170636, -0.826797, -0.562242, 1.74678], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.999223, -0.036301, 0.0153562, 2.79412], [-0.0327579, -0.54816, 0.835732, 2.15875], [-0.0219202, -0.835586, -0.548923, 1.76436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.943566, 0.196736, -0.266419, 2.76815], [0.330998, -0.587275, 0.738613, 2.12969], [-0.0111493, -0.785114, -0.619251, 1.73458], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.892545, 0.333058, -0.304035, 2.91708], [0.450015, -0.614195, 0.648268, 2.18173], [0.0291736, -0.715428, -0.698077, 1.62482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.893421, 0.374309, -0.248381, 2.96865], [0.445307, -0.665108, 0.599445, 2.21109], [0.0591775, -0.646162, -0.760903, 1.52721], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.51278, 0.734905, -0.443815, 3.17441], [0.851512, -0.369447, 0.37207, 2.21564], [0.10947, -0.568703, -0.815226, 1.40113], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.162154, 0.632229, -0.757624, 3.29264], [0.986033, -0.0742399, 0.149088, 2.0807], [0.0380118, -0.771217, -0.635437, 1.48134], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.144109, 0.589141, -0.795076, 3.31816], [0.989487, -0.0956914, 0.108441, 2.08501], [-0.0121951, -0.802344, -0.596737, 1.45299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.026534, 0.565208, -0.824522, 3.37003], [0.998692, -0.0510495, -0.00285536, 2.15902], [-0.0437052, -0.823367, -0.565823, 1.25313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.0201057, 0.451344, -0.892124, 3.44653], [0.999759, -0.0170128, 0.0139243, 2.13886], [-0.00889283, -0.892188, -0.451577, 0.974291], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.000898033, 0.414359, -0.910114, 3.46368], [0.999878, -0.0145747, -0.00564903, 2.14444], [-0.0156054, -0.909997, -0.414321, 0.93002], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.0297155, 0.436697, -0.899118, 3.46849], [0.999472, -0.024846, 0.0209646, 2.1619], [-0.0131842, -0.899265, -0.437205, 0.879733], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.131454, 0.429204, -0.893591, 3.45348], [0.991227, 0.0443964, -0.124493, 2.11531], [-0.0137606, -0.902116, -0.431274, 0.855628], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.231726, 0.411676, -0.881378, 3.41191], [0.971735, 0.0559547, -0.229347, 2.07166], [-0.0450994, -0.909611, -0.413006, 0.851124], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.15702, 0.461002, -0.873397, 3.30764], [0.987123, 0.0458887, -0.153245, 2.06595], [-0.030567, -0.886212, -0.462271, 0.833516], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.0929792, 0.41726, -0.904019, 3.38493], [0.994663, -0.0797124, 0.06551, 2.16965], [-0.0447268, -0.905285, -0.422444, 0.881541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.0853784, 0.395119, -0.914654, 3.42082], [0.993093, -0.107904, 0.046087, 2.28282], [-0.0804852, -0.912271, -0.401602, 0.878571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.200161, 0.390359, -0.898641, 3.27555], [0.979484, 0.0578028, -0.193058, 2.20068], [-0.0234181, -0.918847, -0.39392, 0.809048], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.485432, 0.332581, -0.808546, 3.16894], [0.873957, 0.209536, -0.438515, 2.06747], [0.0235777, -0.919502, -0.392377, 0.719729], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.573817, 0.249645, -0.780008, 3.01115], [0.817657, 0.120434, -0.562969, 1.91333], [-0.0466028, -0.960819, -0.273231, 0.571355], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.529117, 0.0670141, -0.845899, 2.96375], [0.848025, 0.0768011, -0.524362, 1.83001], [0.0298264, -0.994792, -0.0974664, 0.482568], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.494704, 0.0567385, -0.867208, 2.95332], [0.866964, 0.101519, -0.487923, 1.83879], [0.0603536, -0.993214, -0.0994118, 0.493303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.517329, 0.16419, -0.839889, 2.99982], [0.855636, 0.117663, -0.504027, 1.86438], [0.016068, -0.979386, -0.201357, 0.506265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.364185, 0.300501, -0.881515, 3.17413], [0.928881, 0.0486454, -0.367171, 1.98162], [-0.0674534, -0.95254, -0.296845, 0.600444], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.0319775, 0.380943, -0.924046, 3.37976], [0.998353, -0.0562441, 0.0113621, 2.14124], [-0.0476438, -0.922886, -0.382114, 0.7354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.253431, 0.317104, -0.913903, 3.4202], [0.967284, -0.0944192, 0.235472, 2.22075], [-0.0116208, -0.943679, -0.330658, 0.865046], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.360126, 0.222457, -0.905993, 3.42135], [0.932598, -0.110725, 0.343514, 2.25693], [-0.0238987, -0.968635, -0.247337, 0.935452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.193885, 0.305386, -0.932282, 3.44424], [0.980747, -0.0829601, 0.176789, 2.16791], [-0.0233535, -0.948608, -0.315591, 0.962799], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.115412, 0.440593, -0.890258, 3.42556], [0.993281, -0.0589148, 0.0996111, 2.14264], [-0.00856143, -0.895772, -0.444432, 1.40823], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.219866, 0.545074, -0.809045, 3.36544], [0.975511, -0.117614, 0.185865, 2.10483], [0.0061554, -0.830097, -0.557585, 1.57823], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.1037, 0.592381, -0.798957, 3.25004], [0.994462, -0.0755824, 0.0730349, 2.17169], [-0.0171224, -0.802105, -0.596938, 1.60018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.01606, 0.669054, -0.743041, 3.0713], [0.999576, -0.00732446, -0.0281998, 2.36746], [-0.0243095, -0.743178, -0.668652, 1.69594], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.0229953, 0.708919, -0.704915, 2.99087], [0.998036, -0.0248272, -0.0575256, 2.35689], [-0.0582819, -0.704853, -0.706955, 1.78029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.0485873, 0.678228, -0.733244, 2.99286], [0.998257, -0.0576001, 0.0128696, 2.19224], [-0.0335063, -0.732591, -0.679844, 1.83209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.154077, 0.781107, -0.605089, 2.84765], [0.988057, -0.123083, 0.0927071, 2.06114], [-0.00206196, -0.612146, -0.790742, 1.88128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.112149, 0.79588, -0.594978, 2.68388], [0.993631, -0.0964631, 0.0582576, 2.08483], [-0.0110273, -0.597721, -0.801628, 1.86963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.216032, 0.84178, -0.494709, 2.58791], [0.976374, -0.188809, 0.105097, 2.04809], [-0.00493677, -0.505725, -0.862681, 1.87496], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.304269, 0.843053, -0.443489, 2.59687], [0.951442, -0.246139, 0.184864, 2.01585], [0.0466904, -0.478202, -0.877008, 1.87637], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.287053, 0.779345, -0.556977, 2.62369], [0.956973, -0.207539, 0.202805, 2.00739], [0.0424605, -0.591227, -0.805387, 1.90443], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.0978891, 0.609105, -0.787026, 2.81609], [0.993876, -0.0190932, 0.10884, 2.12827], [0.0512681, -0.79286, -0.607243, 1.83816], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.114044, 0.5283, -0.841364, 2.89656], [0.993462, -0.0651918, 0.0937261, 2.18721], [-0.00533444, -0.846551, -0.53228, 1.81612], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.0527783, 0.489837, -0.870215, 2.96471], [0.998574, -0.0188304, 0.0499637, 2.08433], [0.00808758, -0.871611, -0.490132, 1.79498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.133592, 0.52533, -0.840346, 2.96467], [0.991023, -0.0664279, 0.116019, 2.08216], [0.00512612, -0.848302, -0.529489, 1.76496], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.138448, 0.454268, -0.880042, 2.98683], [0.990353, -0.0583018, 0.125707, 2.09941], [0.00579683, -0.888955, -0.457957, 1.77115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.091604, 0.488278, -0.867868, 2.99255], [0.995796, -0.0443605, 0.0801489, 2.05989], [0.000635877, -0.87156, -0.490288, 1.76193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.189688, 0.504699, -0.842198, 3.01879], [0.981818, -0.0911614, 0.166505, 2.1451], [0.00725889, -0.858469, -0.512815, 1.75162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.0131876, 0.549659, -0.835286, 3.07383], [0.999643, 0.0266774, 0.0017724, 2.36258], [0.0232575, -0.834963, -0.549814, 1.71289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.0955998, 0.531212, -0.841828, 3.07721], [0.995406, 0.0555653, -0.0779775, 2.40876], [0.00535385, -0.845415, -0.534083, 1.71394], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.160951, 0.527499, -0.83417, 2.98911], [0.986873, 0.0974264, -0.128805, 2.30014], [0.0133256, -0.843951, -0.536255, 1.70528], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.432444, 0.549137, -0.715152, 2.98918], [0.901661, 0.263462, -0.342922, 2.20244], [0.000104216, -0.793119, -0.609067, 1.63448], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.480669, 0.499297, -0.720875, 2.92972], [0.876844, 0.283145, -0.388553, 2.18625], [0.0101087, -0.81886, -0.573904, 1.65436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.875458, 0.272005, -0.399482, 2.8758], [0.475827, 0.629849, -0.613906, 2.19424], [0.0846277, -0.727533, -0.680833, 1.53919], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.985316, 0.0711766, -0.155198, 2.78485], [0.161058, 0.689209, -0.706436, 2.27852], [0.0566824, -0.721059, -0.690552, 1.55045], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.99577, -0.0660289, -0.063901, 2.82861], [0.00278509, 0.673425, -0.739251, 2.28652], [0.0918442, -0.736301, -0.670392, 1.54721], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.993297, -0.105786, 0.0465998, 3.06128], [-0.107192, 0.692041, -0.713855, 2.27199], [0.0432666, -0.714065, -0.698741, 1.49857], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.995012, 0.068186, -0.0728243, 3.3176], [0.0984717, 0.788345, -0.607302, 2.15236], [0.0160011, -0.611444, -0.791126, 1.41826], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.96438, 0.215373, -0.153577, 3.44317], [0.263837, 0.741438, -0.616977, 2.14891], [-0.0190121, -0.635519, -0.771851, 1.33613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.944668, 0.286507, -0.159742, 3.54811], [0.325117, 0.75301, -0.57208, 2.20568], [-0.0436178, -0.59236, -0.804492, 1.26818], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.933983, 0.304464, -0.187022, 3.51851], [0.355332, 0.73631, -0.575836, 2.20693], [-0.0376151, -0.604276, -0.795887, 1.23724], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.997394, -0.000769526, -0.0721467, 3.51807], [0.0477035, 0.743166, -0.667405, 2.20371], [0.0541305, -0.669107, -0.741192, 1.30346], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.997349, -0.0444874, 0.0575839, 3.4755], [-0.0727668, 0.60834, -0.790335, 2.26663], [0.000129312, -0.792429, -0.609964, 1.39542], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.997151, -0.0486994, 0.0576099, 3.51671], [-0.0745742, 0.52129, -0.850115, 2.31599], [0.0113686, -0.851989, -0.523436, 1.48608], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.997537, -0.0304305, 0.0632019, 3.51889], [-0.0701386, 0.419461, -0.90506, 2.34483], [0.00103065, -0.907263, -0.420562, 1.5491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.997189, -0.0048673, 0.074779, 3.51073], [-0.0718658, 0.344874, -0.935894, 2.31236], [-0.021234, -0.938636, -0.344254, 1.64118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.997009, -0.00608093, 0.0770486, 3.50478], [-0.0768416, 0.185005, -0.979729, 2.31429], [-0.00829667, -0.982719, -0.184919, 1.73908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.997966, -0.018605, 0.0609783, 3.5043], [-0.0620895, 0.0665345, -0.995851, 2.32247], [0.0144706, -0.997611, -0.0675543, 1.80952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.996309, -0.019678, 0.0835531, 3.51363], [-0.0838992, 0.0174733, -0.996321, 2.33502], [0.0181457, -0.999654, -0.0190598, 1.8398], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.997133, 0.00130759, 0.0756694, 3.50063], [-0.0754777, -0.0903664, -0.993045, 2.37724], [0.00553945, -0.995908, 0.0902059, 1.93337], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.995898, -0.0233356, 0.0874276, 3.50698], [-0.0855854, -0.0708087, -0.993812, 2.37738], [0.0293818, -0.997217, 0.068521, 1.99748], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.995722, 0.00835126, 0.0920257, 3.48101], [-0.0922245, -0.0278013, -0.99535, 2.36562], [-0.00575399, -0.999579, 0.0284525, 2.10317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[-0.997611, 0.0117835, 0.0680774, 3.47395], [-0.0680184, 0.00534922, -0.99767, 2.35401], [-0.0121201, -0.999916, -0.00453496, 2.15375], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.996609, 0.0105886, 0.0816069, 3.48362], [-0.0814354, 0.0157247, -0.996555, 2.31108], [-0.0118353, -0.99982, -0.0148091, 2.06908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[-0.997416, -0.00725329, 0.0714764, 3.49694], [-0.0718419, 0.107293, -0.991629, 2.21556], [-0.000476331, -0.994201, -0.107537, 2.01493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[-0.996011, -0.00339934, 0.0891732, 3.50049], [-0.0888624, 0.12936, -0.987608, 2.2044], [-0.0081782, -0.991592, -0.129146, 1.90396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[-0.998444, -0.0167124, 0.0532042, 3.50301], [-0.0555566, 0.215228, -0.974983, 2.22843], [0.00484318, -0.976421, -0.215822, 1.75279], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.998677, -0.0191641, 0.0477167, 3.51097], [-0.0507063, 0.212811, -0.975777, 2.24052], [0.00854525, -0.976905, -0.213502, 1.65341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.999029, -0.00272851, 0.043992, 3.51139], [-0.043387, 0.236733, -0.970606, 2.22567], [-0.00776601, -0.971571, -0.236621, 1.59349], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.999654, -0.0105459, 0.024127, 3.50878], [-0.0260512, 0.262824, -0.964492, 2.20707], [0.00383025, -0.964786, -0.263007, 1.52491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[-0.99859, -0.0397666, 0.035184, 3.52916], [-0.046694, 0.342236, -0.938453, 2.19285], [0.0252778, -0.938772, -0.34361, 1.44816], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[-0.997354, -0.071665, -0.012218, 3.56183], [-0.00986806, 0.299961, -0.953901, 2.1713], [0.0720261, -0.951256, -0.299875, 1.34355], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[-0.99835, -0.0118856, -0.0561867, 3.55943], [0.0534068, 0.167596, -0.984408, 2.1535], [0.021117, -0.985784, -0.166685, 1.28262], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[-0.999995, -0.000728965, 0.00318286, 3.5837], [-0.00325322, 0.306089, -0.951998, 2.1537], [-0.000280231, -0.952003, -0.30609, 1.20556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[-0.99992, -0.0105627, -0.00703883, 3.57739], [0.00135151, 0.462788, -0.886468, 2.18996], [0.012621, -0.886406, -0.462736, 1.13314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[-0.999899, 0.0121586, -0.00737038, 3.57594], [0.013064, 0.581076, -0.813745, 2.22495], [-0.00561127, -0.813758, -0.581176, 1.1018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[-0.99706, 0.0391735, -0.0658531, 3.53816], [0.0756949, 0.636974, -0.767161, 2.23054], [0.0118943, -0.76989, -0.638066, 1.09194], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[-0.943687, 0.264945, -0.198141, 3.46513], [0.322982, 0.608018, -0.725257, 2.20715], [-0.0716798, -0.748411, -0.65935, 1.10885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.951431, 0.251603, -0.177412, 3.4652], [0.304597, 0.685609, -0.661182, 2.09352], [-0.0447207, -0.683108, -0.728947, 1.0871], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.727748, 0.516538, -0.45119, 3.55004], [0.68, 0.457715, -0.572798, 2.04502], [-0.0893556, -0.723661, -0.684346, 1.15673], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.624584, 0.530642, -0.572987, 3.62374], [0.77888, 0.369776, -0.506569, 2.14996], [-0.0569298, -0.762683, -0.644262, 1.43176], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.520564, 0.530193, -0.66926, 3.63134], [0.850407, 0.251911, -0.461898, 2.2545], [-0.0763011, -0.80959, -0.582015, 1.50486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.43302, 0.556691, -0.708936, 3.58736], [0.896261, 0.182173, -0.404388, 2.20327], [-0.0959699, -0.810499, -0.577824, 1.5226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[0.0292144, 0.537512, -0.84275, 3.42127], [0.993647, -0.107291, -0.0339857, 1.9912], [-0.108687, -0.836403, -0.537232, 1.57239], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[0.397516, 0.497064, -0.771304, 3.26222], [0.906768, -0.341541, 0.247227, 2.04074], [-0.140545, -0.79767, -0.586489, 1.58227], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[0.923526, 0.214146, -0.318187, 3.27431], [0.379191, -0.634348, 0.67366, 2.01123], [-0.0575798, -0.742795, -0.667038, 1.57967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[0.996553, 0.0501199, -0.0661114, 3.4283], [0.082528, -0.68032, 0.728255, 1.94346], [-0.00847682, -0.7312, -0.682111, 1.56228], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[0.997046, -0.0614595, 0.0460638, 3.48759], [-0.0759884, -0.702075, 0.708037, 1.89409], [-0.0111752, -0.709446, -0.704671, 1.55174], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[0.996597, -0.0419139, 0.0709818, 3.45576], [-0.0817299, -0.614628, 0.784572, 1.86542], [0.010743, -0.787703, -0.615962, 1.56692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[0.995214, -0.024196, 0.0946836, 3.45759], [-0.0963446, -0.405269, 0.909107, 1.84659], [0.0163756, -0.913877, -0.405661, 1.68004], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[0.994922, -0.00918774, 0.100228, 3.47981], [-0.0999087, -0.210687, 0.972435, 1.82593], [0.0121824, -0.97751, -0.210535, 1.76143], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[0.994796, -0.0122629, 0.101146, 3.50838], [-0.101664, -0.053925, 0.993356, 1.81777], [-0.00672716, -0.99847, -0.0548911, 1.80866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[0.99439, -0.0213794, 0.1036, 3.51168], [-0.104406, -0.0408598, 0.993695, 1.85387], [-0.0170116, -0.998936, -0.0428627, 1.92518], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[0.996631, -0.0188402, 0.0798315, 3.52279], [-0.0811305, -0.08313, 0.993231, 1.88609], [-0.0120763, -0.996361, -0.0843783, 2.03847], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[0.996533, -0.0413794, 0.0721868, 3.54814], [-0.0751566, -0.0753835, 0.994318, 1.86723], [-0.0357026, -0.996296, -0.0782321, 2.14372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[0.996894, -0.0519746, 0.0591693, 3.56645], [-0.0545107, 0.0868864, 0.994726, 1.79385], [-0.0568414, -0.994862, 0.0837834, 2.19327], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[0.995111, -0.0603044, 0.0782144, 3.5819], [-0.0739313, 0.0702541, 0.994786, 1.80435], [-0.0654848, -0.995705, 0.0654522, 2.19246], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[0.995233, -0.0247443, 0.0943411, 3.56719], [-0.0962616, -0.0935863, 0.990947, 1.85977], [-0.0156912, -0.995304, -0.0955219, 2.09542], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[0.995536, -0.038077, 0.0863622, 3.53957], [-0.0932193, -0.253382, 0.962865, 1.92428], [-0.0147804, -0.966617, -0.2558, 1.96255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[0.996134, -0.0463991, 0.0745963, 3.54468], [-0.0853984, -0.312274, 0.946146, 1.94316], [-0.0206059, -0.948858, -0.315029, 1.83384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[0.993957, -0.0685819, 0.0857128, 3.53377], [-0.105636, -0.385233, 0.916754, 1.95396], [-0.0298533, -0.920267, -0.39015, 1.72699], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[0.995207, -0.0325903, 0.0922068, 3.51914], [-0.0977832, -0.315864, 0.943753, 1.96111], [-0.0016323, -0.948245, -0.317537, 1.66211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[0.995097, -0.0366737, 0.0918537, 3.51563], [-0.0983528, -0.464853, 0.879908, 1.98276], [0.010429, -0.884628, -0.466181, 1.53901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[0.993921, -0.0562738, 0.094638, 3.53058], [-0.110084, -0.490947, 0.864207, 1.99445], [-0.00217003, -0.86937, -0.494156, 1.43161], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[0.995098, -0.0452634, 0.0879335, 3.53208], [-0.0981981, -0.557881, 0.824091, 1.97274], [0.0117553, -0.828686, -0.55959, 1.31138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[0.995079, -0.0453948, 0.0880789, 3.52077], [-0.0974752, -0.608207, 0.787771, 1.95972], [0.0178095, -0.79248, -0.609639, 1.22987], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[0.995463, -0.0609009, 0.0731191, 3.50986], [-0.0950792, -0.605021, 0.790513, 1.95337], [-0.00390431, -0.793877, -0.608065, 1.18139], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[0.994532, -0.0669836, 0.0801261, 3.51935], [-0.104429, -0.628768, 0.770549, 1.96148], [-0.0012334, -0.774703, -0.632324, 1.16745], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[0.993577, -0.0730103, 0.0864584, 3.52419], [-0.113162, -0.64196, 0.758342, 1.97292], [0.000135988, -0.763255, -0.646098, 1.18005], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3460", "pose": [[0.994448, -0.0684398, 0.0799353, 3.51434], [-0.105162, -0.673982, 0.731225, 1.97963], [0.00383013, -0.735571, -0.677437, 1.18078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3480", "pose": [[0.994291, -0.0388721, 0.0993739, 3.51123], [-0.0997851, -0.668655, 0.736847, 1.97904], [0.037804, -0.742556, -0.668716, 1.18015], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3500", "pose": [[0.993371, -0.0049724, 0.114853, 3.51138], [-0.0921759, -0.631478, 0.769896, 1.97172], [0.0686989, -0.775378, -0.627749, 1.18256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3520", "pose": [[0.993407, -0.0363557, 0.108726, 3.52969], [-0.10618, -0.649405, 0.752994, 1.9779], [0.0432316, -0.759574, -0.648983, 1.13904], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3540", "pose": [[0.99442, -0.052358, 0.0915899, 3.5373], [-0.101957, -0.700019, 0.706808, 1.99131], [0.0271077, -0.712202, -0.701451, 1.13556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3560", "pose": [[0.997192, 0.0212717, 0.0718059, 3.52763], [-0.0386863, -0.674664, 0.737111, 1.98283], [0.0641244, -0.737819, -0.671946, 1.11975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3580", "pose": [[0.995812, 0.0171711, 0.0898063, 3.54218], [-0.071606, -0.464309, 0.882774, 1.97646], [0.056856, -0.885507, -0.461134, 1.13154], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3600", "pose": [[0.991358, 0.0303063, 0.127642, 3.54721], [-0.117252, -0.231734, 0.965687, 2.00749], [0.0588453, -0.972307, -0.226178, 1.1794], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3620", "pose": [[0.986271, 0.0384157, 0.160608, 3.55591], [-0.152502, -0.161233, 0.975063, 2.05274], [0.0633529, -0.986168, -0.153161, 1.16247], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3640", "pose": [[0.985943, 0.025155, 0.165181, 3.55157], [-0.159026, -0.16206, 0.973883, 2.13725], [0.0512672, -0.98646, -0.155781, 0.969199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3660", "pose": [[0.981982, 0.0474947, 0.182909, 3.54245], [-0.175752, -0.126158, 0.976318, 2.12747], [0.0694453, -0.990873, -0.115538, 0.808234], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3680", "pose": [[0.990944, -0.00474866, 0.134197, 3.51277], [-0.130519, -0.268959, 0.954268, 2.09034], [0.0315621, -0.96314, -0.267143, 1.06122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3700", "pose": [[0.986224, 0.0198848, 0.164218, 3.5132], [-0.135004, -0.476907, 0.868524, 2.0471], [0.0955873, -0.878729, -0.467652, 1.35318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3720", "pose": [[0.971987, -0.161057, 0.171178, 3.46948], [-0.228489, -0.476817, 0.848787, 2.09444], [-0.0550828, -0.864122, -0.500259, 1.52114], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3740", "pose": [[0.752787, -0.332345, 0.568207, 3.23728], [-0.657798, -0.412283, 0.630337, 2.33238], [0.0247728, -0.848274, -0.528977, 1.55194], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3760", "pose": [[0.413327, -0.539011, 0.733913, 3.14561], [-0.910476, -0.256979, 0.32403, 2.49736], [0.0139444, -0.80214, -0.596973, 1.53547], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3780", "pose": [[-0.0844292, -0.591508, 0.801867, 2.99437], [-0.99628, 0.0640659, -0.05764, 2.53134], [-0.0172778, -0.80375, -0.594716, 1.53402], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3800", "pose": [[-0.292012, -0.47468, 0.830306, 2.94345], [-0.955389, 0.10458, -0.276215, 2.4268], [0.04428, -0.873924, -0.484042, 1.51303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3820", "pose": [[-0.360087, -0.299468, 0.883548, 2.91898], [-0.932912, 0.11918, -0.33981, 2.44801], [-0.00353882, -0.946634, -0.322292, 1.59747], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3840", "pose": [[-0.365375, -0.171251, 0.914972, 2.8862], [-0.930798, 0.078644, -0.356975, 2.45527], [-0.0108246, -0.982084, -0.188135, 1.64888], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3860", "pose": [[-0.332911, -0.0181517, 0.942784, 2.86782], [-0.942483, 0.0381496, -0.332071, 2.45513], [-0.0299391, -0.999107, -0.0298083, 1.72704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3880", "pose": [[-0.317795, -0.171474, 0.932526, 2.90315], [-0.948154, 0.0607691, -0.311947, 2.4847], [-0.00317794, -0.983313, -0.181896, 1.64281], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3900", "pose": [[-0.449803, -0.36402, 0.815578, 2.95463], [-0.891431, 0.239251, -0.384851, 2.44545], [-0.0550345, -0.900138, -0.432114, 1.5949], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3920", "pose": [[-0.72518, -0.36091, 0.586394, 2.97225], [-0.687251, 0.431859, -0.58411, 2.38963], [-0.0424283, -0.826585, -0.561211, 1.51975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3940", "pose": [[-0.843639, -0.345753, 0.410767, 3.02615], [-0.536902, 0.538595, -0.649348, 2.3578], [0.00327736, -0.768356, -0.640015, 1.4737], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3960", "pose": [[-0.93914, -0.213567, 0.269082, 3.17034], [-0.340947, 0.675402, -0.653903, 2.24331], [-0.0420865, -0.705849, -0.707111, 1.45902], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3980", "pose": [[-0.993611, 0.0191837, 0.111217, 3.40198], [-0.0894778, 0.466682, -0.879888, 2.21743], [-0.0687827, -0.884217, -0.461984, 1.56735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4000", "pose": [[-0.996118, 0.0443465, 0.0760445, 3.47225], [-0.0510875, 0.412274, -0.909627, 2.21861], [-0.0716898, -0.90998, -0.408408, 1.59049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4020", "pose": [[-0.894818, 0.256718, -0.365236, 3.18238], [0.441242, 0.384201, -0.810984, 2.16601], [-0.0678704, -0.88684, -0.457065, 1.59085], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4040", "pose": [[-0.720061, 0.384765, -0.577468, 3.1199], [0.689384, 0.301756, -0.658554, 2.13533], [-0.0791342, -0.872296, -0.482533, 1.59876], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4060", "pose": [[-0.433816, 0.488771, -0.756906, 3.07235], [0.899107, 0.180383, -0.398835, 2.08473], [-0.0584062, -0.85356, -0.51771, 1.6236], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4080", "pose": [[-0.0385866, 0.518025, -0.854495, 3.23129], [0.997419, -0.0318563, -0.064353, 2.10982], [-0.0605575, -0.854772, -0.515458, 1.62692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4100", "pose": [[0.0225485, 0.478907, -0.877576, 3.39998], [0.997884, -0.0643326, -0.00946778, 2.25735], [-0.0609909, -0.875505, -0.479344, 1.64725], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4120", "pose": [[0.187919, 0.429856, -0.883126, 3.45919], [0.980395, -0.136353, 0.142247, 2.32465], [-0.059271, -0.892542, -0.447052, 1.67204], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4140", "pose": [[0.446735, 0.390965, -0.80472, 3.38117], [0.89263, -0.255426, 0.371441, 2.16207], [-0.0603263, -0.884253, -0.463095, 1.65562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4160", "pose": [[0.783294, 0.235084, -0.575488, 3.21749], [0.619558, -0.37112, 0.691678, 2.00207], [-0.0509728, -0.898335, -0.436345, 1.71041], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4180", "pose": [[0.767238, 0.084531, -0.635768, 3.24049], [0.639135, -0.183324, 0.746926, 1.95188], [-0.0534129, -0.979412, -0.194679, 1.83383], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4200", "pose": [[0.72602, 0.12632, -0.675973, 3.26161], [0.687139, -0.172055, 0.70586, 1.92598], [-0.0271407, -0.976955, -0.211714, 1.80848], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4220", "pose": [[0.621229, 0.251161, -0.742289, 3.29019], [0.782434, -0.251109, 0.569861, 1.98829], [-0.0432685, -0.934806, -0.352513, 1.75369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4240", "pose": [[0.231488, 0.194086, -0.953281, 3.43434], [0.972682, -0.0636996, 0.22323, 2.12888], [-0.0173979, -0.978914, -0.203529, 1.82722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4260", "pose": [[0.131698, -0.122469, -0.983696, 3.51942], [0.98987, -0.0368548, 0.137113, 2.09102], [-0.0530461, -0.991788, 0.116375, 1.94601], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4280", "pose": [[0.0240727, -0.0812696, -0.996402, 3.53717], [0.998104, -0.0545228, 0.0285609, 1.91939], [-0.0566478, -0.9952, 0.0798029, 1.97462], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4300", "pose": [[-0.124219, 0.0517064, -0.990907, 3.53888], [0.99142, -0.0344955, -0.126083, 1.90317], [-0.0407012, -0.998066, -0.0469778, 1.94479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4320", "pose": [[-0.182548, 0.249713, -0.950958, 3.51549], [0.9819, -0.00337796, -0.189374, 1.90181], [-0.0505014, -0.968314, -0.244576, 1.73143], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4340", "pose": [[-0.106952, 0.433329, -0.894867, 3.4935], [0.99189, -0.0156676, -0.126135, 1.91683], [-0.0686784, -0.9011, -0.428139, 1.66638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4360", "pose": [[0.129381, 0.511987, -0.849194, 3.44749], [0.988633, -0.132746, 0.0705916, 2.10432], [-0.0765853, -0.848674, -0.523342, 1.64127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4380", "pose": [[-0.142435, 0.564719, -0.8129, 3.43638], [0.987739, 0.0280615, -0.153575, 2.06998], [-0.0639156, -0.824806, -0.561791, 1.61529], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4400", "pose": [[-0.336988, 0.403144, -0.850832, 3.31251], [0.937627, 0.225685, -0.26443, 2.06961], [0.085416, -0.886872, -0.454051, 1.62967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4420", "pose": [[-0.332541, 0.468815, -0.818309, 3.20124], [0.942814, 0.186203, -0.27646, 2.20831], [0.0227634, -0.863447, -0.503926, 1.66031], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4440", "pose": [[-0.276976, 0.4208, -0.863836, 3.17669], [0.959041, 0.0655185, -0.275587, 2.28725], [-0.0593697, -0.904784, -0.421712, 1.68571], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0739_00"}, {"annotation": [{"question_id": "test-scene0740-0", "question": "What color curtain covers the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-1", "question": "Where is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-2", "question": "What color suitcase is furthest from the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-3", "question": "The black suitcase is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-4", "question": "What is slightly open in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-5", "question": "How many shelves are in the cabinet that is open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-6", "question": "What is on top of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-7", "question": "Where is the pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-8", "question": "Where is the nightstand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-9", "question": "How many lights are located on top of the nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-10", "question": "How many cupboards are beside the nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-11", "question": "What is inside the cupboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-12", "question": "Is the door open or closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-13", "question": "Where is the red bucket located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-14", "question": "What color is the pillow on the left side of the head of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-15", "question": "What is underneath the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-16", "question": "Where is the trash can located in front of you?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-17", "question": "Where is the blue bed located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-18", "question": "Where is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-19", "question": "What type of door does the tall wooden closet have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-20", "question": "Where is the tall wooden closet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-21", "question": "The blue pillow is next to what piece of furniture next to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-22", "question": "The blue pillow is on top of what color pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-23", "question": "What is in the closet at the side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-24", "question": "What is to the right of the bed and against the same wall as the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-25", "question": "What color is the lamp on the nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-26", "question": "What color towels hang from the closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-27", "question": "What is on the floor nearest the curtains?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-28", "question": "What color is the suitcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-29", "question": "The trashcan is to the right of what color closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-30", "question": "What size is the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-31", "question": "What color stripe runs across the pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-32", "question": "To what side of the closet is the door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-33", "question": "What color is the door to the right of the closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-34", "question": "On what side of the nightstand is the closet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-35", "question": "What color handle does the door have ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-36", "question": "What is the door made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-37", "question": "Where is the curtain located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-38", "question": "What color is the curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-39", "question": "What color is the air conditioning unit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-40", "question": "What color are the bed sheets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-41", "question": "What color is the night stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-42", "question": "Where is the suit case located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-43", "question": "What color suitcase is laying on the ground on its side?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-44", "question": "Where is the black suitcase located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-45", "question": "Where is the duvet located in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-46", "question": "What color is the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-47", "question": "What color is the door to the closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-48", "question": "Where is the curtain when you walk into the bedroom from the doorway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-49", "question": "Where is the wall mounted air conditioning unit located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-50", "question": "What type of bed is in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-51", "question": "What color are the sheets on the disheveled bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-52", "question": "Where is the head of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-53", "question": "Where is the open suitcase located when you stand at the entrance of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-54", "question": "Where is the other open suitcase located in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-55", "question": "What color shade is on the lamp on the nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-56", "question": "What color are the pillows on the right side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-57", "question": "What color is the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-58", "question": "Where is the trash can sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-59", "question": "How many drawers does the nightstand have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-60", "question": "What color lamp sits on the top of the nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0740-61", "question": "On what side of the bed is the nightstand located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.337214, 0.181917, 0.923685, 0.676282], [-0.940825, 0.0299938, 0.337564, 3.20488], [0.0337038, -0.982856, 0.181266, 1.67198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.340983, 0.170638, 0.924453, 0.66508], [-0.939854, 0.0408149, 0.33913, 3.20418], [0.0201369, -0.984488, 0.174292, 1.69196], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.350473, 0.20635, 0.913558, 0.643386], [-0.936486, 0.0639114, 0.344833, 3.20743], [0.0127696, -0.976389, 0.215643, 1.72874], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.352193, 0.136656, 0.925897, 0.658038], [-0.935851, 0.0641058, 0.346517, 3.22018], [-0.0120019, -0.988542, 0.150467, 1.71697], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.362942, -0.0364478, 0.931099, 0.682377], [-0.930614, 0.0364726, 0.364181, 3.236], [-0.0472332, -0.99867, -0.0206813, 1.66311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.343386, -0.218657, 0.913387, 0.683979], [-0.938853, -0.0536802, 0.340109, 3.22723], [-0.0253364, -0.974324, -0.22372, 1.63933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.351989, -0.379216, 0.855745, 0.656939], [-0.935091, -0.102104, 0.33938, 3.21062], [-0.0413236, -0.919657, -0.390541, 1.52032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.376307, -0.54757, 0.747369, 0.649514], [-0.924994, -0.176131, 0.336697, 3.24076], [-0.05273, -0.818013, -0.572778, 1.46441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.386968, -0.669946, 0.633584, 0.638576], [-0.921753, -0.262378, 0.285535, 3.25244], [-0.0250545, -0.6945, -0.719056, 1.38869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.363746, -0.734546, 0.572827, 0.634892], [-0.931328, -0.275033, 0.238715, 3.254], [-0.0178005, -0.620322, -0.784145, 1.3459], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.2361, -0.793234, 0.561281, 0.670782], [-0.970692, -0.165856, 0.173919, 3.2079], [-0.0448665, -0.585894, -0.809145, 1.32248], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.0584648, -0.727409, 0.683709, 0.829647], [-0.998231, 0.0500342, -0.0321277, 3.19721], [-0.0108389, -0.684378, -0.729047, 1.32038], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.329913, -0.668257, 0.666776, 1.02636], [-0.94388, 0.221724, -0.244805, 3.13689], [0.0157524, -0.71012, -0.703904, 1.31471], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.378179, -0.659864, 0.649277, 1.28225], [-0.923726, 0.222824, -0.311577, 3.10515], [0.0609243, -0.717586, -0.6938, 1.33231], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.396721, -0.686832, 0.608994, 1.48148], [-0.916724, 0.262329, -0.30133, 3.11172], [0.0472068, -0.677823, -0.733708, 1.2898], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.409518, -0.688346, 0.598728, 1.59262], [-0.912207, 0.318424, -0.257846, 3.11383], [-0.0131626, -0.651756, -0.758314, 1.27154], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.267575, -0.744498, 0.611658, 1.64783], [-0.963531, 0.204491, -0.172602, 3.24042], [0.00342339, -0.635536, -0.772064, 1.25736], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.0915228, -0.752745, 0.65192, 1.6375], [-0.995619, -0.0817593, 0.0453706, 3.31559], [0.019148, -0.653216, -0.75693, 1.26003], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.434212, -0.683799, 0.586412, 1.73219], [-0.90081, -0.328592, 0.283848, 3.41839], [-0.00140469, -0.651496, -0.758651, 1.26299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.696939, -0.562466, 0.444868, 1.76223], [-0.716763, -0.526501, 0.457217, 3.4514], [-0.0229454, -0.637517, -0.770094, 1.27135], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.724547, -0.562147, 0.398776, 1.74366], [-0.688373, -0.561453, 0.459252, 3.4295], [-0.0342732, -0.607256, -0.793766, 1.26286], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.310953, -0.733115, 0.604855, 1.77575], [-0.949588, -0.21293, 0.230096, 3.46112], [-0.039895, -0.645912, -0.762368, 1.26901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.223466, -0.7312, 0.644523, 1.86675], [-0.974586, 0.156991, -0.1598, 3.46022], [0.0156615, -0.663853, -0.747699, 1.26094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.747319, -0.507699, 0.428667, 2.09542], [-0.664445, 0.565973, -0.488044, 3.34952], [0.00516519, -0.649551, -0.760301, 1.25144], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.931878, -0.299606, 0.204545, 2.31505], [-0.361654, 0.723044, -0.588569, 3.25684], [0.0284434, -0.622449, -0.782143, 1.23088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.994311, 0.070673, -0.0796908, 2.46189], [0.106439, 0.687297, -0.718536, 3.173], [0.00399023, -0.72293, -0.690909, 1.31373], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.990242, 0.0421755, -0.132821, 2.4902], [0.136216, 0.494123, -0.858654, 3.18342], [0.0294156, -0.868368, -0.495047, 1.45612], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.985601, 0.0548921, -0.159932, 2.49277], [0.169088, 0.315286, -0.933812, 3.19208], [-0.000834599, -0.947408, -0.320028, 1.53995], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.983054, 0.0475305, -0.177047, 2.49188], [0.182559, 0.166173, -0.96905, 3.21667], [-0.0166392, -0.984951, -0.172034, 1.60283], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.980427, 0.0222865, -0.195618, 2.5014], [0.19631, 0.0348562, -0.979922, 3.25246], [-0.0150206, -0.999144, -0.0385491, 1.63674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.915871, 0.00401069, -0.401453, 2.4291], [0.401455, 0.0185256, -0.915691, 3.27641], [0.00376455, -0.99982, -0.0185772, 1.63579], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.831848, 0.019518, -0.554661, 2.37871], [0.555004, 0.028058, -0.831375, 3.29772], [-0.000664122, -0.999416, -0.0341725, 1.63649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.800032, 0.10901, -0.58997, 2.37258], [0.599804, 0.167521, -0.782414, 3.28554], [0.0135417, -0.979823, -0.199407, 1.59052], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.850483, 0.141997, -0.506473, 2.4006], [0.524359, 0.304914, -0.795031, 3.35217], [0.041538, -0.941735, -0.333782, 1.53343], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.860979, 0.184663, -0.473935, 2.41304], [0.506389, 0.398761, -0.764565, 3.44351], [0.0477994, -0.89827, -0.436836, 1.47448], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.644969, 0.31551, -0.696037, 2.32462], [0.763801, 0.295878, -0.573641, 3.49417], [0.0249523, -0.901615, -0.431819, 1.46919], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.401519, 0.380682, -0.832985, 2.27608], [0.915646, 0.1861, -0.356314, 3.49687], [0.0193763, -0.905786, -0.423293, 1.4656], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.301067, 0.289887, -0.908473, 2.26043], [0.953525, 0.103656, -0.282921, 3.50834], [0.0121538, -0.951431, -0.307622, 1.5159], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.290621, 0.162613, -0.942919, 2.27383], [0.9567, 0.0660885, -0.283472, 3.51603], [0.01622, -0.984474, -0.174778, 1.57691], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.314715, 0.135757, -0.939428, 2.29254], [0.948859, 0.070981, -0.307617, 3.52488], [0.0249202, -0.988196, -0.151153, 1.57563], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.370823, 0.313378, -0.874234, 2.31101], [0.927153, 0.179311, -0.328994, 3.50532], [0.0536606, -0.932546, -0.357041, 1.47193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.54096, 0.397145, -0.741376, 2.30265], [0.837781, 0.332073, -0.433417, 3.59507], [0.0740611, -0.855572, -0.512359, 1.41127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.70532, 0.405873, -0.581198, 2.33381], [0.702932, 0.506502, -0.499342, 3.64916], [0.0917083, -0.760739, -0.642547, 1.33321], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.888081, 0.297244, -0.350654, 2.43407], [0.454732, 0.679766, -0.575445, 3.6131], [0.0673152, -0.670495, -0.738854, 1.30108], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.988919, 0.111072, -0.0985001, 2.51914], [0.148379, 0.760864, -0.63172, 3.63877], [0.00477892, -0.639335, -0.768914, 1.29887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.998776, 0.00732027, -0.0489215, 2.49368], [0.0384113, 0.737929, -0.673784, 3.67247], [0.0311684, -0.674838, -0.737307, 1.30934], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.9553, 0.181391, -0.233451, 2.39165], [0.292474, 0.695073, -0.656759, 3.68003], [0.0431351, -0.69568, -0.717055, 1.3138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.961752, 0.182186, -0.204549, 2.41153], [0.272744, 0.706039, -0.653544, 3.66347], [0.0253528, -0.684337, -0.728725, 1.3119], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.994537, 0.0579249, -0.0868408, 2.47853], [0.101581, 0.72861, -0.677354, 3.60624], [0.0240376, -0.682475, -0.730514, 1.32208], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.990812, 0.0439895, -0.127898, 2.4988], [0.125254, 0.655229, -0.744974, 3.34137], [0.051031, -0.754148, -0.654718, 1.34558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.995739, 0.0303913, -0.0870677, 2.43462], [0.0866018, 0.632649, -0.769582, 3.00132], [0.0316946, -0.773842, -0.632585, 1.35894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.996642, 0.0145572, -0.0805812, 2.40988], [0.0709823, 0.644218, -0.761541, 2.70556], [0.0408259, -0.764704, -0.643088, 1.35303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.993822, 0.0358553, -0.105035, 2.41768], [0.102138, 0.66576, -0.739143, 2.44407], [0.0434258, -0.745304, -0.665309, 1.34508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.99823, -0.0132791, -0.0579702, 2.34539], [0.0322077, 0.698727, -0.714663, 2.0867], [0.0499953, -0.715265, -0.697063, 1.32167], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.965323, 0.172823, -0.195661, 2.44003], [0.261057, 0.638875, -0.723663, 1.72072], [-6.28233e-05, -0.749647, -0.661837, 1.30975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.972816, 0.128333, -0.192771, 2.50149], [0.231344, 0.500885, -0.834023, 1.44281], [-0.0104762, -0.855947, -0.516958, 1.40721], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.969594, 0.131372, -0.206469, 2.54987], [0.244188, 0.463739, -0.851656, 1.41387], [-0.0161363, -0.876178, -0.481718, 1.48965], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.910448, 0.238816, -0.337715, 2.52914], [0.410647, 0.619655, -0.668877, 1.46695], [0.0495286, -0.747659, -0.662233, 1.33027], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.618834, 0.563592, -0.547181, 2.44624], [0.784521, 0.478581, -0.394319, 1.3122], [0.0396359, -0.673293, -0.738313, 1.25567], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.13743, 0.735919, -0.662976, 2.27836], [0.989493, 0.132339, -0.0582157, 1.20557], [0.0448957, -0.664011, -0.746374, 1.24752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.451342, 0.625174, -0.636748, 2.21517], [0.891813, -0.291239, 0.346193, 1.19967], [0.0309855, -0.724112, -0.688986, 1.30407], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.564049, 0.463091, -0.683663, 2.24054], [0.8257, -0.324633, 0.461339, 1.2623], [-0.00829761, -0.824718, -0.565483, 1.40962], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.34413, 0.434768, -0.832197, 2.25077], [0.93749, -0.110179, 0.33011, 1.45706], [0.0518304, -0.893777, -0.445506, 1.45336], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.274931, 0.38296, -0.881903, 2.2413], [0.961145, -0.0858399, 0.262359, 1.54995], [0.0247708, -0.919768, -0.391681, 1.49213], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.294959, 0.421861, -0.857341, 2.27146], [0.953726, -0.0751799, 0.291127, 1.54804], [0.0583603, -0.903538, -0.424515, 1.46072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.336919, 0.505134, -0.79456, 2.29884], [0.939786, -0.129019, 0.316476, 1.4849], [0.0573499, -0.853343, -0.518186, 1.41491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.514706, 0.491619, -0.702416, 2.2756], [0.857063, -0.316811, 0.406291, 1.37998], [-0.022793, -0.811136, -0.584413, 1.40195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.697653, 0.449264, -0.558069, 2.30097], [0.715106, -0.484111, 0.504243, 1.21148], [-0.0436291, -0.750865, -0.659013, 1.37317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.799504, 0.420877, -0.428551, 2.35438], [0.599095, -0.610239, 0.518358, 1.22497], [-0.0433537, -0.671172, -0.740033, 1.33072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.929339, 0.26316, -0.258989, 2.40979], [0.369072, -0.682399, 0.630965, 1.29738], [-0.0106895, -0.681966, -0.731305, 1.33807], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.97353, 0.154391, -0.168532, 2.4402], [0.228542, -0.666885, 0.709249, 1.33859], [-0.00288992, -0.728991, -0.684517, 1.35982], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.974491, 0.122126, -0.188287, 2.43787], [0.224373, -0.511996, 0.829167, 1.36209], [0.00486103, -0.850262, -0.526337, 1.42922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.975255, 0.108831, -0.19244, 2.44496], [0.219966, -0.390334, 0.894011, 1.37383], [0.0221804, -0.914219, -0.404614, 1.479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.975307, 0.0969442, -0.198441, 2.44642], [0.219795, -0.338152, 0.915065, 1.59221], [0.0216073, -0.936085, -0.351109, 1.48095], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.96268, 0.130097, -0.237324, 2.39676], [0.26896, -0.362204, 0.892451, 1.83665], [0.0301457, -0.922975, -0.383677, 1.46809], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.871607, 0.226321, -0.434833, 2.31394], [0.489932, -0.372596, 0.788124, 2.00766], [0.0163518, -0.899973, -0.435639, 1.43087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.747674, 0.292832, -0.596014, 2.32064], [0.664031, -0.338894, 0.666494, 2.08936], [-0.00681446, -0.894092, -0.447832, 1.42965], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.580278, 0.336334, -0.741725, 2.30378], [0.814307, -0.254672, 0.521581, 2.05644], [-0.0134717, -0.906654, -0.42166, 1.44912], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.425945, 0.369271, -0.82596, 2.10976], [0.904666, -0.186244, 0.383267, 2.02045], [-0.0123003, -0.910468, -0.413397, 1.4453], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.346581, 0.448704, -0.82374, 1.95465], [0.937949, -0.154928, 0.310242, 2.04917], [0.0115868, -0.880149, -0.474556, 1.43643], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.391522, 0.498322, -0.773554, 1.92863], [0.91871, -0.164381, 0.359097, 2.3181], [0.051788, -0.851266, -0.522172, 1.42582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.373723, 0.506203, -0.777232, 1.8923], [0.92702, -0.175768, 0.33127, 2.5349], [0.0310769, -0.844313, -0.534948, 1.42353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.288054, 0.562895, -0.774709, 1.74852], [0.955075, -0.109997, 0.275196, 2.64923], [0.069691, -0.819176, -0.569292, 1.41051], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.231245, 0.576334, -0.783814, 1.65643], [0.966494, -0.0438188, 0.252921, 2.66251], [0.111421, -0.816039, -0.567156, 1.40243], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.263362, 0.616216, -0.742239, 1.53473], [0.960603, -0.0967045, 0.260558, 2.64711], [0.0887819, -0.781618, -0.617407, 1.38636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.100841, 0.63741, -0.763898, 1.73275], [0.994189, -0.0354835, 0.101633, 2.64315], [0.0376763, -0.769708, -0.637284, 1.38294], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.344694, 0.64402, -0.682953, 1.90559], [0.938661, -0.244262, 0.243415, 2.73139], [-0.0100555, -0.724965, -0.688712, 1.34187], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.751092, 0.451819, -0.481374, 1.96211], [0.65921, -0.553118, 0.509413, 2.67202], [-0.0360944, -0.699943, -0.713286, 1.33374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.902657, 0.315865, -0.292302, 2.01416], [0.429763, -0.625794, 0.650911, 2.68791], [0.0226793, -0.71317, -0.700624, 1.34247], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.950128, 0.22163, -0.219402, 2.04597], [0.311434, -0.63749, 0.704709, 2.72113], [0.0163177, -0.737893, -0.67472, 1.36258], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.98199, 0.128367, -0.138625, 2.07807], [0.188544, -0.618855, 0.762542, 2.74747], [0.0120961, -0.774946, -0.631912, 1.39547], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.998301, 0.0473381, 0.0339859, 2.11782], [0.00551468, -0.657326, 0.753587, 2.78496], [0.0580133, -0.752119, -0.65647, 1.37751], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.997711, 0.0676192, -0.00103915, 2.12321], [0.0448816, -0.65057, 0.758119, 2.79612], [0.0505875, -0.75643, -0.652115, 1.38392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.933615, 0.237588, -0.26817, 2.03628], [0.3576, -0.571922, 0.73826, 2.69225], [0.022029, -0.785148, -0.618916, 1.38212], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.826054, 0.298223, -0.478223, 1.98877], [0.561801, -0.368153, 0.740839, 2.62734], [0.0448764, -0.88064, -0.471657, 1.43666], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.818319, 0.210083, -0.534994, 1.97399], [0.572505, -0.215489, 0.791076, 2.61099], [0.0509064, -0.95364, -0.296613, 1.51942], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.829383, 0.107863, -0.548169, 1.97607], [0.558589, -0.142358, 0.817137, 2.60879], [0.0101028, -0.983921, -0.178321, 1.5824], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.828978, 0.0844645, -0.552867, 1.96142], [0.558718, -0.0806901, 0.825423, 2.61323], [0.0251082, -0.993154, -0.114082, 1.61755], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.79676, 0.0550945, -0.601779, 1.85653], [0.603398, -0.0182933, 0.79723, 2.84293], [0.0329146, -0.998314, -0.0478193, 1.62406], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.787185, 0.0812199, -0.611345, 1.75918], [0.614265, -0.0149626, 0.788958, 2.9443], [0.0549318, -0.996584, -0.0616689, 1.65129], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.773903, 0.159923, -0.612779, 1.75254], [0.631251, -0.116959, 0.766709, 2.93172], [0.050944, -0.980176, -0.191467, 1.6109], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.851118, 0.184767, -0.491386, 1.6222], [0.523676, -0.233007, 0.819433, 2.86554], [0.0369081, -0.954761, -0.295074, 1.54632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.918355, 0.141354, -0.369652, 1.46258], [0.395048, -0.27155, 0.877609, 2.77475], [0.0236746, -0.951987, -0.305221, 1.51622], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.921014, 0.134651, -0.365516, 1.41696], [0.389509, -0.327887, 0.860682, 2.71188], [-0.00395611, -0.935072, -0.354437, 1.48155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.904867, 0.214489, -0.367709, 1.45836], [0.424816, -0.399534, 0.812344, 2.69076], [0.0273269, -0.891272, -0.452644, 1.4155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.812345, 0.363184, -0.456282, 1.49918], [0.580861, -0.434229, 0.68851, 2.63387], [0.0519246, -0.824344, -0.563703, 1.33691], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.680527, 0.407383, -0.609034, 1.57027], [0.732633, -0.365332, 0.574266, 2.6258], [0.0114466, -0.837002, -0.54708, 1.3502], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.486111, 0.506424, -0.712201, 1.65966], [0.873807, -0.270018, 0.404414, 2.65791], [0.0124972, -0.818917, -0.573776, 1.34547], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.173526, 0.535215, -0.8267, 1.75795], [0.98466, -0.0787429, 0.155703, 2.71534], [0.0182381, -0.841037, -0.540669, 1.367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.118414, 0.531792, -0.838556, 1.83294], [0.989324, 0.135432, -0.0538163, 2.67418], [0.0849481, -0.835976, -0.542152, 1.35989], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.342948, 0.470565, -0.812992, 1.92608], [0.935294, 0.251443, -0.249002, 2.63565], [0.0872497, -0.845781, -0.526348, 1.37794], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.278757, 0.45175, -0.847477, 2.02928], [0.959862, 0.159536, -0.230682, 2.71343], [0.030992, -0.877764, -0.47809, 1.44338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.592564, 0.345246, -0.727786, 2.22088], [0.801937, 0.337999, -0.492599, 2.91456], [0.0759236, -0.875535, -0.477152, 1.42627], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.807009, 0.321101, -0.495611, 2.37959], [0.590136, 0.469495, -0.656745, 2.99773], [0.0218056, -0.822477, -0.56838, 1.39988], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.969028, 0.128439, -0.210921, 2.36569], [0.245824, 0.583131, -0.774292, 3.16465], [0.0235452, -0.80216, -0.596644, 1.39405], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.99679, 0.0406482, -0.0689754, 2.3908], [0.0791441, 0.630354, -0.772263, 3.31211], [0.0120877, -0.775243, -0.631547, 1.39058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.999559, -0.0285678, 0.008154, 2.37376], [-0.0258458, 0.700855, -0.712836, 3.41651], [0.0146494, -0.712732, -0.701284, 1.37313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.975381, 0.160403, -0.151336, 2.39892], [0.220452, 0.691502, -0.687914, 3.50331], [-0.00569426, -0.704341, -0.709839, 1.3886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.891959, 0.310554, -0.328579, 2.34667], [0.452106, 0.607897, -0.652734, 3.58028], [-0.00296672, -0.730765, -0.682623, 1.40059], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.795403, 0.368971, -0.480827, 2.38024], [0.605928, 0.466253, -0.644562, 3.64501], [-0.013638, -0.804032, -0.594429, 1.43761], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.771623, 0.30655, -0.557338, 2.37978], [0.636012, 0.384651, -0.668978, 3.71469], [0.00930553, -0.870673, -0.491775, 1.47147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.741371, 0.273927, -0.612643, 2.37457], [0.670819, 0.328643, -0.664827, 3.73857], [0.0192269, -0.903857, -0.427403, 1.47564], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.754946, 0.226654, -0.615373, 2.36914], [0.655685, 0.277408, -0.702227, 3.73807], [0.0115471, -0.933634, -0.358041, 1.49483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.780022, 0.221219, -0.585345, 2.37818], [0.625749, 0.278855, -0.728477, 3.71895], [0.00207318, -0.934506, -0.35594, 1.50229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.889169, 0.16931, -0.425102, 2.43692], [0.457572, 0.32422, -0.827955, 3.69222], [-0.00235432, -0.930707, -0.365758, 1.50322], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.954561, 0.105133, -0.278854, 2.47721], [0.29801, 0.341724, -0.8913, 3.67382], [0.00158609, -0.933901, -0.357527, 1.50827], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0740_00"}, {"annotation": [{"question_id": "test-scene0741-0", "question": "What is located beside the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-1", "question": "Where is the lamp located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-2", "question": "What is located beside the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-3", "question": "Where is the closet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-4", "question": "Where is the brown door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-5", "question": "What color is the suitcase across from the foot of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-6", "question": "What color suitcase is located beside the closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-7", "question": "Where is the black suitcase located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-8", "question": "What is sitting on the floor next to the suitcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-9", "question": "What color is the dark backpack on the floor next to the suitcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-10", "question": "What color is the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-11", "question": "Where is the large bed located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-12", "question": "What color is the wooden door in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-13", "question": "What color is the comforter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-14", "question": "How many doors does the closet have on the bottom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-15", "question": "Where can you find the large wooden closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-16", "question": "What is recessed to the right of the suitcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-17", "question": "To what side of the suitcase is the wooden door with the brass handle recessed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-18", "question": "What color are the curtains to the right of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-19", "question": "What is to the left of the bed and right of the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-20", "question": "What color is the night stand between the bed and the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-21", "question": "What is to the right of the closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-22", "question": "To what side of the closet is the recessed wooden door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-23", "question": "What is sitting on the wooden floor to the side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-24", "question": "The black suitcase sits next to the large closet on the wall near what part of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-25", "question": "What is to the right side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-26", "question": "Where does the nightstand sit with the backpack and suitcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-27", "question": "What kind of bed is in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-28", "question": "What color is the nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-29", "question": "What color suitcase is in front of a trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-30", "question": "What is on top of a brown nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-31", "question": "What kind of bed is there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-32", "question": "What is behind a white curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-33", "question": "What color is the backpack on the left side of the suitcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-34", "question": "Where is the black backpack located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-35", "question": "Where is the suitcase laying?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-36", "question": "What is laying on the floor by the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-37", "question": "Where is the backpack laying?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-38", "question": "Where is the suitcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-39", "question": "What is on the side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-40", "question": "What color is the curtain by the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-41", "question": "What is a large wall by?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-42", "question": "What color curtain is on the wall by the blue bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-43", "question": "What color lamp is on the small nightstand by the blue bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-44", "question": "How large is a blue bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-45", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-46", "question": "What is the color of the door that can't be missed if someone walk to end of hallway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0741-47", "question": "What kind of lamp is on the left side of the head of the bed?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.287138, -0.730168, 0.620005, 0.640286], [-0.957321, 0.196451, -0.212001, 2.93066], [0.0329958, -0.654417, -0.755414, 1.33883], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.266371, -0.687006, 0.67607, 0.650995], [-0.962662, 0.154504, -0.222285, 2.92611], [0.0482551, -0.710037, -0.70251, 1.39058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.239339, -0.585677, 0.774402, 0.670512], [-0.969714, 0.104178, -0.220913, 2.9529], [0.0487084, -0.803822, -0.592873, 1.45253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.227287, -0.492669, 0.840011, 0.685651], [-0.97299, 0.0791113, -0.216869, 2.96286], [0.0403905, -0.866613, -0.497343, 1.49798], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.248007, -0.376545, 0.892584, 0.703154], [-0.967097, 0.0422966, -0.250867, 2.97376], [0.0567094, -0.925432, -0.374645, 1.55735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.260321, -0.324018, 0.90953, 0.69479], [-0.963567, 0.0272582, -0.266076, 2.97278], [0.0614213, -0.945658, -0.319309, 1.57342], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.366587, -0.371435, 0.853024, 0.672465], [-0.92855, 0.0885291, -0.360496, 2.90244], [0.0583835, -0.924229, -0.37735, 1.53897], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.585571, -0.319572, 0.74497, 0.753452], [-0.810618, 0.228005, -0.539364, 3.03014], [0.00250845, -0.919722, -0.392564, 1.49388], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.64168, -0.36204, 0.676147, 0.698262], [-0.76638, 0.267993, -0.583817, 3.13555], [0.0301625, -0.892809, -0.449425, 1.48406], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.694012, -0.324518, 0.642679, 0.67088], [-0.71971, 0.289019, -0.631257, 3.15366], [0.0191077, -0.900642, -0.434141, 1.49768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.835471, -0.219021, 0.504003, 0.694889], [-0.549229, 0.302191, -0.77912, 3.1564], [0.0183387, -0.927745, -0.372764, 1.51259], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.899643, -0.160706, 0.405976, 0.704335], [-0.435851, 0.275133, -0.856934, 3.16003], [0.0260171, -0.947879, -0.317566, 1.54114], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.93228, -0.0922855, 0.349769, 0.730088], [-0.360893, 0.171185, -0.916762, 3.17818], [0.0247288, -0.980907, -0.192897, 1.58774], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.954055, -0.0626713, 0.293003, 0.733678], [-0.296857, 0.06496, -0.95271, 3.18503], [0.040674, -0.995918, -0.0805799, 1.62183], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.955808, -0.0274768, 0.292707, 0.742594], [-0.292544, -0.00986457, -0.956201, 3.19798], [0.0291606, -0.999574, 0.00139043, 1.65684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.960376, -0.0176589, 0.278149, 0.732317], [-0.276753, -0.0576024, -0.959213, 3.20612], [0.0329607, -0.998183, 0.0504327, 1.69311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.973109, -0.00231647, 0.230334, 0.703819], [-0.228768, -0.107107, -0.967571, 3.20385], [0.0269116, -0.994245, 0.103696, 1.72763], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.978239, 0.0152457, 0.206922, 0.709932], [-0.206213, -0.181599, -0.961508, 3.21128], [0.022918, -0.983254, 0.180791, 1.76832], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.974286, 0.0214874, 0.224289, 0.735897], [-0.222771, -0.241061, -0.944597, 3.2327], [0.0337705, -0.970272, 0.239649, 1.81474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.975451, 0.0235736, 0.218953, 0.735676], [-0.217568, -0.256959, -0.941614, 3.24126], [0.0340647, -0.966135, 0.25578, 1.82874], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.973748, 0.0134117, 0.227234, 0.731085], [-0.226504, -0.156251, -0.961396, 3.20859], [0.0226116, -0.987626, 0.155187, 1.80115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.974889, 0.00371283, 0.222661, 0.717355], [-0.22269, -0.0194351, -0.974696, 3.15844], [0.00070864, -0.999804, 0.0197739, 1.68199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.98102, -0.0204331, 0.19283, 0.691271], [-0.193546, 0.164064, -0.967276, 3.12876], [-0.011872, -0.986238, -0.164905, 1.61074], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.9811, -0.0198793, 0.192476, 0.674134], [-0.188472, 0.323454, -0.927284, 3.13575], [-0.0438233, -0.946035, -0.321088, 1.54582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.992705, -0.0294469, 0.116922, 0.612902], [-0.116587, 0.481709, -0.868541, 3.12698], [-0.0307467, -0.875836, -0.481628, 1.46603], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.999152, -0.00571826, 0.0407728, 0.580936], [-0.0362019, 0.593695, -0.803876, 3.12032], [-0.0196098, -0.80467, -0.593399, 1.41155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.999931, -0.00505973, 0.0105771, 0.540454], [-0.0110385, 0.710388, -0.703723, 3.13397], [-0.00395313, -0.703792, -0.710396, 1.33899], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.999995, 0.00293325, 0.000715435, 0.530347], [0.00188117, 0.790677, -0.612231, 3.17591], [-0.00236139, -0.612227, -0.790679, 1.27118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.999704, -0.0243283, 0.000871658, 0.583551], [-0.0188336, 0.750235, -0.660903, 3.20166], [0.0154248, -0.660724, -0.750471, 1.26344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.995948, -0.0826934, -0.0353495, 0.702872], [-0.0354844, 0.722517, -0.690442, 3.1577], [0.0826356, -0.68639, -0.722524, 1.25133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.994353, 0.00139123, -0.106117, 0.783891], [0.0796764, 0.670288, -0.737811, 3.00824], [0.0701023, -0.7421, -0.666614, 1.29375], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.959795, 0.126822, -0.250419, 0.844323], [0.272487, 0.635192, -0.722691, 2.9564], [0.0674111, -0.761872, -0.644211, 1.31778], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.973155, 0.0820958, -0.215014, 0.919472], [0.226886, 0.499057, -0.83634, 2.96096], [0.0386441, -0.862672, -0.504286, 1.40696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.994231, -0.000716507, -0.107261, 0.961909], [0.0950088, 0.45826, -0.883726, 2.84962], [0.0497865, -0.888818, -0.455548, 1.42831], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.997874, -0.0160061, -0.0631796, 1.04055], [0.0471631, 0.491713, -0.869479, 2.72412], [0.0449834, -0.87061, -0.489913, 1.41734], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.978516, 0.105494, -0.177138, 1.23818], [0.206165, 0.493763, -0.844804, 2.6579], [-0.00165796, -0.863174, -0.504904, 1.44324], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.985031, 0.0734053, -0.155967, 1.2813], [0.17216, 0.373593, -0.911477, 2.67402], [-0.0086391, -0.924684, -0.380638, 1.50665], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.986317, 0.0672203, -0.150533, 1.28865], [0.162588, 0.245539, -0.955655, 2.68019], [-0.0272776, -0.967054, -0.253108, 1.56962], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.983615, 0.0343978, -0.176972, 1.28421], [0.17976, 0.112366, -0.977272, 2.68824], [-0.0137302, -0.993071, -0.116709, 1.57291], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.987855, 0.0146803, -0.154686, 1.29014], [0.154763, 0.00429648, -0.987942, 2.69496], [-0.0138385, -0.999883, -0.00651621, 1.57458], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.98587, -0.0115832, -0.167111, 1.29541], [0.167505, -0.0767669, -0.982878, 2.69964], [-0.00144374, -0.996982, 0.0776225, 1.617], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.977301, -0.0365911, -0.208671, 1.28793], [0.211845, -0.159418, -0.964214, 2.71257], [0.00201583, -0.986533, 0.163551, 1.6502], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.972891, 0.00884572, -0.231097, 1.27842], [0.230393, 0.123829, -0.965187, 2.67381], [0.0200788, -0.992264, -0.12251, 1.60346], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.980419, 0.0499134, -0.190494, 1.2748], [0.195476, 0.363797, -0.910737, 2.66734], [0.0238434, -0.93014, -0.36643, 1.49577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.970104, 0.129582, -0.205202, 1.24176], [0.241335, 0.604366, -0.759276, 2.65789], [0.0256288, -0.786099, -0.61757, 1.37098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.912363, 0.289522, -0.289434, 1.16977], [0.409021, 0.674415, -0.614708, 2.66075], [0.0172265, -0.679221, -0.733732, 1.30549], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.825383, 0.382898, -0.414889, 1.13681], [0.560228, 0.646481, -0.517888, 2.63239], [0.0699193, -0.659888, -0.748104, 1.28402], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.976404, 0.10446, -0.189008, 1.22641], [0.203193, 0.740789, -0.64027, 2.59488], [0.0731325, -0.663567, -0.744534, 1.28637], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.988, -0.147357, 0.0462846, 1.09294], [-0.127046, 0.604904, -0.786099, 2.53199], [0.0878397, -0.782546, -0.616366, 1.36442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.952154, -0.189678, 0.239637, 1.0726], [-0.303239, 0.488641, -0.818093, 2.48037], [0.0380777, -0.851617, -0.522779, 1.42256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.89601, -0.216831, 0.387494, 1.11814], [-0.44262, 0.366539, -0.818375, 2.33871], [0.0354173, -0.904784, -0.424396, 1.46035], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.629653, -0.366168, 0.68517, 1.13217], [-0.774666, 0.229448, -0.589276, 2.17203], [0.0585629, -0.901817, -0.428131, 1.44735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.350696, -0.405807, 0.843998, 1.19143], [-0.936212, 0.12998, -0.326516, 2.13626], [0.0227997, -0.904669, -0.425505, 1.45784], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.0836228, -0.470297, 0.878537, 1.17764], [-0.996472, 0.033106, -0.0771258, 2.22413], [0.0071873, -0.881887, -0.471406, 1.45573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.132614, -0.527494, 0.839144, 1.07106], [-0.990771, -0.0945105, 0.0971656, 2.29416], [0.0280537, -0.844285, -0.535159, 1.43517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.313073, -0.591608, 0.742957, 0.999576], [-0.949709, -0.200065, 0.240886, 2.35407], [0.00612995, -0.781008, -0.624491, 1.39824], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.353018, -0.686714, 0.635455, 0.97621], [-0.93528, -0.2408, 0.259358, 2.37305], [-0.0250871, -0.685886, -0.727276, 1.36445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.25308, -0.689133, 0.679004, 1.02159], [-0.966947, -0.157652, 0.200399, 2.35768], [-0.0310551, -0.707277, -0.706254, 1.35935], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.133955, -0.622191, 0.77132, 1.14003], [-0.990986, -0.0828431, 0.105278, 2.41271], [-0.00160471, -0.77847, -0.62768, 1.39263], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.217055, -0.581859, 0.783791, 1.27851], [-0.976107, -0.121024, 0.180469, 2.36588], [-0.01015, -0.804235, -0.594225, 1.41204], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.209993, -0.575499, 0.790382, 1.38964], [-0.977421, -0.142984, 0.155575, 2.27622], [0.0234787, -0.805206, -0.592531, 1.39566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.0910738, -0.585914, 0.805239, 1.45698], [-0.994365, 0.00944623, -0.105591, 2.60529], [0.0542608, -0.810318, -0.583473, 1.38899], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.31508, -0.537989, 0.781852, 1.60031], [-0.948692, 0.155421, -0.27537, 2.85], [0.0266294, -0.8285, -0.559355, 1.38727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.384858, -0.617017, 0.686422, 1.55827], [-0.919038, 0.187555, -0.346688, 2.95204], [0.0851702, -0.764273, -0.639244, 1.37993], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.386326, -0.523257, 0.759575, 1.40463], [-0.922252, 0.206372, -0.326899, 2.79036], [0.0142967, -0.826809, -0.562302, 1.43388], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.330845, -0.482217, 0.811177, 1.30296], [-0.943599, 0.180646, -0.277467, 2.49702], [-0.0127369, -0.857224, -0.514786, 1.44057], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.186015, -0.47701, 0.858988, 1.35807], [-0.982511, 0.0978401, -0.158431, 2.25066], [-0.00847014, -0.873435, -0.486867, 1.44378], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.0992716, -0.482585, 0.870205, 1.32148], [-0.994411, -0.0797139, 0.0692343, 1.89967], [0.0359561, -0.872214, -0.487801, 1.45778], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.365446, -0.4155, 0.832952, 1.3626], [-0.928708, -0.223176, 0.296131, 1.6622], [0.0628527, -0.881789, -0.467437, 1.43581], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.655502, -0.31565, 0.686063, 1.37162], [-0.752646, -0.347614, 0.559186, 1.3301], [0.0619776, -0.88291, -0.465435, 1.43062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.84257, -0.193473, 0.502637, 1.44299], [-0.531206, -0.452493, 0.716289, 1.16121], [0.0888572, -0.870527, -0.484032, 1.42302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.931172, -0.151499, 0.331614, 1.45278], [-0.362203, -0.488145, 0.794055, 0.930019], [0.041577, -0.859513, -0.50942, 1.43558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.917455, -0.213618, 0.335626, 1.29386], [-0.39784, -0.49336, 0.773511, 0.796395], [0.000348538, -0.843186, -0.537622, 1.4527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.932968, -0.201414, 0.298335, 1.20468], [-0.35996, -0.52307, 0.772546, 0.682297], [0.000448138, -0.828149, -0.560508, 1.45247], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.975302, -0.149186, 0.162882, 0.959071], [-0.215656, -0.483757, 0.848217, 0.690742], [-0.0477469, -0.862393, -0.503982, 1.47692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.999837, -0.0178507, -0.00291017, 0.963397], [-0.00599216, -0.47876, 0.877925, 0.755183], [-0.0170648, -0.877764, -0.478789, 1.47835], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.941784, 0.216177, -0.257508, 1.25221], [0.327226, -0.413387, 0.849726, 0.8176], [0.0772408, -0.884522, -0.46006, 1.41403], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.807195, 0.338591, -0.483522, 1.46291], [0.585226, -0.352024, 0.730472, 0.847161], [0.07712, -0.872603, -0.482304, 1.41736], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.799614, 0.367099, -0.475243, 1.60021], [0.596192, -0.390513, 0.701466, 0.808613], [0.0719188, -0.844238, -0.531121, 1.4255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.639254, 0.449189, -0.624167, 1.85665], [0.766481, -0.30659, 0.564367, 0.799989], [0.0621442, -0.839186, -0.540283, 1.44274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.546636, 0.434092, -0.716068, 1.95337], [0.837178, -0.264983, 0.478452, 0.718265], [0.0179466, -0.861016, -0.508262, 1.46493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.601556, 0.482103, -0.636952, 1.95545], [0.79866, -0.346468, 0.49204, 0.688661], [0.0165306, -0.804697, -0.593456, 1.42528], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.77548, 0.393585, -0.493683, 1.65533], [0.631185, -0.464215, 0.621378, 0.673862], [0.0153902, -0.793471, -0.608414, 1.37183], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.937258, 0.208271, -0.27959, 1.39469], [0.34828, -0.595614, 0.72384, 0.700119], [-0.0157732, -0.775801, -0.630781, 1.38052], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.99852, -0.0365879, 0.0402424, 1.20416], [-0.0541194, -0.594884, 0.801988, 0.74734], [-0.00540355, -0.802979, -0.595984, 1.37119], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.85033, -0.345957, 0.396552, 1.08788], [-0.526232, -0.552669, 0.646249, 0.716953], [-0.00441214, -0.758203, -0.652004, 1.37632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.57052, -0.460962, 0.679722, 1.07791], [-0.821038, -0.299856, 0.485781, 0.721163], [-0.0201081, -0.835225, -0.549541, 1.41592], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.369539, -0.458435, 0.808256, 1.11792], [-0.928946, -0.161338, 0.33321, 0.650123], [-0.0223529, -0.873961, -0.485483, 1.42626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.286215, -0.496838, 0.819288, 1.15414], [-0.958164, -0.146886, 0.245655, 0.570696], [-0.00170869, -0.855323, -0.518093, 1.3914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.237477, -0.552482, 0.79898, 1.17717], [-0.971381, -0.13925, 0.192429, 0.453629], [0.00494426, -0.821811, -0.569739, 1.36838], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.171939, -0.664332, 0.727393, 1.12638], [-0.984923, -0.130212, 0.11389, 0.465395], [0.0190544, -0.736008, -0.676705, 1.32466], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.180141, -0.740678, 0.64726, 1.10109], [-0.983638, -0.134061, 0.120351, 0.463642], [-0.00236925, -0.65835, -0.752708, 1.29186], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.221321, -0.744426, 0.629958, 1.09305], [-0.975108, -0.160021, 0.153483, 0.464534], [-0.0134503, -0.648246, -0.761312, 1.28741], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.362522, -0.696066, 0.619733, 1.14778], [-0.931968, -0.268237, 0.243893, 0.47569], [-0.00353053, -0.665989, -0.745954, 1.29818], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.360534, -0.630112, 0.687731, 1.38595], [-0.932667, -0.253142, 0.257006, 0.598099], [0.0121514, -0.734084, -0.678951, 1.33269], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.456294, -0.48485, 0.746134, 1.67658], [-0.888483, -0.294353, 0.352071, 0.625976], [0.0489254, -0.823575, -0.565093, 1.3941], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.585261, -0.389112, 0.71138, 1.97465], [-0.809942, -0.321936, 0.490256, 0.697306], [0.0382545, -0.863104, -0.503575, 1.4153], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.728608, -0.315909, 0.607727, 2.26966], [-0.684061, -0.38034, 0.622417, 0.725184], [0.0345158, -0.86922, -0.493219, 1.4001], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.88771, -0.192993, 0.418001, 2.53998], [-0.459833, -0.416789, 0.784118, 0.739865], [0.022889, -0.88828, -0.458733, 1.41859], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.982489, -0.0470709, 0.180276, 2.73531], [-0.181049, -0.469704, 0.86406, 0.781665], [0.0440044, -0.881568, -0.470002, 1.40882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.979052, 0.101361, -0.17659, 2.90496], [0.203329, -0.440965, 0.87419, 0.754279], [0.0107392, -0.891782, -0.452337, 1.40493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.874147, 0.211295, -0.437288, 2.91822], [0.485656, -0.384318, 0.785136, 0.760598], [-0.00216213, -0.898696, -0.438567, 1.42389], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.668251, 0.300105, -0.680719, 2.95313], [0.743666, -0.294146, 0.600366, 0.784935], [-0.0200581, -0.907422, -0.419741, 1.43691], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.421714, 0.379637, -0.823428, 2.93373], [0.906088, -0.210596, 0.366953, 0.758601], [-0.0341021, -0.900847, -0.432795, 1.44264], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.260637, 0.395662, -0.880637, 2.93981], [0.96516, -0.128634, 0.227859, 0.705927], [-0.0231251, -0.909343, -0.415403, 1.45632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.128629, 0.39022, -0.911693, 2.94562], [0.991466, -0.0702508, 0.109816, 0.650247], [-0.0211949, -0.918038, -0.395926, 1.467], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.174953, 0.38443, -0.906425, 2.94506], [0.984435, -0.0526407, 0.167684, 0.663038], [0.0167478, -0.921652, -0.387656, 1.47306], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.315793, 0.395539, -0.862453, 2.89848], [0.948416, -0.104788, 0.299211, 0.702207], [0.0279747, -0.912452, -0.408226, 1.47726], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.438981, 0.391934, -0.808507, 2.66559], [0.897804, -0.156026, 0.411829, 0.6656], [0.0352614, -0.906666, -0.420373, 1.48456], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.466304, 0.421433, -0.777788, 2.52948], [0.883323, -0.174147, 0.435216, 0.649787], [0.0479648, -0.889982, -0.453467, 1.47176], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0741_00"}, {"annotation": [{"question_id": "test-scene0742-0", "question": "What color is the towel on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-1", "question": "What type of sink is located in front of you and against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-2", "question": "What is located under the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-3", "question": "What type of towel is found draping over the shower stall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-4", "question": "Where is the pink towel located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-5", "question": "What is located on top of the shower stall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-6", "question": "Where is the towel located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-7", "question": "Where is a toilet paper roll located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-8", "question": "What hangs on a rack and is push more towards the left side?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-9", "question": "What type of towel hangs on the right side of the shower head?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-10", "question": "What is to the right of the shower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-11", "question": "What color is the counter underneath the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-12", "question": "What is on top of the black counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-13", "question": "What is to the left of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-14", "question": "Where is the white toilet paper roll located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-15", "question": "Where is the black trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-16", "question": "What is under a sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-17", "question": "Where is the white towel hanging?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-18", "question": "What is hanging above the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-19", "question": "What color sink is in front of the mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-20", "question": "What is above the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-21", "question": "What color is the vanity's top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-22", "question": "What color sink is built into the top of the vanity?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-23", "question": "What color is the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-24", "question": "What is below the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-25", "question": "What type of toilet paper is the toilet paper hanging on a dispenser to the left of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-26", "question": "What is the color of the towel?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-27", "question": "What is hanging on a rack next to the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0742-28", "question": "What is included in the vanity?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.43872, -0.575786, 0.689924, 0.528786], [-0.89849, -0.294339, 0.325701, 0.167424], [0.0155373, -0.762782, -0.64647, 1.42538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.474031, -0.589169, 0.65435, 0.501281], [-0.880507, -0.315838, 0.353489, 0.126816], [-0.00159614, -0.743724, -0.668485, 1.42037], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.445233, -0.658713, 0.606519, 0.465737], [-0.895079, -0.308853, 0.321627, 0.125233], [-0.0245346, -0.686081, -0.727111, 1.39058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.490866, -0.646682, 0.583826, 0.429912], [-0.871195, -0.35789, 0.336057, 0.157663], [-0.00837669, -0.673585, -0.739062, 1.37479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.499134, -0.586395, 0.63797, 0.449263], [-0.866465, -0.34639, 0.359516, 0.173453], [0.0101682, -0.732226, -0.680986, 1.31647], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.388717, -0.431288, 0.814181, 0.463372], [-0.921134, -0.162447, 0.353729, 0.112467], [-0.0202975, -0.887469, -0.46042, 1.38277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.354672, -0.419932, 0.835383, 0.47278], [-0.933678, -0.111744, 0.340233, 0.130889], [-0.0495256, -0.90065, -0.431714, 1.41805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.252025, -0.34801, 0.90298, 0.552161], [-0.967578, -0.0745886, 0.241308, 0.179115], [-0.0166256, -0.934519, -0.355525, 1.45096], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.321659, -0.269288, 0.907755, 0.664704], [-0.946587, -0.0686185, 0.315063, 0.222317], [-0.0225539, -0.960612, -0.276977, 1.49494], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.547174, -0.228702, 0.805169, 0.650044], [-0.836651, -0.120901, 0.534227, 0.240731], [-0.0248332, -0.96596, -0.257498, 1.51188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.735817, -0.175804, 0.653962, 0.607616], [-0.677166, -0.184696, 0.712273, 0.26456], [-0.00443664, -0.966944, -0.254951, 1.57236], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.831524, -0.152948, 0.534017, 0.575367], [-0.554531, -0.172146, 0.814163, 0.21568], [-0.0325952, -0.973125, -0.227958, 1.62456], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.864727, -0.0542397, 0.499305, 0.542872], [-0.50211, -0.0705752, 0.861919, 0.157023], [-0.0115116, -0.996031, -0.0882626, 1.69554], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.899708, -0.0289785, 0.43553, 0.5757], [-0.436493, -0.0598139, 0.897717, 0.191327], [3.64184e-05, -0.997789, -0.0664641, 1.6557], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.869537, -0.0150825, 0.493637, 0.700322], [-0.493856, -0.0197659, 0.869319, 0.372974], [-0.00335422, -0.999691, -0.0246359, 1.61674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.885674, -0.0276171, 0.463485, 0.867064], [-0.463952, -0.0135935, 0.885756, 0.417637], [-0.0181614, -0.999526, -0.0248527, 1.59734], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.915778, 0.00921318, 0.40158, 0.943801], [-0.401475, 0.0533745, 0.914314, 0.395985], [-0.0130102, -0.998532, 0.0525779, 1.64014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.923852, 0.00481898, 0.38272, 0.896455], [-0.382402, 0.0542934, 0.9224, 0.421968], [-0.016334, -0.998513, 0.0520017, 1.61233], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.968972, -0.00991681, 0.246973, 0.744076], [-0.246131, -0.130342, 0.960432, 0.446574], [0.0226667, -0.991419, -0.128739, 1.5953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.994941, 0.00501871, 0.100335, 0.688081], [-0.0950925, -0.275062, 0.956712, 0.456224], [0.0324, -0.961413, -0.273194, 1.52734], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.998152, 0.0594433, -0.0126104, 0.673574], [0.0379971, -0.448609, 0.89292, 0.469826], [0.047421, -0.891749, -0.450039, 1.4313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.949309, 0.224659, -0.219867, 0.681562], [0.305429, -0.493803, 0.814169, 0.479794], [0.0743393, -0.840052, -0.537389, 1.36198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.778605, 0.311776, -0.544582, 0.666779], [0.624356, -0.29794, 0.722089, 0.454351], [0.0628774, -0.902235, -0.426637, 1.40549], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.749349, 0.216319, -0.625846, 0.660237], [0.657527, -0.131276, 0.741907, 0.444429], [0.0783294, -0.967457, -0.240607, 1.47947], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.721193, 0.0833519, -0.687702, 0.651683], [0.690627, -0.00912976, 0.723154, 0.39792], [0.0539977, -0.996478, -0.0641495, 1.53299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.737745, 0.111518, -0.665805, 0.640453], [0.673872, -0.0626758, 0.736186, 0.406398], [0.0403682, -0.991784, -0.121388, 1.51676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.761814, 0.232708, -0.604555, 0.599175], [0.647562, -0.248476, 0.720363, 0.425146], [0.0174167, -0.94027, -0.339985, 1.42528], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.800749, 0.260832, -0.539229, 0.558917], [0.598738, -0.375153, 0.707653, 0.441367], [-0.017715, -0.889509, -0.456573, 1.37381], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.97015, 0.13149, -0.203763, 0.39939], [0.24222, -0.566178, 0.787891, 0.510319], [-0.0117665, -0.813728, -0.581127, 1.31199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.991911, -0.0813864, 0.0974116, 0.355818], [-0.126739, -0.592212, 0.795753, 0.555319], [-0.00707516, -0.801662, -0.597736, 1.29265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.985368, -0.0799121, 0.150545, 0.384563], [-0.163379, -0.694459, 0.700738, 0.530063], [0.04855, -0.715081, -0.697354, 1.25748], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.954234, -0.168488, 0.247079, 0.47438], [-0.292817, -0.694318, 0.657405, 0.474557], [0.0607866, -0.699667, -0.711878, 1.24307], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.857069, -0.353506, 0.374788, 0.564689], [-0.513719, -0.641525, 0.569682, 0.476336], [0.0390503, -0.680793, -0.731434, 1.23967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.638689, -0.50421, 0.581248, 0.594604], [-0.76886, -0.44815, 0.456088, 0.520375], [0.0305225, -0.738196, -0.673895, 1.25293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.601551, -0.449552, 0.660333, 0.604879], [-0.794147, -0.425959, 0.433461, 0.519849], [0.0864116, -0.785151, -0.613247, 1.28075], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.506482, -0.424813, 0.75034, 0.636323], [-0.860209, -0.30878, 0.405826, 0.472664], [0.0592905, -0.850993, -0.52182, 1.32412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.330663, -0.469624, 0.818605, 0.690506], [-0.942721, -0.204846, 0.26328, 0.41565], [0.044045, -0.858773, -0.510459, 1.32488], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.202774, -0.490082, 0.847763, 0.72319], [-0.979221, -0.104144, 0.174012, 0.378581], [0.00300902, -0.865433, -0.501017, 1.33859], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.113194, -0.500118, 0.858528, 0.749318], [-0.993441, -0.0429031, 0.105989, 0.360162], [-0.0161736, -0.864894, -0.501694, 1.34724], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0742_00"}, {"annotation": [{"question_id": "test-scene0743-0", "question": "To what side of the refrigerator are the kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-1", "question": "What shape is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-2", "question": "What color is the door next to the fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-3", "question": "What are the kitchen cabinets left of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-4", "question": "What is the item on the floor next to the black door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-5", "question": "Where is the white microwave with a black door sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-6", "question": "What is next to the white microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-7", "question": "What shape is the window on the dark wood door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-8", "question": "Where does the white microwave sit if you face away from the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-9", "question": "Where does the black and white microwave sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-10", "question": "Where is microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-11", "question": "What is the door with a long window made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-12", "question": "What is the door made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-13", "question": "How far is the door from the longer part of the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-14", "question": "What shape is the countertop with cabinets underneath it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-15", "question": "What is at the end of the longer part of the l?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-16", "question": "What is on the right of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-17", "question": "What is on the left of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-18", "question": "Is there a wood cabinet above the fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-19", "question": "What is the basic structure of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-20", "question": "Where is the grate located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-21", "question": "What is next to the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-22", "question": "What is hung on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-23", "question": "Where is the kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-24", "question": "What is placed on the floor closest to the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-25", "question": "What is next to the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-26", "question": "Where is the pitcher located,?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-27", "question": "What is sitting in the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-28", "question": "What is the color of the trash can on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-29", "question": "What is the color of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-30", "question": "What does the door have on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-31", "question": "What shape are the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-32", "question": "Where are the kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-33", "question": "What color is the fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-34", "question": "To what side of the brown door is the fridge located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-35", "question": "Where are the door handles located in the lower kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-36", "question": "Where is the door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-37", "question": "What color is the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-38", "question": "On what side of the door is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0743-39", "question": "What is under the cabinets near the door?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.999055, 0.0295011, -0.0319372, 0.758875], [0.0432307, -0.59587, 0.801917, 1.06165], [0.00462697, -0.802539, -0.596582, 1.32442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.999966, 0.00810838, -0.00159133, 0.798732], [0.0059865, -0.578152, 0.815907, 1.04372], [0.00569567, -0.815889, -0.578181, 1.32945], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.998005, -0.0204773, 0.0597294, 0.816355], [-0.061601, -0.52347, 0.849814, 1.03406], [0.0138646, -0.851798, -0.523687, 1.34131], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.996851, -0.0249953, 0.0752574, 0.827102], [-0.0786483, -0.43301, 0.897951, 1.03622], [0.0101426, -0.901042, -0.433612, 1.38536], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.998048, -0.00131128, 0.0624362, 0.826079], [-0.0596516, -0.315939, 0.946902, 1.03114], [0.0184843, -0.948778, -0.315401, 1.4187], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.999441, -0.0087294, 0.0322844, 0.818389], [-0.0334348, -0.238483, 0.970571, 1.03349], [-0.000773247, -0.971107, -0.238642, 1.46101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.999857, -0.00803698, 0.0148765, 0.809317], [-0.0160351, -0.171565, 0.985042, 1.04974], [-0.00536452, -0.98514, -0.171669, 1.50674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.9984, 0.00517371, 0.0563072, 0.806681], [-0.0558142, -0.0693426, 0.99603, 1.06121], [0.00905761, -0.997579, -0.068943, 1.54778], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.991794, 0.0153168, 0.126924, 0.768034], [-0.126665, -0.0168515, 0.991802, 1.08578], [0.01733, -0.999741, -0.0147731, 1.6029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.981419, -0.00363464, 0.191842, 0.661639], [-0.191875, -0.0145845, 0.981311, 1.13603], [-0.000768878, -0.999887, -0.0150109, 1.60148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.971824, -0.0350529, 0.233088, 0.632944], [-0.235708, -0.142711, 0.961288, 1.17347], [-0.000431925, -0.989144, -0.146952, 1.53851], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.998676, 0.022394, 0.0463084, 0.789245], [-0.0401777, -0.222559, 0.974091, 1.1946], [0.0321201, -0.974662, -0.221365, 1.47001], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.999972, 0.00692847, -0.00286015, 0.860614], [0.00498779, -0.330223, 0.943889, 1.26158], [0.00559517, -0.943877, -0.330248, 1.44355], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.999366, -0.0116081, 0.0336742, 0.761134], [-0.0356069, -0.349996, 0.936074, 1.40434], [0.000919748, -0.936679, -0.350187, 1.42805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.980684, -0.0799675, 0.178507, 0.638704], [-0.195234, -0.344383, 0.918305, 1.58394], [-0.0119601, -0.935417, -0.353343, 1.42634], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.935771, -0.0921681, 0.340351, 0.509467], [-0.352107, -0.295796, 0.887989, 1.76366], [0.0188301, -0.950794, -0.30925, 1.4534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.864078, -0.104753, 0.492338, 0.408689], [-0.501382, -0.265699, 0.82342, 1.9605], [0.0445582, -0.958348, -0.282106, 1.48977], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.82378, -0.0825214, 0.560872, 0.410195], [-0.562904, -0.236464, 0.791974, 2.04851], [0.0672707, -0.96813, -0.241246, 1.52862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.823709, -0.00358272, 0.567002, 0.53498], [-0.565006, -0.0892568, 0.820245, 2.14232], [0.0476699, -0.996002, -0.0755459, 1.59201], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.792957, 0.0269134, 0.608683, 0.567832], [-0.609156, 0.0150575, 0.792907, 2.35088], [0.0121744, -0.999524, 0.0283343, 1.65582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.759047, 0.125145, 0.638895, 0.582429], [-0.649766, 0.0843506, 0.75544, 2.44246], [0.0406484, -0.988546, 0.145341, 1.70023], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.718895, 0.0317942, 0.694391, 0.631496], [-0.693263, -0.0401511, 0.719565, 2.44473], [0.0507585, -0.998688, -0.00682276, 1.64179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.724634, -0.0312742, 0.688424, 0.648712], [-0.686776, -0.115342, 0.717659, 2.45906], [0.0569597, -0.992833, -0.105059, 1.58235], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.639784, -0.189547, 0.744814, 0.69106], [-0.765785, -0.239421, 0.596868, 2.46059], [0.06519, -0.952234, -0.29833, 1.49179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.590265, -0.325261, 0.738778, 0.727707], [-0.805525, -0.296449, 0.513077, 2.44125], [0.0521258, -0.897955, -0.436989, 1.39678], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.485204, -0.399221, 0.777946, 0.816895], [-0.873403, -0.263777, 0.409377, 2.4928], [0.0417725, -0.878091, -0.476666, 1.36409], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.322931, -0.475919, 0.818057, 0.923462], [-0.946402, -0.16807, 0.275818, 2.60321], [0.00622416, -0.863281, -0.504686, 1.38102], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.129938, -0.509764, 0.850445, 0.975459], [-0.99134, 0.083238, -0.101572, 2.66473], [-0.0190118, -0.856278, -0.516165, 1.39425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.490016, -0.430527, 0.757978, 1.00725], [-0.871633, 0.230168, -0.432757, 2.6564], [0.0118513, -0.872737, -0.488048, 1.38952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.520742, -0.387122, 0.760897, 1.01356], [-0.853672, 0.227268, -0.468608, 2.63298], [0.00848109, -0.89358, -0.448823, 1.44792], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.536187, -0.224957, 0.813571, 0.995681], [-0.843708, 0.172163, -0.508445, 2.71109], [-0.0256887, -0.959038, -0.282109, 1.53367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.562055, -0.143185, 0.814612, 0.974598], [-0.826714, 0.127341, -0.548022, 2.72577], [-0.0252654, -0.98147, -0.189946, 1.56739], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.667346, -0.238399, 0.70556, 0.983326], [-0.744719, 0.20541, -0.63498, 2.71419], [0.00644934, -0.949196, -0.31462, 1.48374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.629103, -0.310717, 0.71252, 1.04072], [-0.776751, 0.216168, -0.591548, 2.69078], [0.0297799, -0.925595, -0.377341, 1.42493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.562672, -0.3275, 0.759041, 1.07802], [-0.826092, 0.188123, -0.531208, 2.58292], [0.0311781, -0.925934, -0.376397, 1.41214], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.619461, -0.306846, 0.722574, 1.15835], [-0.783739, 0.189015, -0.59163, 2.51792], [0.0449623, -0.932802, -0.357575, 1.42115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.657846, -0.298383, 0.691525, 1.21663], [-0.752511, 0.222524, -0.619847, 2.48537], [0.0310713, -0.928144, -0.370923, 1.40904], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.7905, -0.255229, 0.556748, 1.21155], [-0.61116, 0.269457, -0.744229, 2.4188], [0.0399295, -0.928575, -0.368991, 1.41767], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.881076, -0.180622, 0.437129, 1.16608], [-0.472298, 0.28653, -0.833568, 2.38792], [0.0253105, -0.940891, -0.337762, 1.43491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.940629, -0.118117, 0.318221, 1.12429], [-0.338949, 0.276714, -0.89919, 2.38647], [0.0181538, -0.953665, -0.300322, 1.45127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.982793, -0.0544835, 0.176494, 1.08904], [-0.184547, 0.249285, -0.950684, 2.39236], [0.00779947, -0.966896, -0.25505, 1.46902], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.993571, -0.0104782, 0.112721, 1.06911], [-0.113031, 0.147326, -0.982608, 2.41061], [-0.00631081, -0.989032, -0.147564, 1.51215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.993175, 0.00342014, 0.116582, 1.06696], [-0.116451, 0.0267093, -0.992837, 2.43781], [-0.00650945, -0.999637, -0.0261287, 1.57161], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.995128, 0.0187237, 0.0967943, 1.06357], [-0.0976749, -0.0538781, -0.993759, 2.4518], [-0.0133917, -0.998372, 0.0554444, 1.61978], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.997185, 0.0109563, 0.0741873, 1.05475], [-0.0737204, 0.0381891, -0.996548, 2.44139], [-0.0137516, -0.999211, -0.0372736, 1.57696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.999261, 0.0204698, 0.0325464, 1.03422], [-0.0334342, -0.0446356, -0.998444, 2.41781], [-0.0189852, -0.998794, 0.0452873, 1.6153], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.998391, 0.0227028, 0.0519649, 1.00657], [-0.0541905, -0.111966, -0.992233, 2.20947], [-0.0167081, -0.993453, 0.113016, 1.64396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.997794, 0.0452977, 0.0485254, 0.993446], [-0.0547219, -0.147465, -0.987552, 1.9854], [-0.037578, -0.988029, 0.149619, 1.67999], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.996354, 0.0765303, 0.0377259, 1.07832], [-0.0513965, -0.185389, -0.98132, 1.71293], [-0.0681068, -0.979681, 0.188646, 1.70596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.999046, 0.0415305, -0.0135073, 1.0662], [0.00860053, -0.116133, -0.993196, 1.62108], [-0.0428165, -0.992365, 0.115665, 1.70264], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.999851, 0.0172836, 0.000464689, 1.01405], [0.000797618, 0.0729583, -0.997335, 1.7751], [-0.0172715, -0.997185, -0.0729612, 1.6162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.997113, 0.0477093, -0.0590714, 1.00219], [0.0702048, 0.282863, -0.956588, 1.91132], [-0.028929, -0.957973, -0.285396, 1.50793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.982175, 0.0971144, -0.160935, 1.07641], [0.186565, 0.399323, -0.897627, 1.95623], [-0.0229073, -0.911652, -0.410323, 1.4412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.95121, 0.190256, -0.242905, 1.13219], [0.306193, 0.48504, -0.819135, 2.02642], [-0.038027, -0.853545, -0.51963, 1.40939], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.922876, 0.238992, -0.301965, 1.10116], [0.38206, 0.469933, -0.795734, 2.19514], [-0.0482706, -0.849733, -0.524999, 1.42164], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.949615, 0.191691, -0.247963, 1.06133], [0.311069, 0.479755, -0.820409, 2.43164], [-0.0383033, -0.856206, -0.515212, 1.40603], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.860044, 0.326941, -0.391708, 1.04217], [0.50909, 0.498783, -0.701458, 2.4845], [-0.033958, -0.802699, -0.595417, 1.37413], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.782453, 0.43712, -0.443501, 1.05335], [0.619854, 0.478622, -0.621853, 2.53191], [-0.0595553, -0.761477, -0.64545, 1.34467], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.581104, 0.562983, -0.587681, 1.0019], [0.811965, 0.352219, -0.465461, 2.60767], [-0.0550539, -0.747658, -0.661798, 1.33007], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.665035, 0.471318, -0.579299, 0.935155], [0.746094, 0.385307, -0.54303, 2.82372], [-0.0327318, -0.793346, -0.607891, 1.32613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.798795, 0.361479, -0.480894, 0.917348], [0.601192, 0.450106, -0.660282, 3.00501], [-0.0222252, -0.81654, -0.576861, 1.33527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.812305, 0.353477, -0.463913, 0.913686], [0.583125, 0.507596, -0.634281, 3.12465], [0.0112764, -0.785748, -0.618443, 1.32711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.932707, 0.199828, -0.30021, 0.851758], [0.357591, 0.620375, -0.698043, 3.18108], [0.0467544, -0.758422, -0.650085, 1.31804], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.998032, -0.0626924, -0.000960242, 0.704113], [-0.0443545, 0.716761, -0.695906, 3.27783], [0.0443163, -0.694495, -0.718132, 1.32732], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.974992, -0.201275, 0.0942354, 0.693191], [-0.208723, 0.683656, -0.69932, 3.27573], [0.0763308, -0.7015, -0.70857, 1.34416], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.942375, -0.248189, 0.224346, 0.640678], [-0.324135, 0.511238, -0.795972, 3.26343], [0.082857, -0.822823, -0.562225, 1.4078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.944615, -0.10968, 0.309309, 0.605981], [-0.328136, 0.331151, -0.884684, 3.28746], [-0.00539601, -0.937181, -0.348801, 1.47636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.915111, -0.0667383, 0.397641, 0.62247], [-0.403085, 0.175301, -0.898216, 3.31098], [-0.00976157, -0.98225, -0.187321, 1.54759], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.821143, -0.018064, 0.570437, 0.6366], [-0.569196, 0.0989887, -0.816221, 3.35616], [-0.0417226, -0.994925, -0.0915659, 1.6003], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.646233, -0.00243918, 0.763137, 0.64408], [-0.761676, 0.0639827, -0.644791, 3.40196], [-0.0472548, -0.997948, -0.0432057, 1.63572], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.500286, 0.0652874, 0.863395, 0.656719], [-0.863437, 0.0369277, -0.503103, 3.46579], [-0.0647294, -0.997183, 0.037897, 1.66885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.373201, 0.00853525, 0.927712, 0.673799], [-0.926899, 0.0394163, -0.373236, 3.4986], [-0.0397526, -0.999186, -0.00679892, 1.67022], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.320091, -0.199919, 0.926053, 0.696113], [-0.947054, 0.0934427, -0.307177, 3.49455], [-0.0251225, -0.975347, -0.219244, 1.60745], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.378619, -0.354041, 0.855163, 0.693206], [-0.92493, 0.178614, -0.335561, 3.48271], [-0.0339419, -0.918015, -0.395089, 1.53483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.458811, -0.497069, 0.736488, 0.6767], [-0.885208, 0.327359, -0.330518, 3.45766], [-0.0768057, -0.803591, -0.590206, 1.43537], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.429448, -0.618444, 0.658105, 0.661376], [-0.902763, 0.313629, -0.294372, 3.4492], [-0.0243485, -0.72053, -0.692996, 1.36813], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.459077, -0.650997, 0.604525, 0.655302], [-0.887875, 0.359508, -0.287109, 3.44393], [-0.0304243, -0.668548, -0.743046, 1.32608], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.450427, -0.53039, 0.718194, 0.682004], [-0.892377, 0.292596, -0.343585, 3.34192], [-0.0279064, -0.79566, -0.605101, 1.36583], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.298551, -0.44509, 0.844252, 0.737898], [-0.954071, 0.162199, -0.251874, 3.16077], [-0.0248306, -0.880674, -0.473072, 1.41482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.074728, -0.355333, 0.931748, 0.729603], [-0.997199, 0.0295135, -0.068722, 2.9599], [-0.00307992, -0.934274, -0.356543, 1.49054], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.0735832, -0.171412, 0.982448, 0.700596], [-0.993918, 0.0683202, 0.0863624, 2.93748], [-0.0819245, -0.982828, -0.165342, 1.58077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.239518, -0.0592427, 0.969083, 0.62757], [-0.96191, 0.120974, 0.245141, 2.97132], [-0.131756, -0.990886, -0.0280109, 1.64698], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.398932, -0.0805275, 0.913438, 0.572635], [-0.911291, 0.0759786, 0.404692, 3.01565], [-0.101991, -0.993852, -0.0430737, 1.65466], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.500637, -0.0306739, 0.865114, 0.535736], [-0.863924, 0.0455071, 0.501562, 3.03467], [-0.0547538, -0.998493, -0.00371738, 1.68108], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.485104, -0.0541011, 0.872782, 0.545258], [-0.874042, 0.00071761, 0.485849, 3.05481], [-0.0269113, -0.998535, -0.0469386, 1.68158], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.51703, -0.150753, 0.842588, 0.554945], [-0.85596, -0.0871444, 0.509644, 3.07034], [-0.00340357, -0.984723, -0.174095, 1.61358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.503088, -0.357395, 0.786874, 0.585549], [-0.863663, -0.174787, 0.472795, 3.08349], [-0.0314392, -0.917452, -0.396603, 1.50933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.487684, -0.50176, 0.714424, 0.602241], [-0.871338, -0.22898, 0.433978, 3.08295], [-0.054164, -0.834149, -0.548873, 1.42027], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.445276, -0.62276, 0.64335, 0.628667], [-0.890122, -0.230021, 0.393412, 3.06471], [-0.0970172, -0.747837, -0.656755, 1.34098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.329396, -0.627842, 0.705204, 0.629805], [-0.939797, -0.146029, 0.308963, 3.05265], [-0.0909989, -0.76452, -0.638145, 1.32322], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.0428079, -0.552527, 0.832395, 0.690395], [-0.997037, 0.029674, 0.0709721, 3.04401], [-0.0639145, -0.832967, -0.549619, 1.37416], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.182118, -0.452695, 0.872869, 0.762056], [-0.981047, 0.143402, -0.130316, 3.06276], [-0.0661779, -0.880059, -0.470231, 1.4265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.282437, -0.427653, 0.858687, 0.793452], [-0.959108, 0.143115, -0.244192, 3.1408], [-0.0184612, -0.892542, -0.450586, 1.44267], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.365498, -0.412644, 0.834347, 0.787856], [-0.930707, 0.175464, -0.32093, 3.16218], [-0.0139678, -0.893833, -0.448183, 1.44318], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0743_00"}, {"annotation": [{"question_id": "test-scene0744-0", "question": "Where is the chair tucked?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-1", "question": "Where is a tv placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-2", "question": "What is placed along the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-3", "question": "What brings light into a room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-4", "question": "What is in front of two windows covered with curtains?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-5", "question": "The door to the left of the TV is in the front of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-6", "question": "What color is the kitchen table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-7", "question": "Where is the brown kitchen table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-8", "question": "What is behind the couch at the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-9", "question": "What is the tv sitting on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-10", "question": "What is the tv located across from?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-11", "question": "What is in between the tv and the l-shaped couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-12", "question": "What color is the TV stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-13", "question": "What color is the doormat in front of the brown door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-14", "question": "The small storage bin is located to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-15", "question": "What color door is located diagonally from the table and chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-16", "question": "What color mat is on the floor in front of the brown door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-17", "question": "What is located behind the darker-colored l-shaped couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-18", "question": "What color is the l-shaped couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-19", "question": "Where is the small storage box located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-20", "question": "On what side of the couch is the red pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-21", "question": "What color are the stripes on the storage box?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-22", "question": "Where is the dark gray couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-23", "question": "What shape is the dark gray couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-24", "question": "What color is the dining table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-25", "question": "Where is the tv mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-26", "question": "What is lining the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-27", "question": "Where is the floor lamp located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-28", "question": "What shaped couch is next to the wall and wood table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-29", "question": "What color is the tv stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-30", "question": "Where is the tv stand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-31", "question": "What is the shape of the couch next to the dining room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-32", "question": "How many chairs are pulled out from the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-33", "question": "What is behind the couch on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-34", "question": "What is above the map of the world?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-35", "question": "What color is the low table with cubbies in it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-36", "question": "What is next to the low table with cubbies?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-37", "question": "What color is the curtain on the wall behind the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-38", "question": "Where is the bigger curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-39", "question": "What is on the long brown stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-40", "question": "What is located directly across from the black sectional couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-41", "question": "What type of wood is the tv stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-42", "question": "What is between the tv stand and the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-43", "question": "What is on the far right corner of the tv stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-44", "question": "Where is a chair tucked?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-45", "question": "What is on top of the table/stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-46", "question": "On what part of a table/stand is a tv located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-47", "question": "What type of coffee table is it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-48", "question": "What color sofa is in front of the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-49", "question": "What is hanging on a wall perpendicular to the set of curtains that are open and pulled to each side?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-50", "question": "What color is the l shaped couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-51", "question": "The dark grey l shapped couch is sitting directly to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-52", "question": "What is hanging from the ceiling to the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-53", "question": "What color are the curtains on the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-54", "question": "What color is the pillow in the right corner of a dark colored couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-55", "question": "What shape is the pillow in the right corner of a dark colored couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-56", "question": "What is next to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-57", "question": "Where is a wooden chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-58", "question": "What is the TV resting on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-59", "question": "What is behind the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-60", "question": "Where are the curtains located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-61", "question": "What color pillow is on the right side of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-62", "question": "Where is the blue pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-63", "question": "How many doors does the white stand have on each end?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-64", "question": "Where is the tall floor lamp located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-65", "question": "The tall floor lamp sits next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-66", "question": "What is hanging on the top of the dark wooden dining chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-67", "question": "What is the plaid pink and white pillow sitting near?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-68", "question": "What is on the side of the couch closest to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-69", "question": "How open is the dark wooden door in the dining room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-70", "question": "What is the dark wooden door closest to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-71", "question": "On what side of the dark gray couch is the red pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-72", "question": "How many seats does the dark gray couch have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-73", "question": "What color is the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-74", "question": "What is the color of the air conditioning unit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-75", "question": "What color couch is the air conditioning unit facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-76", "question": "Is the lamp taller than the TV?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-77", "question": "What shape is the coffee table shaped like?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-78", "question": "What type of pillow is in the middle of the l shaped couch in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-79", "question": "What color is the pillow on the right side of the l shaped couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-80", "question": "What is the shape of the smaller couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-81", "question": "What color is the rectangular dining table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-82", "question": "What is the dark gray l-shaped sofa located between?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-83", "question": "Where is the red pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-84", "question": "How many chairs are there around the brown dining table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-85", "question": "What color are the tie curtains in the back of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-86", "question": "How many wooden chairs are set with a wooden dining table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-87", "question": "What color is the cloth pillow on top of the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-88", "question": "What is sitting on the right side of the sofa in the dayroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-89", "question": "What is on the poster above the TV screen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-90", "question": "What is in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-91", "question": "What is the green object, on top of the white cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-92", "question": "What type of table is located across from the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-93", "question": "What type of cabinet is on the side of the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-94", "question": "What color curtains hang down the sides of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-95", "question": "The white stand is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-96", "question": "What is hanging from the left side of the large window behind the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-97", "question": "To the left of the large window with curtains is a window with what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-98", "question": "What color curtains are in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-99", "question": "What is in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-100", "question": "What is located in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-101", "question": "What is on top of the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-102", "question": "What color is the chair on the left side of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-103", "question": "What type of window is located behind brown curtains?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-104", "question": "What color is the container to the left of the white desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-105", "question": "Where is the container located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-106", "question": "What is on corner of l shape sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-107", "question": "Where is the red and white pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-108", "question": "What is located between wall curtain and window curtains?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-109", "question": "Where is the blue cloth pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-110", "question": "What type of pillow is on the black l-shaped couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-111", "question": "What is next to the lamp, which is next to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-112", "question": "What is hanging on the wall next to the laundry hamper?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0744-113", "question": "What is located in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.805935, -0.417437, 0.419779, 2.85516], [-0.591908, 0.580972, -0.558674, 2.27781], [-0.0106687, -0.698726, -0.71531, 1.40697], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.856299, -0.356455, 0.373753, 2.76963], [-0.515613, 0.548068, -0.658608, 2.25366], [0.0299218, -0.756678, -0.653103, 1.41573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.920093, -0.255134, 0.297213, 2.70094], [-0.39119, 0.559806, -0.730471, 2.22153], [0.0199866, -0.788368, -0.61488, 1.43093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.827311, -0.32327, 0.459406, 2.74212], [-0.561672, 0.462879, -0.685761, 2.2655], [0.00903643, -0.825373, -0.564516, 1.45064], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.688312, -0.369419, 0.624305, 2.81994], [-0.725205, 0.371145, -0.579939, 2.31106], [-0.017467, -0.851928, -0.523368, 1.48252], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.515997, -0.388464, 0.763441, 2.85929], [-0.856207, 0.260561, -0.446114, 2.36086], [-0.0256243, -0.883857, -0.467054, 1.49318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.335331, -0.39385, 0.855824, 2.95986], [-0.942098, 0.142108, -0.303737, 2.4189], [-0.00199282, -0.908123, -0.418699, 1.50274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.0853881, -0.442277, 0.892804, 3.02124], [-0.996006, 0.0613646, -0.0648596, 2.43175], [-0.0261006, -0.894777, -0.44575, 1.50952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.0979521, -0.546385, 0.831787, 2.9959], [-0.994992, -0.0370488, 0.0928348, 2.34622], [-0.0199068, -0.836715, -0.547278, 1.47032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.0190456, -0.45668, 0.889427, 3.22975], [-0.999816, -0.00647551, 0.0180846, 2.31548], [-0.0024994, -0.889607, -0.456719, 1.50643], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.0171684, -0.471652, 0.881617, 3.57106], [-0.999798, 0.0173085, -0.01021, 2.30215], [-0.010444, -0.881615, -0.471854, 1.46891], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.0243292, -0.48498, 0.874187, 3.95318], [-0.999574, 0.025913, -0.0134428, 2.30466], [-0.0161333, -0.874141, -0.485404, 1.45153], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.0658919, -0.44436, 0.893421, 4.30804], [-0.99778, 0.0380332, -0.0546719, 2.32655], [-0.00968564, -0.895041, -0.44588, 1.44911], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.00782086, -0.498876, 0.866638, 4.69385], [-0.999833, 0.0182245, 0.00146797, 2.26438], [-0.0165264, -0.866482, -0.498935, 1.41665], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.0100584, -0.504412, 0.863404, 5.098], [-0.999694, 0.0245776, 0.00271249, 2.28884], [-0.0225886, -0.863113, -0.504506, 1.4016], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.099737, -0.474897, 0.874372, 5.45913], [-0.994986, -0.0409868, 0.0912339, 2.25638], [-0.00748903, -0.879086, -0.476603, 1.41652], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.0663171, -0.440824, 0.89514, 5.79763], [-0.997388, -0.00353429, 0.0721517, 2.31435], [-0.0286425, -0.897587, -0.439907, 1.42556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.107807, -0.444234, 0.889401, 6.1299], [-0.994124, -0.0393852, 0.100829, 2.35011], [-0.00976229, -0.895045, -0.445869, 1.43467], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.130211, -0.491007, 0.861369, 6.45615], [-0.991484, -0.0663606, 0.112053, 2.4883], [0.00214231, -0.868625, -0.495467, 1.42964], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.104363, -0.490422, 0.865213, 6.59963], [-0.994534, -0.0487069, 0.0923531, 2.52139], [-0.00315022, -0.870123, -0.492825, 1.44493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.0808576, -0.398161, 0.913745, 6.61502], [-0.996712, -0.0274348, 0.0762449, 2.46344], [-0.00528935, -0.916905, -0.39907, 1.49681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.0419715, -0.289093, 0.95638, 6.61833], [-0.999104, -0.0173105, 0.0386139, 2.46638], [0.00539237, -0.957144, -0.289561, 1.55642], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.0520472, -0.168705, 0.984292, 6.63473], [-0.998586, 0.00191262, 0.0531309, 2.47166], [-0.0108461, -0.985665, -0.168367, 1.59898], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.0563034, -0.11361, 0.991929, 6.65269], [-0.998368, 0.00309551, 0.0570234, 2.49184], [-0.00954896, -0.993521, -0.11325, 1.65515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.0536069, -0.130933, 0.989941, 6.64105], [-0.998561, -0.00549978, 0.0533463, 2.48015], [-0.00154033, -0.991376, -0.131039, 1.67337], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.0645573, -0.234738, 0.969912, 6.6049], [-0.997908, -0.0186158, 0.0619153, 2.47975], [0.00352189, -0.97188, -0.235449, 1.58329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.091052, -0.364501, 0.926741, 6.58165], [-0.995513, -0.00922808, 0.0941792, 2.47192], [-0.0257764, -0.931157, -0.363705, 1.50632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.0710135, -0.49594, 0.865448, 6.57275], [-0.997301, -0.0190935, 0.0708912, 2.46258], [-0.0186333, -0.868147, -0.495957, 1.4333], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.0885911, -0.525458, 0.846194, 6.57175], [-0.995892, 0.0627129, -0.0653208, 2.42966], [-0.0187439, -0.848505, -0.528856, 1.40067], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.257529, -0.522394, 0.812886, 6.56491], [-0.966202, 0.149217, -0.210208, 2.37998], [-0.0114853, -0.839547, -0.543166, 1.39326], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.317661, -0.503324, 0.80359, 6.58848], [-0.948136, 0.17879, -0.262817, 2.39072], [-0.0113914, -0.845399, -0.534014, 1.41952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.351342, -0.428786, 0.832287, 6.78227], [-0.936154, 0.173441, -0.305833, 2.4125], [-0.013215, -0.886601, -0.462347, 1.4301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.375369, -0.412844, 0.829854, 7.08485], [-0.926862, 0.172031, -0.333665, 2.44476], [-0.00500888, -0.894408, -0.447225, 1.4493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.336589, -0.406552, 0.849366, 7.35354], [-0.941566, 0.133127, -0.309405, 2.52856], [0.012716, -0.903876, -0.427604, 1.45915], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.266332, -0.365528, 0.891884, 7.48662], [-0.963536, 0.125734, -0.236198, 2.5187], [-0.025803, -0.922269, -0.385686, 1.49887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.327282, -0.228524, 0.916877, 7.59309], [-0.94353, 0.131777, -0.303952, 2.6065], [-0.0513628, -0.964579, -0.258747, 1.58051], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.256296, -0.144111, 0.955795, 7.60691], [-0.965563, 0.0839289, -0.24626, 2.63969], [-0.0447301, -0.985996, -0.160659, 1.62671], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.287741, -0.0737569, 0.954864, 7.61911], [-0.957361, 0.0490137, -0.284707, 2.68156], [-0.0258023, -0.996071, -0.0847153, 1.6279], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.422345, 0.0189686, 0.906237, 7.64871], [-0.906264, 0.0105973, -0.422579, 2.65011], [-0.0176194, -0.999764, 0.0127148, 1.6255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.539487, -0.0111634, 0.84192, 7.7215], [-0.841993, 0.00575092, -0.539458, 2.63852], [0.0011805, -0.999921, -0.0125022, 1.60078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.642553, -0.173617, 0.746313, 7.83247], [-0.766156, 0.160104, -0.622392, 2.71386], [-0.0114298, -0.971712, -0.235893, 1.57403], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.741997, -0.222722, 0.632325, 7.82528], [-0.670089, 0.275304, -0.68934, 2.75638], [-0.0205503, -0.935202, -0.353518, 1.52794], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.738485, -0.272571, 0.616722, 7.71028], [-0.674027, 0.322981, -0.664357, 2.79834], [-0.0181051, -0.906305, -0.422237, 1.48067], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.753924, -0.298737, 0.585111, 7.60457], [-0.655815, 0.394845, -0.643432, 2.85143], [-0.0388118, -0.868823, -0.493599, 1.45655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.843538, -0.244528, 0.478174, 7.62879], [-0.535978, 0.440028, -0.720488, 2.93249], [-0.0342309, -0.86405, -0.502241, 1.44629], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.939188, -0.153927, 0.306972, 7.55058], [-0.342334, 0.490139, -0.801606, 2.98583], [-0.02707, -0.857946, -0.513027, 1.42199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.985985, -0.0335661, 0.16342, 7.47788], [-0.158594, 0.492579, -0.855695, 2.97929], [-0.0517747, -0.86962, -0.490999, 1.44209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.999239, 0.0368765, 0.0127319, 7.41969], [0.00783795, 0.509463, -0.860457, 2.92762], [-0.0382171, -0.859702, -0.509364, 1.4297], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.994453, 0.0646785, -0.0829432, 7.38355], [0.104457, 0.514978, -0.850815, 2.76181], [-0.0123155, -0.85476, -0.518878, 1.41123], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.970594, 0.158763, -0.180947, 7.58189], [0.235512, 0.470708, -0.850275, 2.56155], [-0.0498194, -0.867887, -0.494257, 1.43508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.905971, 0.187569, -0.379519, 7.60216], [0.422488, 0.457458, -0.782455, 2.51854], [0.0268498, -0.869224, -0.493689, 1.40997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.816253, 0.295905, -0.496156, 7.51233], [0.577494, 0.395343, -0.714286, 2.58485], [-0.0152095, -0.869565, -0.493584, 1.40209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.688164, 0.352018, -0.63444, 7.45558], [0.725553, 0.331986, -0.602791, 2.59959], [-0.00156781, -0.875139, -0.483869, 1.39966], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.540877, 0.416401, -0.730796, 7.40358], [0.841101, 0.268966, -0.469261, 2.62498], [0.00115877, -0.868486, -0.495712, 1.39889], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.345263, 0.448354, -0.824483, 7.391], [0.938301, 0.146522, -0.313247, 2.65834], [-0.0196405, -0.881765, -0.47128, 1.40647], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.218724, 0.449988, -0.865835, 7.39916], [0.975281, 0.0722531, -0.208821, 2.74123], [-0.0314077, -0.890107, -0.454669, 1.41329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.183761, 0.404626, -0.895829, 7.40904], [0.981007, 0.0179042, -0.193147, 2.7693], [-0.062113, -0.914307, -0.400231, 1.44987], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.170095, 0.303507, -0.937524, 7.39734], [0.983022, -0.0141715, -0.182937, 2.7975], [-0.0688089, -0.952724, -0.295944, 1.5101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.140754, 0.196964, -0.970254, 7.43246], [0.988562, -0.0256593, -0.148618, 2.79237], [-0.0541685, -0.980075, -0.191099, 1.56605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.140886, 0.263056, -0.954438, 7.44663], [0.98813, -0.0222641, -0.151995, 2.81407], [-0.061233, -0.964524, -0.256797, 1.52434], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.137786, 0.487715, -0.862061, 7.4285], [0.989655, 0.0326588, -0.139703, 2.84403], [-0.0399812, -0.872392, -0.48717, 1.39202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.143845, 0.635992, -0.758171, 7.42494], [0.989206, 0.0707717, -0.128311, 2.84305], [-0.027948, -0.768444, -0.639307, 1.30931], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.37448, 0.600234, -0.706742, 7.45015], [0.926895, 0.221697, -0.302846, 2.72919], [-0.025096, -0.768485, -0.639375, 1.30875], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.732462, 0.40789, -0.545092, 7.3924], [0.680771, 0.447103, -0.580215, 2.65208], [0.00704819, -0.796068, -0.605166, 1.32606], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.88623, 0.253471, -0.387747, 7.34134], [0.462951, 0.514409, -0.721845, 2.6243], [0.016494, -0.819229, -0.57323, 1.35113], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.932393, 0.188793, -0.308222, 7.41704], [0.360656, 0.542313, -0.758831, 2.45455], [0.0238909, -0.818691, -0.573738, 1.3645], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.966354, 0.109615, -0.232689, 7.49078], [0.25261, 0.574875, -0.778272, 2.28934], [0.0484569, -0.810866, -0.583223, 1.3711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.998702, -0.0421566, 0.0285719, 7.30917], [-0.0475923, 0.572908, -0.818236, 2.11073], [0.0181249, -0.818534, -0.574171, 1.36974], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.932776, -0.229798, 0.277709, 7.26084], [-0.359816, 0.54767, -0.755374, 2.04084], [0.0214907, -0.804518, -0.593539, 1.35785], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.842488, -0.332444, 0.423905, 7.43474], [-0.538706, 0.515238, -0.666578, 2.01459], [0.0031877, -0.789944, -0.613171, 1.3521], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.759561, -0.401186, 0.511974, 7.71131], [-0.6502, 0.447107, -0.614276, 1.94541], [0.0175318, -0.799466, -0.600456, 1.36325], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.586129, -0.503756, 0.634573, 7.89778], [-0.808572, 0.313802, -0.497734, 1.83621], [0.0516061, -0.804834, -0.591251, 1.37373], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.367794, -0.587093, 0.721145, 8.15293], [-0.927761, 0.179012, -0.327435, 1.76656], [0.0631408, -0.789479, -0.610522, 1.37556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.00314374, -0.626122, 0.779719, 8.31574], [-0.996909, -0.0631719, -0.0467083, 1.65689], [0.0785013, -0.777162, -0.624386, 1.38105], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.178874, -0.612302, 0.770123, 8.40857], [-0.98156, -0.164685, 0.0970481, 1.62719], [0.0674046, -0.773282, -0.63047, 1.38861], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.384533, -0.584551, 0.714447, 8.5789], [-0.921449, -0.289496, 0.259084, 1.72185], [0.055382, -0.757953, -0.649954, 1.39207], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.533808, -0.539837, 0.650864, 8.81507], [-0.843779, -0.39061, 0.368049, 1.74496], [0.0555474, -0.745654, -0.664015, 1.36753], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.586956, -0.582072, 0.562738, 9.04388], [-0.809518, -0.432908, 0.396574, 1.75516], [0.012779, -0.688318, -0.725296, 1.33726], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.588287, -0.519982, 0.619303, 9.16582], [-0.807291, -0.422065, 0.412483, 1.75065], [0.0469023, -0.742617, -0.668072, 1.3134], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.570887, -0.620413, 0.53775, 9.22835], [-0.818031, -0.373899, 0.437064, 1.76861], [-0.0700959, -0.689411, -0.720971, 1.25669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.511707, -0.636926, 0.576612, 9.27279], [-0.858489, -0.352526, 0.372454, 1.83013], [-0.0339552, -0.685602, -0.727184, 1.13086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.477181, -0.714273, 0.511968, 9.27074], [-0.878644, -0.37661, 0.293515, 1.81012], [-0.0168377, -0.589898, -0.807303, 1.16922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.446328, -0.715486, 0.537468, 9.26968], [-0.894132, -0.332181, 0.300306, 1.79087], [-0.0363277, -0.614602, -0.788, 1.21617], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.448977, -0.738773, 0.502628, 9.26441], [-0.890975, -0.327524, 0.314471, 1.80822], [-0.0677004, -0.589019, -0.805279, 1.23152], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.442441, -0.724401, 0.528667, 9.26893], [-0.893983, -0.309593, 0.323956, 1.79896], [-0.0710031, -0.615951, -0.784579, 1.24084], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.424174, -0.729057, 0.53717, 9.26803], [-0.902547, -0.291837, 0.316607, 1.79717], [-0.0740585, -0.619118, -0.781798, 1.24597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.455243, -0.659629, 0.598032, 9.2544], [-0.888391, -0.291792, 0.354428, 1.79245], [-0.0592904, -0.692638, -0.718845, 1.20454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.564301, -0.573489, 0.593864, 9.21564], [-0.823043, -0.334559, 0.45899, 1.81969], [-0.0645433, -0.747784, -0.660797, 1.14137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.641273, -0.482327, 0.596766, 9.17045], [-0.767313, -0.402607, 0.499137, 1.86293], [-0.000485122, -0.77799, -0.628277, 1.24369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.743814, -0.460438, 0.484498, 9.1459], [-0.666181, -0.451858, 0.59332, 1.90191], [-0.0542628, -0.764082, -0.642833, 1.42995], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.963664, -0.152941, 0.218999, 9.24979], [-0.26711, -0.557629, 0.78594, 1.9043], [0.00191748, -0.815879, -0.578219, 1.46024], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.999014, -0.0200135, 0.0396267, 9.24497], [-0.0442825, -0.512438, 0.857582, 2.01995], [0.00314289, -0.858491, -0.512819, 1.46915], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.999503, 0.0299469, -0.00986266, 9.21123], [0.0214757, -0.417609, 0.908373, 2.16403], [0.0230841, -0.908133, -0.418045, 1.51698], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.998054, -0.00728172, -0.0619319, 9.21928], [0.0589185, -0.21519, 0.974793, 2.17414], [-0.0204253, -0.976545, -0.214342, 1.6032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.994651, -0.0481613, -0.0913787, 9.21396], [0.0882976, -0.0626331, 0.994123, 2.17365], [-0.0536017, -0.996874, -0.0580453, 1.68003], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.991666, -0.0510935, -0.118269, 9.23128], [0.122325, 0.0853259, 0.988816, 2.10312], [-0.0404307, -0.995042, 0.0908651, 1.73505], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.987931, -0.0713661, -0.137472, 9.24315], [0.150048, 0.220702, 0.963731, 2.0072], [-0.0384374, -0.972727, 0.228747, 1.80845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.985832, -0.0964416, -0.137236, 9.22118], [0.161735, 0.32968, 0.930136, 1.90391], [-0.0444598, -0.939154, 0.340607, 1.86737], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.992111, -0.105083, -0.0683623, 9.24815], [0.0823461, 0.135084, 0.987407, 1.934], [-0.0945255, -0.985246, 0.142671, 1.78197], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.960405, -0.0640911, 0.271136, 9.26325], [-0.271904, -0.00341398, 0.962319, 1.98408], [-0.0607505, -0.997938, -0.0207053, 1.71531], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.843956, -0.135584, 0.518995, 9.24043], [-0.534027, -0.121222, 0.836732, 1.93206], [-0.0505341, -0.983322, -0.174712, 1.66591], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.831903, -0.231024, 0.504545, 9.25114], [-0.554746, -0.323407, 0.766593, 1.93131], [-0.0139282, -0.917625, -0.397202, 1.5417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.921374, -0.221872, 0.31913, 9.29099], [-0.388675, -0.522492, 0.758903, 1.93653], [-0.0016368, -0.823271, -0.567646, 1.43263], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.979611, -0.120432, 0.160804, 9.24817], [-0.200485, -0.637637, 0.743791, 1.9155], [0.0129584, -0.760864, -0.648782, 1.35463], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.983554, 0.135838, -0.11904, 9.12417], [0.178458, -0.629267, 0.756424, 2.06953], [0.027843, -0.765227, -0.643159, 1.35838], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.902566, 0.276167, -0.330313, 9.04796], [0.430544, -0.58364, 0.688474, 2.21564], [-0.00265036, -0.763608, -0.645675, 1.3496], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.685295, 0.50237, -0.527253, 9.02007], [0.72742, -0.437293, 0.528805, 2.36569], [0.0350917, -0.745921, -0.665109, 1.33225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.396803, 0.611687, -0.684388, 8.92806], [0.916934, -0.229879, 0.326172, 2.53135], [0.0421889, -0.756965, -0.652093, 1.32101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.0647533, 0.598846, -0.798242, 8.88054], [0.997861, -0.0316992, 0.0571657, 2.69131], [0.00892988, -0.800237, -0.599618, 1.38145], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.122096, 0.549077, -0.826805, 8.99951], [0.99235, 0.0521788, -0.11189, 2.6701], [-0.0182948, -0.834141, -0.551247, 1.43258], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.275136, 0.422925, -0.863386, 9.24789], [0.961387, 0.115401, -0.249838, 2.53979], [-0.0060271, -0.898787, -0.438345, 1.50763], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.291596, 0.307442, -0.905788, 9.2738], [0.956153, 0.0666728, -0.285179, 2.58322], [-0.0272846, -0.949228, -0.313403, 1.57394], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.382565, 0.372626, -0.845455, 9.30892], [0.923615, 0.130366, -0.360474, 2.5683], [-0.0241034, -0.918779, -0.394036, 1.52254], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.62187, 0.385755, -0.681521, 9.39088], [0.782869, 0.284181, -0.553495, 2.50885], [-0.0198379, -0.877744, -0.478719, 1.4919], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.847901, 0.272369, -0.454839, 9.48747], [0.529836, 0.405644, -0.7448, 2.45841], [-0.0183575, -0.872507, -0.488257, 1.46032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.968089, 0.123801, -0.217893, 9.55677], [0.250546, 0.497277, -0.830628, 2.45382], [0.00552043, -0.858714, -0.512426, 1.45162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.999669, 0.0156444, -0.0204335, 9.63069], [0.0255548, 0.509742, -0.859948, 2.44089], [-0.00303766, -0.860185, -0.509973, 1.44274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.999976, 0.00636999, 0.00258672, 9.81948], [0.00110272, 0.519974, -0.854182, 2.43069], [-0.00678617, -0.854159, -0.519968, 1.45914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.999413, 0.0169933, -0.0297473, 9.97341], [0.0339701, 0.604054, -0.796219, 2.48542], [0.00443855, -0.796763, -0.604276, 1.41257], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.999496, -0.0274453, 0.0159774, 10.0301], [-0.031035, 0.737451, -0.674688, 2.52654], [0.00673449, -0.674843, -0.73793, 1.34835], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.954298, 0.253474, -0.158323, 9.93525], [0.29584, 0.726124, -0.620664, 2.49488], [-0.0423604, -0.639136, -0.767926, 1.32281], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.761634, 0.50962, -0.400252, 9.78672], [0.647315, 0.569785, -0.506289, 2.50128], [-0.0299574, -0.644696, -0.763852, 1.31808], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.672423, 0.570319, -0.471788, 9.5472], [0.739078, 0.482784, -0.46977, 2.5496], [-0.0401469, -0.664572, -0.746145, 1.3191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.778088, 0.454576, -0.433519, 9.27135], [0.628068, 0.551527, -0.548952, 2.48629], [-0.0104427, -0.699413, -0.714642, 1.32955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.969718, 0.157909, -0.18631, 9.06201], [0.24298, 0.700789, -0.670713, 2.4119], [0.0246527, -0.695672, -0.717937, 1.32271], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.95454, -0.2543, 0.155514, 8.90152], [-0.291822, 0.690874, -0.661463, 2.42332], [0.0607699, -0.676775, -0.733677, 1.32871], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[-0.874131, -0.331544, 0.354928, 8.77126], [-0.482848, 0.514275, -0.708787, 2.4189], [0.0524635, -0.790949, -0.609629, 1.39587], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.99824, 0.0421886, 0.0416849, 8.48818], [-0.0121753, 0.542107, -0.840221, 2.36915], [-0.0580455, -0.83925, -0.540639, 1.42467], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[-0.807298, 0.351136, -0.474313, 8.22085], [0.58843, 0.41775, -0.692268, 2.38542], [-0.0449358, -0.837967, -0.543867, 1.41675], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[-0.617229, 0.404921, -0.674587, 8.04711], [0.78535, 0.265345, -0.559301, 2.54021], [-0.0474739, -0.875004, -0.481783, 1.43149], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[-0.450773, 0.411782, -0.791984, 7.88626], [0.890963, 0.153211, -0.427449, 2.57598], [-0.0546755, -0.898311, -0.435946, 1.44566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.230777, 0.431211, -0.872238, 7.63193], [0.972976, 0.109329, -0.203381, 2.71764], [0.0076611, -0.895603, -0.444789, 1.40921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.146709, 0.449325, -0.88124, 7.40575], [0.989172, 0.0630729, -0.132518, 2.57912], [-0.00396121, -0.891139, -0.453713, 1.42132], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.0219453, 0.465895, -0.884567, 7.13258], [0.999597, -0.00571311, -0.0278081, 2.30952], [-0.0180093, -0.884821, -0.465582, 1.43459], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.000704095, 0.441247, -0.897385, 6.74704], [0.997637, -0.0619704, -0.0296884, 2.07261], [-0.0687111, -0.895243, -0.440248, 1.43969], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.0848299, 0.463958, -0.881786, 6.32461], [0.994886, -0.0881334, 0.0493384, 2.01661], [-0.0548238, -0.881462, -0.469062, 1.42388], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.00147542, 0.454501, -0.890745, 5.86592], [0.999297, -0.0340402, -0.0157137, 1.99162], [-0.037463, -0.890096, -0.454232, 1.44152], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[-0.0621735, 0.476833, -0.876792, 5.49315], [0.997988, 0.0187856, -0.0605513, 2.08953], [-0.0124018, -0.878793, -0.477042, 1.44564], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.0822038, 0.502456, -0.860686, 5.16521], [0.996015, -0.0114522, 0.0884435, 2.14064], [0.0345822, -0.864527, -0.501395, 1.41002], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[0.0318965, 0.552919, -0.832624, 4.88302], [0.998126, 0.0259109, 0.0554431, 2.12054], [0.0522297, -0.832832, -0.551057, 1.38342], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[-0.460091, 0.518136, -0.721007, 4.59165], [0.887607, 0.288257, -0.359252, 2.03762], [0.0216936, -0.80526, -0.592525, 1.38531], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[-0.748136, 0.352425, -0.562217, 4.25589], [0.663496, 0.40764, -0.627378, 1.98843], [0.00807881, -0.842393, -0.538803, 1.40045], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.936332, 0.178471, -0.302375, 3.89326], [0.350799, 0.512121, -0.784011, 2.00048], [0.014929, -0.840167, -0.542122, 1.40791], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.984406, 0.0826003, -0.155311, 3.48765], [0.175266, 0.535996, -0.825827, 1.8735], [0.0150323, -0.84017, -0.542115, 1.39107], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.989294, -0.0809276, 0.121442, 3.12313], [-0.145936, 0.546963, -0.824339, 1.75207], [0.000287592, -0.833236, -0.552918, 1.41134], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.917788, -0.208286, 0.338055, 2.91874], [-0.396887, 0.507088, -0.765077, 1.49371], [-0.0120687, -0.836349, -0.548065, 1.4168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.660782, -0.420597, 0.621664, 2.82459], [-0.749945, 0.403969, -0.523823, 1.2857], [-0.0308146, -0.812347, -0.58236, 1.40214], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.385837, -0.51188, 0.767534, 2.82911], [-0.922566, 0.215034, -0.320363, 1.03474], [-0.00105837, -0.831709, -0.555211, 1.3941], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[0.0869642, -0.499829, 0.861747, 2.72288], [-0.996161, -0.0349368, 0.0802647, 0.722855], [-0.0100119, -0.865419, -0.500949, 1.43133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[0.308501, -0.465098, 0.829765, 2.79264], [-0.951222, -0.148948, 0.27017, 0.598551], [-0.00206375, -0.872639, -0.488362, 1.43538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[0.507469, -0.405871, 0.760094, 2.84884], [-0.861587, -0.251223, 0.441083, 0.516041], [0.0119304, -0.878724, -0.477181, 1.42266], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[0.612439, -0.383502, 0.691264, 2.82317], [-0.790464, -0.307371, 0.529803, 0.741937], [0.00929436, -0.87089, -0.49139, 1.41039], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[0.636138, -0.393047, 0.663959, 2.88383], [-0.771553, -0.31757, 0.55123, 1.13329], [-0.00580585, -0.862939, -0.505275, 1.36497], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[0.720118, -0.353186, 0.597235, 3.00245], [-0.693595, -0.389854, 0.605756, 1.50933], [0.0188895, -0.850455, -0.525708, 1.36], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[0.611188, -0.418938, 0.671521, 3.115], [-0.791184, -0.346794, 0.503747, 1.85962], [0.0218409, -0.839181, -0.543413, 1.36865], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[0.474218, -0.477175, 0.739879, 3.2516], [-0.880169, -0.2765, 0.385811, 2.04566], [0.0204772, -0.834178, -0.551116, 1.38238], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[0.375754, -0.521022, 0.766384, 3.21973], [-0.926713, -0.208039, 0.312928, 2.08756], [-0.00360483, -0.827802, -0.561009, 1.37835], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0744_00"}, {"annotation": [{"question_id": "test-scene0745-0", "question": "What shape does the monitor in the middle of the room have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-1", "question": "Where can a shelve be found?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-2", "question": "What is the shape of the shelve?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-3", "question": "Where is the deskstop located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-4", "question": "What is the shape of the deskstop?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-5", "question": "What is placed behind the computer keyboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-6", "question": "Where is a computer monitor placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-7", "question": "What is placed next to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-8", "question": "Where is a couch placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-9", "question": "What is placed on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-10", "question": "Where is a window with a brown frame placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-11", "question": "Where is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-12", "question": "What is placed next to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-13", "question": "Where is a computer chair placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-14", "question": "What is placed alongside the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-15", "question": "What is on the left of the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-16", "question": "What is on the ground under the brown desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-17", "question": "The trash can sits to the right of what chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-18", "question": "What color is the left monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-19", "question": "What color is the chair beside the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-20", "question": "What is on top of the brown wooden chair beside the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-21", "question": "What color knob does the door have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-22", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-23", "question": "Where is the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-24", "question": "What color is the trash can to the right of the recycling bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-25", "question": "What is on the counter in front of the black rolling chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-26", "question": "What is in front of the second computer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-27", "question": "Where is the red pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-28", "question": "The red pillow is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-29", "question": "What is located at the left edge of the brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-30", "question": "What is on the left side of the computer screen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-31", "question": "What is on the brown chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-32", "question": "How many monitors does the desk closest to the window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-33", "question": "The large window is located above what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-34", "question": "What sits on the wooden desk with a wooden chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-35", "question": "On what side of the desk does the monitor sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-36", "question": "What is next to the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-37", "question": "What is folded up on the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-38", "question": "What is sitting on a wooden desk right before the chair in an office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-39", "question": "On what side of the room are the monitors located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-40", "question": "The monitor sits next to what on the right side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-41", "question": "What is the window next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-42", "question": "How many separate panes of glass does the window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-43", "question": "What is in the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-44", "question": "Where is the computer chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-45", "question": "What is in front of a chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-46", "question": "What is on top of the brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-47", "question": "Where is the monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-48", "question": "What is next to the blue recycle can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-49", "question": "On what side of the brown table is the black computer on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-50", "question": "Where is the brown door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-51", "question": "Where is the computer tower located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-52", "question": "What is the wooden chair sitting next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-53", "question": "On which side of the room is the wooden chair positioned?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-54", "question": "What is the window above the black couch with the red pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-55", "question": "Where is the black couch with the red pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-56", "question": "Where is the brown door located in relation to the white shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-57", "question": "What color is the trash can sitting to the left of a chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-58", "question": "What color is the trash can, to the left of the white trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-59", "question": "How many monitors are sitting on the long, two seat desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-60", "question": "How many monitors is on the brown desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-61", "question": "What is next to the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-62", "question": "What is piled on top of the brown chair in the office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-63", "question": "How many jackets are in the brown chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-64", "question": "What color is the computer terminal on the carpeted floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-65", "question": "What is under the wooden desk that has a light wooden chair in front of it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-66", "question": "What is in front of a window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-67", "question": "What color is the trash bin in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-68", "question": "Where are the black office chairs sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-69", "question": "The black office chair is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-70", "question": "What type of chair is in front of the monitor that is on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-71", "question": "How many computer chairs are facing a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-72", "question": "On what side of the desk is a computer chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-73", "question": "What color is the chair on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-74", "question": "What is on the floor to the right of the computer chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-75", "question": "What shape is the table on the right of the computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-76", "question": "Where are the two rolling chairs located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-77", "question": "Where is the monitor on the desk from the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-78", "question": "On which side of the door is the shelving unit located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-79", "question": "What color is the table with the active monitor on top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-80", "question": "What is sitting on top of the dark brown computer table that is using power?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-81", "question": "What color is the bookcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-82", "question": "What color is the top of the large desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-83", "question": "What is next to the blue trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-84", "question": "On what side of the room is the wooden door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-85", "question": "What is located directly in front of the white board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-86", "question": "What type of chair is sitting by the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-87", "question": "What's in front of the wooden chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-88", "question": "On which side of a table is a bright pink monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-89", "question": "What type of chair is by the dark brown desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-90", "question": "Where is the fancy chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-91", "question": "Where is the office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-92", "question": "What is under the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0745-93", "question": "Where is the small table located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.68862, -0.469174, 0.552881, 4.65704], [-0.725121, 0.444449, -0.525988, 1.91666], [0.00105277, -0.763113, -0.646265, 1.49794], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.652635, -0.518945, 0.552054, 4.63454], [-0.757667, 0.444288, -0.478067, 1.90166], [0.00281917, -0.730277, -0.683146, 1.48722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.650716, -0.484578, 0.584596, 4.5958], [-0.75932, 0.414049, -0.501993, 1.87898], [0.00120343, -0.77055, -0.637378, 1.50932], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.636198, -0.420266, 0.647015, 4.58729], [-0.77152, 0.343238, -0.535672, 1.85894], [0.00304491, -0.839979, -0.542611, 1.56193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.628578, -0.362889, 0.687896, 4.59822], [-0.77772, 0.300526, -0.552118, 1.84173], [-0.0063731, -0.882041, -0.47113, 1.5955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.641429, -0.287327, 0.711345, 4.63072], [-0.767158, 0.232873, -0.597695, 1.848], [0.00608047, -0.929093, -0.369797, 1.64087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.645531, -0.218303, 0.731869, 4.65496], [-0.763718, 0.178439, -0.620398, 1.87064], [0.00484075, -0.959429, -0.28191, 1.68409], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.684479, -0.119825, 0.719118, 4.67825], [-0.729005, 0.120966, -0.673735, 1.87742], [-0.00625843, -0.985398, -0.170151, 1.75331], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.743189, -0.0516119, 0.667088, 4.70336], [-0.667752, -0.00560372, -0.744363, 1.90228], [0.0421562, -0.998652, -0.0302993, 1.8192], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.816943, -0.0156864, 0.576505, 4.75779], [-0.575518, -0.0422837, -0.816695, 1.89033], [0.0371877, -0.998982, 0.0255156, 1.896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.841675, -0.00484588, 0.539962, 4.91604], [-0.538154, -0.0747279, -0.839527, 1.79812], [0.0444184, -0.997192, 0.0602888, 1.90948], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.893996, -0.0714052, 0.442347, 5.06569], [-0.445033, 0.0266895, -0.895116, 1.77514], [0.0521099, -0.99709, -0.055638, 1.87198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.948065, -0.0879076, 0.305688, 5.13592], [-0.317147, 0.187817, -0.929593, 1.87612], [0.0243049, -0.978262, -0.205942, 1.78597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.948992, -0.109769, 0.295577, 5.11422], [-0.315235, 0.311045, -0.896592, 1.90001], [0.00647999, -0.944035, -0.329782, 1.68968], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.947682, -0.15738, 0.277722, 5.08782], [-0.319126, 0.446592, -0.835891, 1.91113], [0.00752448, -0.880788, -0.473452, 1.59334], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.985523, -0.0932184, 0.141612, 5.13419], [-0.169358, 0.579846, -0.796929, 1.85622], [-0.00782448, -0.809376, -0.587239, 1.50094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.995797, 0.0802114, -0.0442156, 5.14222], [0.0875691, 0.692302, -0.716275, 1.81577], [-0.0268429, -0.717136, -0.696416, 1.42359], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.95306, 0.250603, -0.169923, 5.04025], [0.299881, 0.703793, -0.644008, 1.80964], [-0.0417998, -0.664736, -0.745908, 1.39208], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.974561, 0.174226, -0.140978, 4.85184], [0.223879, 0.727622, -0.648417, 1.82317], [-0.0103922, -0.663484, -0.748118, 1.38244], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.99936, -0.0241376, 0.0263997, 4.63391], [-0.0357323, 0.707967, -0.705341, 1.75185], [-0.00166482, -0.705833, -0.708376, 1.41815], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.962368, -0.202341, 0.181398, 4.47955], [-0.270811, 0.658719, -0.701962, 1.54084], [0.0225456, -0.724671, -0.688726, 1.44559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.795918, -0.415735, 0.440089, 4.26517], [-0.605074, 0.522263, -0.600938, 1.49709], [0.0199889, -0.744584, -0.667229, 1.41629], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.772042, -0.388825, 0.502758, 4.13947], [-0.635267, 0.496541, -0.591508, 1.5781], [-0.0196473, -0.776056, -0.630359, 1.28966], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.705185, -0.337549, 0.623518, 3.98774], [-0.707896, 0.384757, -0.592322, 1.65155], [-0.0399655, -0.859082, -0.510275, 1.10633], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.720077, -0.291718, 0.629595, 3.91216], [-0.693144, 0.344581, -0.6331, 1.7056], [-0.0322602, -0.892281, -0.450328, 0.81626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.743718, -0.321809, 0.585937, 3.87323], [-0.666483, 0.424882, -0.612597, 1.72227], [-0.0518151, -0.846117, -0.530473, 0.704527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.849691, -0.308329, 0.427736, 3.79668], [-0.526916, 0.526683, -0.667056, 1.61657], [-0.0196085, -0.792173, -0.609982, 0.742428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.925656, -0.309834, 0.217172, 3.87137], [-0.378357, 0.761837, -0.525785, 1.45805], [-0.00254378, -0.568865, -0.822427, 1.00737], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.98136, -0.160089, 0.106322, 4.00369], [-0.18857, 0.908856, -0.372052, 1.29437], [-0.0370702, -0.385166, -0.922103, 1.16516], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.978288, 0.203286, -0.0403314, 4.13647], [0.205847, 0.930508, -0.302955, 1.15319], [-0.0240578, -0.30468, -0.952151, 1.18698], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.76306, 0.616687, -0.193483, 4.20905], [0.644171, 0.701203, -0.305545, 1.15633], [-0.0527548, -0.357786, -0.932312, 1.21289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.679688, 0.625398, -0.383277, 4.15054], [0.732945, 0.558725, -0.388096, 1.32379], [-0.0285681, -0.544705, -0.838141, 1.30758], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.631344, 0.572642, -0.522958, 4.10687], [0.772514, 0.405253, -0.488867, 1.51367], [-0.0680155, -0.712636, -0.698229, 1.4271], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.602971, 0.446403, -0.661173, 4.06994], [0.793196, 0.246916, -0.556661, 1.58808], [-0.0852408, -0.860091, -0.502969, 1.56008], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.590559, 0.312603, -0.743989, 4.11256], [0.801358, 0.118397, -0.58635, 1.57928], [-0.0952085, -0.942476, -0.320427, 1.65575], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.522955, 0.182963, -0.832492, 4.08805], [0.848027, 0.0133259, -0.529785, 1.46634], [-0.0858372, -0.98303, -0.162126, 1.70604], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.371019, 0.113548, -0.921657, 4.05045], [0.926893, -0.0153126, -0.375013, 1.36926], [-0.0566951, -0.993415, -0.0995656, 1.71723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.239358, 0.258017, -0.93602, 4.03653], [0.968033, -0.0110114, -0.25058, 1.36145], [-0.0749609, -0.966078, -0.247134, 1.71412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.188165, 0.453589, -0.871121, 3.86341], [0.977662, 0.00193226, -0.210172, 1.36167], [-0.0936485, -0.891209, -0.443821, 1.58022], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.160706, 0.566938, -0.807932, 3.57145], [0.984671, 0.0358661, -0.170693, 1.32826], [-0.0677949, -0.822979, -0.564012, 1.51544], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.0419931, 0.621486, -0.782299, 3.24284], [0.996536, -0.0823084, -0.0118955, 1.27131], [-0.0717826, -0.779089, -0.62279, 1.47057], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.306574, 0.608012, -0.732348, 3.06131], [0.95019, -0.240862, 0.197797, 1.44963], [-0.056132, -0.75651, -0.651569, 1.43362], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.467913, 0.573661, -0.672288, 2.93], [0.883387, -0.32611, 0.33657, 1.68228], [-0.0261628, -0.751376, -0.659356, 1.43484], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.701457, 0.447753, -0.554505, 2.71265], [0.712503, -0.459388, 0.530379, 1.86469], [-0.0172539, -0.767125, -0.641266, 1.45334], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.776964, 0.355446, -0.5196, 2.60177], [0.62895, -0.474139, 0.616128, 1.99281], [-0.027362, -0.805512, -0.591947, 1.50415], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.760815, 0.290699, -0.58022, 2.6045], [0.648967, -0.338527, 0.681352, 2.21407], [0.00164797, -0.894927, -0.44621, 1.59448], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.751679, 0.197304, -0.629325, 2.59926], [0.65937, -0.245765, 0.710514, 2.3137], [-0.0144785, -0.949037, -0.314833, 1.70738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.855082, 0.111664, -0.506326, 2.65937], [0.51705, -0.256427, 0.816642, 2.25625], [-0.0386461, -0.960092, -0.277002, 1.75101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.911145, 0.150931, -0.38345, 2.77684], [0.411662, -0.375502, 0.830381, 2.1792], [-0.0186559, -0.91445, -0.404269, 1.64447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.87284, 0.259957, -0.413004, 2.99129], [0.487144, -0.413837, 0.769044, 2.08535], [0.0290022, -0.872446, -0.48785, 1.54221], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.898674, 0.255454, -0.35655, 3.13639], [0.438601, -0.530271, 0.725563, 2.09557], [-0.00371993, -0.808428, -0.588583, 1.41694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.940434, 0.222719, -0.256866, 3.26], [0.339938, -0.627373, 0.700603, 2.1688], [-0.00511292, -0.746189, -0.665714, 1.33658], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.954012, 0.223969, -0.199244, 3.35377], [0.298808, -0.657387, 0.691777, 2.28533], [0.0239561, -0.7195, -0.694079, 1.32352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.898018, 0.360937, -0.251572, 3.45645], [0.434409, -0.636894, 0.636909, 2.46156], [0.0696588, -0.681242, -0.728737, 1.31778], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.681624, 0.557444, -0.473966, 3.70544], [0.727382, -0.44594, 0.521587, 2.47295], [0.0793954, -0.700281, -0.709439, 1.3404], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.606274, 0.541653, -0.582274, 4.00904], [0.794859, -0.389627, 0.465177, 2.44789], [0.0250948, -0.744851, -0.666759, 1.33194], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.472827, 0.602968, -0.642545, 4.29387], [0.880768, -0.3018, 0.364917, 2.35931], [0.0261132, -0.738476, -0.673774, 1.33536], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.254474, 0.628925, -0.73464, 4.53313], [0.966966, -0.153864, 0.203227, 2.23488], [0.0147801, -0.762088, -0.647304, 1.28968], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.325999, 0.616637, -0.716577, 4.65763], [0.945297, -0.22209, 0.238937, 2.14505], [-0.0118073, -0.755271, -0.655306, 1.20422], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.465981, 0.54679, -0.695616, 4.71525], [0.884681, -0.300508, 0.356418, 2.12879], [-0.0141528, -0.781483, -0.623766, 0.927192], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.628045, 0.41988, -0.655179, 4.69622], [0.778162, -0.333615, 0.532133, 2.15936], [0.004854, -0.844039, -0.53626, 0.686836], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.804712, 0.307681, -0.507712, 4.71394], [0.593588, -0.403123, 0.696524, 2.26955], [0.00963692, -0.861873, -0.507033, 0.639718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.88079, 0.293027, -0.371946, 4.68431], [0.471596, -0.472369, 0.744623, 2.33039], [0.0424992, -0.831266, -0.554249, 0.78969], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.931306, 0.250442, -0.264478, 4.60611], [0.36336, -0.58841, 0.722318, 2.36594], [0.025277, -0.7688, -0.63899, 1.14002], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.956806, 0.184548, -0.224644, 4.46907], [0.290716, -0.600253, 0.745104, 2.42465], [0.00266407, -0.778228, -0.627977, 1.35705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.987409, 0.0896939, -0.130302, 4.26533], [0.158178, -0.569318, 0.806757, 2.3852], [-0.00182226, -0.81721, -0.576337, 1.47704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.998464, -0.0479333, -0.0277809, 4.12159], [-0.00273049, -0.543408, 0.839464, 2.38296], [-0.0553347, -0.838099, -0.542704, 1.51795], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.99466, -0.0701195, 0.0757166, 4.09868], [-0.102491, -0.585469, 0.804189, 2.50207], [-0.0120596, -0.807656, -0.58953, 1.4981], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.996268, -0.0496684, 0.070594, 4.15491], [-0.0858505, -0.655016, 0.750722, 2.52845], [0.00895301, -0.753981, -0.656836, 1.45638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.999624, 0.0274012, 0.000250846, 4.23629], [0.0202905, -0.746309, 0.66529, 2.43436], [0.0184169, -0.665035, -0.746585, 1.3696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.975155, 0.199387, -0.0965257, 4.35696], [0.217429, -0.778108, 0.589297, 2.24771], [0.042391, -0.595644, -0.802129, 1.33374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.955888, 0.228724, -0.184292, 4.43395], [0.291469, -0.816337, 0.498639, 2.13583], [-0.0363935, -0.530358, -0.846992, 1.29737], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.997558, 0.0393087, -0.0577274, 4.26175], [0.0638728, -0.8478, 0.526456, 2.04266], [-0.028247, -0.528858, -0.84824, 1.32009], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.959905, -0.276397, 0.0467763, 4.01076], [-0.268175, -0.856823, 0.440381, 2.05891], [-0.0816409, -0.435268, -0.896592, 1.29573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.788287, -0.581205, 0.201999, 3.83531], [-0.614959, -0.733126, 0.290435, 2.20868], [-0.0207115, -0.353167, -0.935331, 1.28047], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.312431, -0.888962, 0.334864, 3.70068], [-0.949928, -0.290613, 0.114804, 2.29784], [-0.00474092, -0.353965, -0.935247, 1.2862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.131697, -0.925461, 0.355215, 3.65356], [-0.990968, 0.113774, -0.0709815, 2.40646], [0.0252761, -0.361355, -0.932086, 1.26514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.605183, -0.721251, 0.336972, 3.60077], [-0.795844, 0.537687, -0.278432, 2.48505], [0.0196338, -0.43668, -0.899403, 1.30264], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.694724, -0.575083, 0.432015, 3.56357], [-0.719195, 0.564416, -0.405207, 2.5174], [-0.0108088, -0.592211, -0.805711, 1.39744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.655581, -0.477091, 0.585319, 3.49797], [-0.754572, 0.44355, -0.483615, 2.55288], [-0.0288893, -0.758714, -0.650783, 1.50787], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.685252, -0.330524, 0.648987, 3.57274], [-0.726127, 0.378932, -0.573715, 2.56542], [-0.0562954, -0.864387, -0.499666, 1.61773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.689363, -0.206148, 0.694465, 3.64964], [-0.721502, 0.281285, -0.632703, 2.60192], [-0.0649125, -0.93722, -0.342644, 1.67983], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.68596, -0.140175, 0.714009, 3.6697], [-0.727099, 0.169849, -0.665191, 2.60944], [-0.0280309, -0.97545, -0.218431, 1.73728], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0745_00"}, {"annotation": [{"question_id": "test-scene0746-0", "question": "What is the shape of the pegs on the back of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-1", "question": "How tall is the cabinet that opens up like a door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-2", "question": "What is underneath the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-3", "question": "How many doors open under the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-4", "question": "How many chairs are parked under the plastic table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-5", "question": "What shape is the plastic table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-6", "question": "What color does the plastic table look?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-7", "question": "What is beside a stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-8", "question": "Where is the chair that is closest to the stove located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-9", "question": "What is located above the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-10", "question": "What is located beside kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-11", "question": "Where is the stove located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-12", "question": "What color are kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-13", "question": "Where is a tall kitchen cabinet placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-14", "question": "What object is on the floor just to the left of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-15", "question": "What color is a microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-16", "question": "Where is a dark coloured microwave stored?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-17", "question": "What color is the kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-18", "question": "What color is the dinning table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-19", "question": "What is located behind the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-20", "question": "What's in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-21", "question": "What is hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-22", "question": "How is a kitchen cabinet mounted on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-23", "question": "What is on top of the oven?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-24", "question": "Where is a stove located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-25", "question": "What is placed below the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-26", "question": "What is open and hangs on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-27", "question": "What type of chair is in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-28", "question": "What shape is the kitchen counter beside the dining table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-29", "question": "Is the stove sitting between two counter tops?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-30", "question": "What color are the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-31", "question": "What is inside the open cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-32", "question": "What color is the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-33", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-34", "question": "What is under the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-35", "question": "What type of chair is on the right side of the kitchen table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-36", "question": "Where is the little desk with drawers located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-37", "question": "What color is the desk in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-38", "question": "How many wooden chairs are tucked under the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-39", "question": "What color is the stove opposite the kitchen table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-40", "question": "The stove is below and to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-41", "question": "What color kitchen cabinets are above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-42", "question": "What color is the table at the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-43", "question": "Where is the microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-44", "question": "What is attached to the top part of the wall over the counter with all of the food on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-45", "question": "What is next to the brown chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-46", "question": "How many chairs are near the white table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-47", "question": "What color is the kitchen cabinet that is close to the ceiling?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-48", "question": "What part of of the kitchen cabinet can be opened?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-49", "question": "What is on the counter of a kitchen cabinet with a drawer on top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-50", "question": "What has the majority of plates and items sitting on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-51", "question": "What item sits near the kitchen cabinets over and to the left of the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-52", "question": "How many kitchen cabinets are under the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-53", "question": "How many sinks are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-54", "question": "How many wooden chairs are in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-55", "question": "What color is the table in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-56", "question": "How many chairs are right next to the table in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-57", "question": "What color is the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-58", "question": "What is next to the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-59", "question": "What kind of cabinets are on the wall where the microwave is sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-60", "question": "Where is the wooden chair sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-61", "question": "What is hanging on the wall next to the two kitchen windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-62", "question": "On what side of the sink is the kitchen cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-63", "question": "What type of chair is located in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-64", "question": "Where is the kitchen cabinet hanging?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-65", "question": "On what side of the kitchen is the small kitchen cabinet hanging?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-66", "question": "On what side of the sink is the small kitchen cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-67", "question": "What is the microwave suspended above?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-68", "question": "What is in between two other chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-69", "question": "What section of the kitchen cabinet is above the green thermal cup?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-70", "question": "Where is the top section kitchen cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-71", "question": "The stove is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-72", "question": "The stove is beside what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-73", "question": "What is hanging directly in front of a cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-74", "question": "Where is the open cabinet door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-75", "question": "Where is the chair pushed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-76", "question": "What is the position of the chair to the right of the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-77", "question": "Where is the brown and white wooden kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-78", "question": "Where is a large wooden brown kitchen cabinets with gold knobs located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-79", "question": "Where is the wooden brown chair with spoke back located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-80", "question": "What color is the table that is surrounded by the brown wooden chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-81", "question": "What is by the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-82", "question": "What kind of cabinets are by the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-83", "question": "Where are the large kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-84", "question": "Is a chair pulled out ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-85", "question": "What is in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-86", "question": "What is located next to the chair and tables?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-87", "question": "What is the chair made of in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-88", "question": "In what part of the room is the solo wooden chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-89", "question": "What is located above the kitchen counter top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-90", "question": "What color are the cabinets in a kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-91", "question": "What color are the chairs in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0746-92", "question": "On what side of the counter top are the large brown wooden kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.424824, -0.338827, 0.839477, 3.0184], [-0.90524, -0.150701, 0.397279, 4.46082], [-0.00809878, -0.928701, -0.370741, 1.45433], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.209719, -0.343803, 0.915324, 3.18395], [-0.977689, -0.0851663, 0.192019, 4.52899], [0.0119382, -0.935172, -0.353993, 1.4721], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.0269496, -0.333122, 0.942499, 3.43769], [-0.999637, 0.00941847, -0.0252546, 4.57821], [-0.000464022, -0.942837, -0.333254, 1.48768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.323987, -0.307482, 0.8947, 3.69698], [-0.946031, 0.112966, -0.303752, 4.62702], [-0.00767246, -0.944825, -0.327487, 1.46183], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.555963, -0.29783, 0.776018, 4.03766], [-0.831196, 0.20402, -0.517193, 4.55474], [-0.00428781, -0.932563, -0.360982, 1.48213], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.829685, -0.196488, 0.522509, 4.24477], [-0.558202, 0.301789, -0.772874, 4.47151], [-0.00582683, -0.932907, -0.36007, 1.452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.983148, -0.0414677, 0.178049, 4.30904], [-0.181232, 0.348962, -0.919446, 4.35234], [-0.0240051, -0.936219, -0.350596, 1.45601], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.996012, 0.0500043, -0.0739042, 4.24344], [0.0869589, 0.358206, -0.929585, 4.33483], [-0.0200103, -0.932303, -0.361125, 1.45105], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.949007, 0.143742, -0.280581, 4.11788], [0.313904, 0.348464, -0.883197, 4.29329], [-0.0291797, -0.926235, -0.375816, 1.44869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.781845, 0.279958, -0.557085, 4.14164], [0.620444, 0.26138, -0.739412, 4.19612], [-0.061394, -0.923745, -0.378056, 1.44597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.598035, 0.356311, -0.717912, 4.02202], [0.795607, 0.155767, -0.585447, 4.11395], [-0.0967746, -0.921292, -0.376637, 1.43049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.135087, 0.397529, -0.907592, 3.95278], [0.987706, -0.0186988, -0.155202, 3.95954], [-0.078668, -0.917399, -0.390115, 1.42738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.11741, 0.36638, -0.923029, 3.82545], [0.990484, -0.110419, 0.0821612, 3.98383], [-0.0718179, -0.923891, -0.375857, 1.44795], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.429761, 0.338017, -0.837287, 3.70549], [0.902577, -0.187189, 0.387704, 3.99447], [-0.0256801, -0.922337, -0.385533, 1.43717], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.689706, 0.266281, -0.673351, 3.69674], [0.724069, -0.246574, 0.644147, 4.05166], [0.00549355, -0.931824, -0.362869, 1.4493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.820335, 0.212496, -0.53094, 3.74156], [0.571768, -0.323427, 0.753974, 4.11129], [-0.0115038, -0.922085, -0.386816, 1.46324], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.88823, 0.182805, -0.421463, 3.76942], [0.459131, -0.321827, 0.828026, 4.15604], [0.0157293, -0.928983, -0.369787, 1.45431], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.957109, 0.0644015, -0.282482, 3.66454], [0.288828, -0.135186, 0.947789, 4.23429], [0.0228512, -0.988725, -0.147989, 1.41155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.973675, -0.0360613, -0.225073, 3.60945], [0.227036, 0.0654382, 0.971686, 4.288], [-0.0203119, -0.997205, 0.0719027, 1.27885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.986647, -0.0640034, -0.149772, 3.62564], [0.147573, -0.0378187, 0.988328, 4.35863], [-0.0689205, -0.997233, -0.0278685, 1.24611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.998307, -0.050279, 0.0292472, 3.42302], [-0.0441441, -0.327473, 0.943829, 4.3523], [-0.0378771, -0.943522, -0.329138, 1.33452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.959384, -0.132171, 0.249226, 3.3414], [-0.28074, -0.534108, 0.797442, 4.42298], [0.0277149, -0.835021, -0.54952, 1.44367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.884322, -0.242241, 0.399117, 3.21143], [-0.465079, -0.53204, 0.707556, 4.49744], [0.0409472, -0.811328, -0.583156, 1.48676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.935052, -0.206593, 0.288095, 3.20634], [-0.354137, -0.506924, 0.785886, 4.51692], [-0.0163161, -0.836868, -0.547161, 1.50521], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.997328, -0.0338241, -0.0647613, 3.45724], [0.0402438, -0.485483, 0.87332, 4.46462], [-0.0609797, -0.873592, -0.482824, 1.51394], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.957203, 0.0386494, -0.286827, 3.87864], [0.270484, -0.472041, 0.839057, 4.53746], [-0.102965, -0.880729, -0.462293, 1.52007], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.831189, 0.135194, -0.539303, 4.34565], [0.542355, -0.410657, 0.732948, 4.52598], [-0.122379, -0.901712, -0.414656, 1.53017], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.635128, 0.280093, -0.719834, 4.68445], [0.765781, -0.350146, 0.539424, 4.69813], [-0.100958, -0.893838, -0.436877, 1.49655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.464704, 0.348434, -0.81403, 4.91266], [0.884678, -0.221496, 0.410227, 4.71838], [-0.0373673, -0.910788, -0.411181, 1.46206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.645196, 0.182556, -0.741887, 4.79869], [0.762508, -0.0928447, 0.640283, 4.50542], [0.0480075, -0.978802, -0.199104, 1.48768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.670534, 0.0724738, -0.738331, 4.75722], [0.735058, 0.0697473, 0.674408, 4.30501], [0.100373, -0.994929, -0.00650445, 1.56162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.644042, -0.0334076, -0.76426, 4.7936], [0.759814, 0.143952, 0.634003, 4.23673], [0.088836, -0.989021, 0.118094, 1.60404], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.746349, 0.0489362, -0.663754, 4.55404], [0.656184, 0.11267, 0.746143, 4.13392], [0.111298, -0.992427, 0.0519796, 1.57766], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.809619, 0.0401102, -0.585585, 4.24493], [0.584065, 0.0438665, 0.810522, 4.18812], [0.0581976, -0.998232, 0.0120882, 1.58836], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.591814, -0.0239229, -0.80572, 3.91121], [0.804216, 0.0853737, 0.588175, 4.08181], [0.0547164, -0.996062, 0.0697645, 1.60191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.364989, 0.0970004, -0.925946, 3.67443], [0.930926, -0.0515639, 0.36155, 4.22052], [-0.0126749, -0.993948, -0.10912, 1.50067], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.239786, 0.362492, -0.900613, 3.4303], [0.97061, -0.109073, 0.214522, 4.41111], [-0.0204706, -0.925583, -0.377992, 1.48046], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.139461, 0.532649, -0.834767, 3.01078], [0.989955, -0.0552033, 0.130164, 4.53937], [0.0232496, -0.844534, -0.534997, 1.4928], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.0223101, 0.502157, -0.864489, 2.59456], [0.999057, 0.0210246, 0.0379956, 4.6229], [0.0372552, -0.864521, -0.501214, 1.52617], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.037824, 0.493734, -0.86879, 2.16601], [0.998628, 0.0501788, -0.01496, 4.70735], [0.0362085, -0.868164, -0.494955, 1.56738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.251302, 0.457864, -0.852765, 1.89686], [0.964965, 0.187179, -0.183867, 4.93836], [0.0754331, -0.869094, -0.488861, 1.54582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.167362, 0.601034, -0.781505, 1.78013], [0.978623, 0.197388, -0.0577696, 5.17409], [0.119538, -0.774466, -0.621219, 1.50858], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.0734389, 0.672878, -0.7361, 1.78272], [0.992567, 0.0225142, 0.119607, 5.21855], [0.0970532, -0.739412, -0.666222, 1.52847], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.138616, 0.782318, -0.60726, 1.87041], [0.990341, -0.107383, 0.087722, 5.19333], [0.00341719, -0.613554, -0.789646, 1.39507], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.209972, 0.692746, -0.689939, 1.99018], [0.973685, 0.084214, -0.211769, 5.31988], [-0.0885993, -0.716249, -0.692198, 1.1757], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.305926, 0.710901, -0.63327, 1.9979], [0.933401, 0.092928, -0.346596, 5.38499], [-0.187546, -0.697126, -0.691984, 1.07644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.409241, 0.551588, -0.726825, 1.87027], [0.911996, 0.2228, -0.344419, 5.25444], [-0.0280404, -0.803811, -0.594224, 1.30487], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.504984, 0.307718, -0.806413, 1.84915], [0.861558, 0.236048, -0.449443, 5.39243], [0.0520507, -0.921733, -0.384317, 1.53264], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.439221, -0.00415093, -0.89837, 1.85894], [0.894704, 0.0883478, -0.437837, 5.38786], [0.0811864, -0.996081, -0.0350902, 1.65211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.473518, -0.177029, -0.862811, 1.86698], [0.873644, 0.0300917, -0.485637, 5.37928], [0.111935, -0.983746, 0.140411, 1.6962], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.551675, -0.288835, -0.782451, 1.87407], [0.82492, -0.0504508, -0.562995, 5.38016], [0.123137, -0.956049, 0.266098, 1.72441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.759329, -0.299463, -0.577704, 1.87615], [0.627316, -0.100985, -0.772191, 5.38018], [0.172903, -0.948749, 0.264539, 1.7323], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.901702, -0.202409, -0.382054, 1.94273], [0.410213, -0.121324, -0.903884, 5.20948], [0.136601, -0.971757, 0.192429, 1.69271], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.995114, -0.0725534, -0.066968, 1.85697], [0.0761955, -0.13295, -0.98819, 5.11989], [0.0627931, -0.988464, 0.137829, 1.67533], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.997586, -0.032843, 0.0612001, 1.75751], [-0.0628928, 0.0532545, -0.996599, 5.08395], [0.0294721, -0.998041, -0.0551914, 1.626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.990886, -0.0876683, 0.102272, 1.87051], [-0.124833, 0.312333, -0.941736, 5.06473], [0.0506174, -0.945919, -0.32043, 1.57227], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.901362, -0.197971, 0.385169, 1.86483], [-0.432599, 0.452968, -0.779538, 5.00644], [-0.0201433, -0.869268, -0.49393, 1.51732], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.650616, -0.278872, 0.70635, 1.93871], [-0.759255, 0.257553, -0.597662, 4.92191], [-0.0152511, -0.925147, -0.379302, 1.55541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.398647, -0.192433, 0.896689, 1.98221], [-0.916297, 0.0425547, -0.398232, 4.74672], [0.0384747, -0.980387, -0.19329, 1.56694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.0301069, -0.12339, 0.991902, 1.87456], [-0.999529, -0.00964869, 0.029138, 4.42315], [0.00597516, -0.992311, -0.123622, 1.63058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.100863, -0.0635559, 0.992869, 1.82907], [-0.992806, -0.0711587, 0.0963017, 4.19683], [0.0645306, -0.995438, -0.070276, 1.61936], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.123501, -0.379902, 0.916746, 1.74713], [-0.989098, -0.0275384, -0.14466, 4.0923], [0.0802023, -0.924617, -0.372359, 1.51075], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.0421596, -0.600549, 0.798477, 1.69129], [-0.998691, 0.0484954, -0.0162568, 3.84805], [-0.0289593, -0.798117, -0.601807, 1.49245], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.231277, -0.60423, 0.762508, 1.72423], [-0.971783, 0.106132, -0.210651, 3.5202], [0.0463552, -0.789711, -0.611726, 1.48424], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.193549, -0.539483, 0.81945, 1.64235], [-0.981079, 0.102384, -0.164321, 3.09358], [0.00474969, -0.835749, -0.549092, 1.50671], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.11389, -0.62384, 0.77321, 1.70115], [-0.99348, 0.0674099, -0.0919472, 2.77636], [0.00523856, -0.77864, -0.627449, 1.46733], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.0280114, -0.799967, 0.599391, 1.61366], [-0.999604, -0.0208274, 0.0189175, 2.6176], [-0.00264952, -0.599683, -0.800233, 1.44118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.191834, -0.698918, 0.688995, 1.5445], [-0.979858, -0.0966975, 0.174727, 2.62509], [-0.0554958, -0.708635, -0.70339, 1.45467], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.217755, -0.522342, 0.824465, 1.59211], [-0.975992, -0.112406, 0.186561, 2.63882], [-0.00477326, -0.845295, -0.534278, 1.50637], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.239411, -0.454115, 0.858174, 1.67726], [-0.967993, -0.180208, 0.174688, 2.89193], [0.075321, -0.872528, -0.482723, 1.51675], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.357115, -0.437245, 0.825401, 1.76214], [-0.932958, -0.209899, 0.292459, 3.25578], [0.0453751, -0.874505, -0.482889, 1.51042], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.180996, -0.529054, 0.829062, 1.68818], [-0.982699, -0.130974, 0.130958, 3.76138], [0.0393018, -0.83842, -0.543606, 1.49261], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.253057, -0.646616, 0.719618, 1.81741], [-0.967447, 0.166832, -0.190299, 4.14687], [0.00299558, -0.744349, -0.667784, 1.4273], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.702363, -0.458606, 0.544397, 1.8813], [-0.71182, 0.453145, -0.536631, 4.37016], [-0.000588149, -0.764422, -0.644716, 1.43253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.836071, -0.282248, 0.470449, 1.901], [-0.548598, 0.438061, -0.71214, 4.60998], [-0.00508502, -0.853486, -0.521091, 1.45852], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.799992, -0.356132, 0.48289, 1.93163], [-0.599165, 0.431449, -0.674428, 4.74415], [0.0318436, -0.828868, -0.558537, 1.42259], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.746934, -0.442598, 0.496183, 2.17477], [-0.66465, 0.476602, -0.575406, 4.77481], [0.0181918, -0.759578, -0.650162, 1.43447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.72608, -0.396444, 0.56182, 2.56447], [-0.687574, 0.427127, -0.587201, 4.78283], [-0.00717634, -0.812647, -0.582712, 1.46048], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.682931, -0.415606, 0.600731, 3.06156], [-0.730338, 0.404868, -0.550172, 4.74879], [-0.0145617, -0.814466, -0.580029, 1.46675], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.77316, -0.39553, 0.495763, 3.56401], [-0.63416, 0.49215, -0.596347, 4.66177], [-0.00811619, -0.775465, -0.631339, 1.43095], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.726692, -0.435285, 0.531457, 4.03864], [-0.686952, 0.455871, -0.565932, 4.64688], [0.00406572, -0.776343, -0.630298, 1.42356], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.618871, -0.47157, 0.628189, 4.5097], [-0.784254, 0.415863, -0.46044, 4.64885], [-0.0441108, -0.777612, -0.627196, 1.40694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.760603, -0.372009, 0.532065, 4.93894], [-0.648682, 0.468762, -0.599562, 4.5603], [-0.0263697, -0.801169, -0.597857, 1.42791], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.806572, -0.248612, 0.536317, 5.22925], [-0.59102, 0.357207, -0.723256, 4.52357], [-0.011766, -0.900331, -0.435047, 1.48312], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.788125, -0.147163, 0.597665, 5.25664], [-0.615437, 0.204033, -0.761321, 4.51297], [-0.00990471, -0.96784, -0.251373, 1.50854], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.626744, 0.0838833, 0.774698, 5.10923], [-0.779111, -0.0503653, -0.62486, 4.40167], [-0.0133975, -0.995202, 0.0969204, 1.56502], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.335922, 0.0761345, 0.938808, 4.91184], [-0.941591, -0.00201947, -0.336754, 4.45376], [-0.0237428, -0.997096, 0.0723659, 1.58566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.00352779, -0.177579, 0.984101, 4.70184], [-0.999759, 0.020705, 0.00732008, 4.41684], [-0.0216757, -0.983889, -0.177463, 1.53204], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.320002, -0.272698, 0.907323, 4.52496], [-0.947106, -0.067543, 0.313733, 4.41488], [-0.0242709, -0.959726, -0.279887, 1.52121], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.385597, -0.375489, 0.842807, 4.32408], [-0.920524, -0.0943238, 0.379131, 4.79143], [-0.0628627, -0.922015, -0.382018, 1.45716], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.471563, -0.34678, 0.810785, 4.21936], [-0.880078, -0.127099, 0.457503, 4.9], [-0.055603, -0.929295, -0.365129, 1.46357], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.286278, -0.0604158, 0.956241, 4.17948], [-0.958139, -0.0221009, 0.285449, 4.96259], [0.00388809, -0.997929, -0.0642138, 1.57522], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.335141, 0.0977496, 0.937084, 4.20802], [-0.941974, 0.0549661, 0.331156, 4.89538], [-0.0191374, -0.993692, 0.110499, 1.63692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.458977, -0.323885, 0.827309, 4.3214], [-0.882882, -0.0621947, 0.465459, 4.73299], [-0.0993009, -0.94405, -0.314498, 1.52125], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.592297, -0.443835, 0.672455, 4.54492], [-0.804388, -0.277758, 0.525177, 4.5658], [-0.0463124, -0.851975, -0.521531, 1.45402], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.850663, -0.302899, 0.42968, 4.73313], [-0.525318, -0.458138, 0.717043, 4.16324], [-0.0203392, -0.83568, -0.54884, 1.35246], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.950496, -0.108406, 0.291214, 5.00895], [-0.310577, -0.361554, 0.879102, 4.00875], [0.00999002, -0.926027, -0.377324, 1.34855], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.995457, 0.063254, 0.0711705, 5.27732], [-0.0594098, -0.171508, 0.98339, 4.09697], [0.0744096, -0.98315, -0.166971, 1.46584], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.992002, 0.0866997, -0.0917355, 5.42625], [0.0766198, 0.163944, 0.98349, 4.08832], [0.100308, -0.982652, 0.15599, 1.55736], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.984447, 0.09904, 0.145105, 5.34404], [-0.154096, 0.0901125, 0.983939, 4.1295], [0.0843734, -0.990995, 0.103973, 1.55444], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.938143, 0.0325786, 0.344713, 5.32538], [-0.339464, -0.109579, 0.934215, 4.12851], [0.0682087, -0.993444, -0.0917417, 1.51551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.997267, 0.0691226, 0.0261092, 5.64899], [-0.019015, -0.101371, 0.994667, 4.03166], [0.0714007, -0.992444, -0.09978, 1.5403], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.994487, 0.0892591, -0.0550354, 5.77076], [0.0428002, 0.133618, 0.990109, 3.9733], [0.0957299, -0.987005, 0.129061, 1.54624], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.971436, 0.214436, 0.101638, 5.61557], [-0.148474, 0.215119, 0.965236, 3.9717], [0.185117, -0.952755, 0.240812, 1.55953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.80381, 0.00858895, 0.594824, 5.33279], [-0.58926, -0.125695, 0.798106, 4.09952], [0.0816212, -0.992032, -0.0959736, 1.51309], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.730279, -0.279068, 0.62355, 5.21684], [-0.680497, -0.216799, 0.699945, 4.11813], [-0.060147, -0.935478, -0.348229, 1.48398], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.266886, -0.529468, 0.805255, 5.25915], [-0.963713, -0.14192, 0.226089, 4.31608], [-0.0054252, -0.836375, -0.548131, 1.53666], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.0661778, -0.652242, 0.755117, 5.42942], [-0.996181, 0.0863933, -0.0126812, 4.40845], [-0.0569657, -0.753072, -0.655468, 1.55747], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.302965, -0.607311, 0.73443, 5.50925], [-0.952984, 0.197856, -0.229511, 4.50222], [-0.0059267, -0.769433, -0.6387, 1.59133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.0864528, -0.722088, 0.686379, 5.50559], [-0.996122, 0.0739809, -0.0476366, 4.66392], [-0.016381, -0.687835, -0.725683, 1.57081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.00185608, -0.723514, 0.690308, 5.44879], [-0.999648, 0.0169314, 0.0204335, 4.60348], [-0.0264717, -0.690103, -0.723227, 1.55061], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.363983, -0.72519, 0.58448, 5.47973], [-0.931405, 0.284331, -0.227246, 4.49586], [-0.00138915, -0.627101, -0.778936, 1.51708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.532811, -0.679831, 0.503928, 5.54692], [-0.844491, 0.465362, -0.265091, 4.31533], [-0.0542917, -0.566806, -0.822061, 1.49846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.324854, -0.79428, 0.51341, 5.58293], [-0.945764, 0.272508, -0.176833, 4.01894], [0.000546679, -0.54301, -0.839726, 1.48692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.303841, -0.721467, 0.622227, 5.58723], [-0.950406, 0.184012, -0.250735, 3.79985], [0.0664004, -0.667552, -0.741597, 1.51417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.645007, -0.4281, 0.633007, 5.60343], [-0.761346, 0.288766, -0.580488, 3.78925], [0.0657162, -0.856356, -0.512188, 1.50993], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.904947, -0.247048, 0.346468, 5.61373], [-0.424531, 0.579795, -0.695422, 3.84608], [-0.0290778, -0.776405, -0.629563, 1.46077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.986275, -0.0514817, 0.156881, 5.46432], [-0.148467, 0.692267, -0.706204, 3.92267], [-0.0722472, -0.719803, -0.690409, 1.44611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.976817, -0.0210843, 0.213037, 5.51189], [-0.203969, 0.393841, -0.896263, 3.91235], [-0.0650055, -0.918937, -0.389011, 1.54661], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.992576, -0.0294469, 0.118016, 5.51798], [-0.119473, 0.0539356, -0.991372, 3.91826], [0.0228276, -0.99811, -0.0570532, 1.62564], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.958834, 0.0125277, -0.283693, 5.41159], [0.283494, -0.0155545, -0.958848, 3.8697], [-0.016425, -0.999801, 0.0113627, 1.67619], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.793937, 0.0307251, -0.607224, 5.28475], [0.607936, 0.0255667, -0.793575, 3.84804], [-0.00885791, -0.999201, -0.0389772, 1.64594], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.575055, 0.219703, -0.788063, 5.21579], [0.818102, 0.160003, -0.552368, 3.77342], [0.00473504, -0.962357, -0.271749, 1.55662], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.334012, 0.618776, -0.711023, 5.21204], [0.942535, 0.225767, -0.246291, 3.6435], [0.00812681, -0.752427, -0.658625, 1.47227], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.192226, 0.612421, -0.766805, 5.16002], [0.981247, 0.108544, -0.159293, 3.59018], [-0.014322, -0.783045, -0.6218, 1.49873], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.182384, 0.435624, -0.881458, 4.99774], [0.983118, 0.0941989, -0.156865, 3.42589], [0.0146983, -0.895186, -0.44545, 1.5167], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[-0.328797, 0.321205, -0.8881, 4.78135], [0.942426, 0.172383, -0.286563, 3.21323], [0.0610482, -0.931188, -0.35939, 1.48905], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.130621, 0.242759, -0.961253, 4.56542], [0.990483, 0.074389, -0.115807, 2.7633], [0.0433934, -0.96723, -0.250165, 1.52082], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.133673, 0.0377271, -0.990308, 4.50639], [0.991026, -0.00538562, 0.133565, 2.37941], [-0.000294462, -0.999274, -0.0381083, 1.61016], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.379621, 0.155444, -0.91199, 4.69077], [0.924983, -0.0820803, 0.371039, 2.21241], [-0.0171805, -0.984429, -0.174943, 1.56435], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[0.553282, 0.442617, -0.70567, 4.77761], [0.832751, -0.314395, 0.455722, 1.95484], [-0.0201488, -0.839789, -0.542539, 1.4728], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[0.518149, 0.573836, -0.634219, 4.85335], [0.854858, -0.371051, 0.362685, 1.87733], [-0.0272058, -0.730092, -0.682807, 1.44699], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[0.448048, 0.56857, -0.689915, 4.89014], [0.894006, -0.287238, 0.343873, 1.92499], [-0.00265417, -0.770859, -0.637001, 1.3753], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[0.48235, 0.314704, -0.817497, 4.86941], [0.858149, -0.357094, 0.36887, 1.99083], [-0.175838, -0.879458, -0.442306, 1.17541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.558531, 0.100597, -0.823362, 4.9292], [0.809678, -0.281736, 0.514827, 2.02427], [-0.180181, -0.954204, -0.238809, 0.633584], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.626545, 0.128586, -0.768705, 4.91481], [0.768533, -0.265947, 0.581919, 1.99523], [-0.129609, -0.955373, -0.26545, 0.753925], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.573469, 0.469217, -0.671543, 4.79307], [0.817644, -0.378768, 0.433582, 1.95885], [-0.0509152, -0.797728, -0.600864, 1.29835], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0746_00"}, {"annotation": [{"question_id": "test-scene0747-0", "question": "What color is the tv stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-1", "question": "Where is the brown tv stand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-2", "question": "What type of table is placed next to the chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-3", "question": "A wooden end table is placed next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-4", "question": "What is located in the middle of the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-5", "question": "Where is the brown couch placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-6", "question": "What is placed under coffee table by furniture?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-7", "question": "Where are wood chairs placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-8", "question": "What is located in front of the long brown couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-9", "question": "Where are the couches placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-10", "question": "What is located in front of couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-11", "question": "What color couch is next to the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-12", "question": "Where is the brown couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-13", "question": "Where is a stand placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-14", "question": "How many wooden chairs are tucked under a wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-15", "question": "What is sitting between a couch and a love seat?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-16", "question": "What type of chair is tucked underneath a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-17", "question": "How many dinning chairs at table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-18", "question": "What kind of chair resembles a chaise lounge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-19", "question": "What is on the side of the dark leather chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-20", "question": "What is between the two leather couches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-21", "question": "What color is the flashlight on the end table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-22", "question": "What color is the cushion on the wooden chairs near the dining table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-23", "question": "Where is the wooden chair sitting at the end of the dining table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-24", "question": "What is the tv stand sitting across from?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-25", "question": "What is between the tv stand and the leather couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-26", "question": "How many leather couches are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-27", "question": "What kind of furniture is the small square end table sitting between?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-28", "question": "What is on one side of the square end table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-29", "question": "On which side of the couch is the brown leather couch sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-30", "question": "On what side of the tv is the small wooden end table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-31", "question": "What does the black electronic on the end table look like?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-32", "question": "What kind of furniture is in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-33", "question": "What shape is the low wooden coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-34", "question": "What type of wooden cabinet is up against the wall by the printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-35", "question": "Where is the small end table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-36", "question": "What is next to the small end table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-37", "question": "What is on top of the cabinet behind the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-38", "question": "What type of cabinet is on the wall and behind the dining room table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-39", "question": "Where is the glass front cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-40", "question": "What is the chair at the head of the table closest to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-41", "question": "What is hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-42", "question": "What size table is in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-43", "question": "Where is a medium sized table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-44", "question": "What is positioned between the couches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-45", "question": "What two pieces of furniture is the end table under the lamp between?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-46", "question": "What color is the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-47", "question": "Where is the rectangular table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-48", "question": "What kind of chair is by the dining table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-49", "question": "What color is the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-50", "question": "What is on the right side of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-51", "question": "What is on the couch facing the TV?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-52", "question": "What is in the middle of the brown leather couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-53", "question": "What is the dining room table made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-54", "question": "What is closest right to the chair turned away from the dinning table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-55", "question": "How many drawer does the desk below the TV have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-56", "question": "The dining table is across from, what piece of furniture?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-57", "question": "What is between two couches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-58", "question": "What is in front of the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-59", "question": "What is on top of a table with three drawers?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-60", "question": "How many couches capable of seating more than one person are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-61", "question": "What color is the couch with it's back to some windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-62", "question": "How long is the coffee table in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-63", "question": "What is at a right angle to the target couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-64", "question": "What is in front of the couch facing the TV?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-65", "question": "What color is the dining room table in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-66", "question": "What kind of couches are at right angles to each other?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-67", "question": "What type of cabinet is located in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-68", "question": "What is on top of the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-69", "question": "What is on top of the table stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-70", "question": "How many drawers does the tv stand have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-71", "question": "What type of sofa is on the left side of the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-72", "question": "On what side of the tv is the love seat sofa located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-73", "question": "What is located next to the black single couch seat?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-74", "question": "What color couch seat is next to the coffee stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-75", "question": "What type of couch is located on the left side of the tv stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-76", "question": "On what side of the tv stand is the love seat couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-77", "question": "What is on the left side of the room with a pin on top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-78", "question": "What color leather chair is sitting in front of a window with chip pad and pen on left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-79", "question": "What color mat is beside the table that is between the TV and couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-80", "question": "What is on the left of the brown leather chair in front of a window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-81", "question": "What color is the cabinet in the dineroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-82", "question": "What is on the left of the cabinet in the dineroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-83", "question": "What color is the chair in the dining room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-84", "question": "How many seats is the couch in front of the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-85", "question": "In what part of the room is the black leather chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-86", "question": "What is located between the single seater and the three seater couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-87", "question": "What color is the toy gun on the end table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-88", "question": "Where is the left chair on the long side of a table from the china cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-89", "question": "What is on the opposite side of the coffee table from the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-90", "question": "What color book is on top of the red book on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0747-91", "question": "For the wooden chair not facing a table, what is that chair facing?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.728167, -0.307159, 0.61272, 4.99091], [-0.685277, -0.309344, 0.659319, 6.06348], [-0.0129747, -0.899978, -0.435743, 1.49541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.596058, -0.346834, 0.724169, 5.1599], [-0.802484, -0.226883, 0.551854, 6.22326], [-0.0271, -0.910071, -0.413565, 1.53874], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.243795, -0.379325, 0.892567, 5.23824], [-0.969782, -0.0864982, 0.228125, 6.33929], [-0.00932819, -0.921212, -0.38895, 1.52911], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.00226086, -0.411076, 0.911598, 5.23348], [-0.999996, -0.00211058, 0.00152827, 6.28574], [0.00129575, -0.911598, -0.41108, 1.5313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.233029, -0.408644, 0.882443, 5.32867], [-0.972461, 0.10168, -0.209714, 6.25132], [-0.00402865, -0.907012, -0.421085, 1.51992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.540371, -0.330657, 0.773734, 5.48314], [-0.841342, 0.225359, -0.49128, 6.17251], [-0.0119232, -0.916449, -0.399974, 1.50252], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.722323, -0.245021, 0.646695, 5.66488], [-0.69112, 0.288971, -0.662457, 6.01452], [-0.0245598, -0.925451, -0.378069, 1.50348], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.909418, -0.124597, 0.39678, 5.86871], [-0.413637, 0.37002, -0.831859, 5.90639], [-0.0431696, -0.92063, -0.388041, 1.51518], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.980669, -0.0215714, 0.194477, 5.88077], [-0.186926, 0.397065, -0.898553, 5.65622], [-0.0578369, -0.917537, -0.393422, 1.51544], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.974439, 0.140119, -0.175595, 5.97009], [0.217903, 0.399431, -0.89049, 5.48893], [-0.0546364, -0.905992, -0.419754, 1.52296], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.890369, 0.251786, -0.379271, 5.94508], [0.450671, 0.369788, -0.812497, 5.46294], [-0.0643253, -0.894349, -0.442721, 1.52578], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.606819, 0.370794, -0.703052, 5.9437], [0.79253, 0.214863, -0.570728, 5.37446], [-0.0605625, -0.903519, -0.424248, 1.50319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.341191, 0.419957, -0.840966, 5.91367], [0.93965, 0.128187, -0.317215, 5.3957], [-0.0254159, -0.898445, -0.438349, 1.50037], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.0893089, 0.449059, -0.889027, 5.80845], [0.995871, 0.0256539, -0.0870837, 5.47747], [-0.0162987, -0.893134, -0.449496, 1.5301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.165617, 0.454487, -0.875221, 5.63125], [0.986157, -0.0835593, 0.143218, 5.61215], [-0.00804207, -0.886826, -0.462035, 1.5294], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.468522, 0.386597, -0.794374, 5.45425], [0.883078, -0.231093, 0.408374, 5.69779], [-0.0256979, -0.892826, -0.449667, 1.54568], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.78034, 0.270837, -0.563663, 5.35023], [0.624792, -0.375873, 0.684364, 5.80735], [-0.0265145, -0.886209, -0.462526, 1.53442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.951643, 0.113079, -0.285635, 5.30394], [0.304544, -0.469348, 0.828833, 5.96009], [-0.0403385, -0.875743, -0.48109, 1.5339], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.99558, -0.024005, -0.0907972, 5.25881], [0.067596, -0.488026, 0.870207, 5.9824], [-0.0652007, -0.872499, -0.484246, 1.52973], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.997593, -0.0542502, -0.0431871, 5.44668], [0.0105629, -0.496657, 0.867882, 6.14821], [-0.068532, -0.86625, -0.494889, 1.5106], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.995719, 0.0320403, -0.0866928, 5.5241], [0.0898087, -0.55697, 0.825662, 6.56369], [-0.0218308, -0.829914, -0.557464, 1.56106], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.984513, 0.0354977, -0.171677, 5.64663], [0.160556, -0.57578, 0.801685, 7.00767], [-0.0703899, -0.816834, -0.572562, 1.54983], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.974207, 0.148277, -0.170102, 5.83765], [0.225655, -0.642126, 0.732635, 7.35058], [-0.000593692, -0.752122, -0.659023, 1.32002], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.805262, 0.327316, -0.494384, 6.25767], [0.580382, -0.605696, 0.544324, 7.41784], [-0.12128, -0.725256, -0.677713, 1.14463], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.691833, 0.427177, -0.58214, 6.48686], [0.717701, -0.495255, 0.489517, 7.53894], [-0.0791971, -0.756467, -0.64922, 1.14997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.693412, 0.375355, -0.615051, 6.2785], [0.720198, -0.334718, 0.607684, 7.51172], [0.0222285, -0.864334, -0.502427, 1.38449], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.824274, 0.361499, -0.435764, 5.86903], [0.54765, -0.313699, 0.775676, 7.36045], [0.143707, -0.878016, -0.456548, 1.44912], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.926753, 0.303549, -0.22133, 5.38643], [0.349451, -0.480319, 0.804473, 7.31035], [0.137888, -0.822892, -0.551213, 1.4056], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.992653, 0.0576942, 0.106348, 5.09608], [-0.0300115, -0.734098, 0.67838, 7.17637], [0.117208, -0.676588, -0.726974, 1.37762], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.989943, -0.0384205, 0.13615, 4.65378], [-0.125557, -0.682043, 0.720452, 7.13781], [0.0651798, -0.730302, -0.680008, 1.42521], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.942024, -0.179695, 0.283371, 4.32349], [-0.330825, -0.638519, 0.694872, 7.20518], [0.0560725, -0.748334, -0.660948, 1.42559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.797753, -0.251967, 0.547816, 4.17269], [-0.598134, -0.44567, 0.666043, 7.46359], [0.0763243, -0.859006, -0.506245, 1.48636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.719922, -0.303409, 0.624223, 4.19843], [-0.691258, -0.3941, 0.605679, 7.46921], [0.0622374, -0.867542, -0.493455, 1.51847], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.647113, -0.413969, 0.640213, 4.16108], [-0.762183, -0.371018, 0.530492, 7.46066], [0.0179232, -0.831249, -0.555611, 1.41941], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.6384, -0.350076, 0.685487, 4.2482], [-0.766262, -0.373195, 0.523037, 7.35444], [0.0727177, -0.85917, -0.506498, 1.4836], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.584946, -0.387815, 0.712347, 4.50015], [-0.809971, -0.233563, 0.537954, 6.97944], [-0.042249, -0.891655, -0.450741, 1.56469], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.617939, -0.139188, 0.773807, 4.96975], [-0.782973, -0.19838, 0.589575, 6.67176], [0.0714465, -0.970192, -0.231567, 1.57673], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.552722, -0.290458, 0.78111, 5.32705], [-0.831027, -0.262281, 0.490513, 6.27889], [0.0623965, -0.920241, -0.386347, 1.49692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.525419, -0.328098, 0.785039, 5.80967], [-0.847719, -0.280859, 0.449989, 5.96598], [0.072845, -0.901926, -0.425704, 1.47399], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.693905, -0.353122, 0.627535, 6.13334], [-0.718643, -0.394375, 0.57273, 5.61428], [0.0452404, -0.848395, -0.527427, 1.44522], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.774801, -0.273844, 0.569818, 6.48102], [-0.630708, -0.396802, 0.6669, 5.48249], [0.0434783, -0.876104, -0.480158, 1.45088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.890356, -0.204225, 0.406887, 6.71741], [-0.454556, -0.448579, 0.769516, 5.27177], [0.0253668, -0.870097, -0.492227, 1.3898], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.955884, -0.155676, 0.2491, 6.77238], [-0.29302, -0.445825, 0.8458, 5.213], [-0.0206156, -0.881479, -0.471773, 1.39733], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.969018, -0.140063, 0.203435, 6.78907], [-0.244768, -0.434366, 0.866842, 5.19104], [-0.0330477, -0.88978, -0.455191, 1.40367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.978255, -0.124957, 0.165535, 6.77033], [-0.2051, -0.464202, 0.861655, 5.18356], [-0.0308284, -0.876871, -0.479737, 1.41327], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.98012, -0.145459, 0.134927, 6.75606], [-0.189888, -0.490634, 0.850424, 5.19347], [-0.0575022, -0.859139, -0.508502, 1.42535], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.99533, -0.0459624, 0.084878, 6.65242], [-0.0963573, -0.52476, 0.845778, 5.19502], [0.00566669, -0.850008, -0.526739, 1.46596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.965961, -0.107792, 0.23516, 6.28768], [-0.240953, -0.705699, 0.666281, 5.34245], [0.0941326, -0.700264, -0.707651, 1.41225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.894899, -0.270626, 0.354847, 5.92579], [-0.443832, -0.622676, 0.644427, 5.49061], [0.0465558, -0.734191, -0.677345, 1.28746], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.745977, -0.437609, 0.502011, 5.50296], [-0.662284, -0.566684, 0.490152, 5.55219], [0.0699864, -0.698117, -0.712555, 1.28902], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.526322, -0.450012, 0.721438, 5.2068], [-0.847211, -0.349633, 0.399988, 5.86929], [0.0722388, -0.821733, -0.565275, 1.36035], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.25654, -0.41324, 0.873739, 5.12411], [-0.965195, -0.157094, 0.209094, 6.27634], [0.0508528, -0.896969, -0.439158, 1.45366], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.289813, -0.397088, 0.870821, 5.21593], [-0.957073, -0.124462, 0.261764, 6.73762], [0.00444064, -0.909302, -0.416113, 1.46275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.407378, -0.465229, 0.785878, 5.2717], [-0.912873, -0.182407, 0.365227, 7.24791], [-0.0265645, -0.866193, -0.499004, 1.43927], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.30867, -0.595108, 0.742003, 5.34732], [-0.951156, -0.189072, 0.244035, 7.64504], [-0.00493525, -0.781088, -0.624402, 1.38832], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.337585, -0.495904, 0.800072, 5.47876], [-0.940228, -0.218108, 0.261534, 7.74895], [0.044806, -0.84054, -0.539893, 1.50155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.717794, -0.469221, 0.514396, 5.79409], [-0.696166, -0.495542, 0.519414, 7.47221], [0.0111849, -0.730937, -0.682353, 1.48964], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.897522, -0.26898, 0.349433, 6.22278], [-0.435673, -0.663336, 0.608419, 7.36617], [0.0681384, -0.698309, -0.712546, 1.46524], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.998896, 0.0359347, 0.0302382, 6.54182], [0.000229493, -0.647582, 0.761995, 7.39416], [0.0469637, -0.761147, -0.646876, 1.52124], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.991992, 0.0262372, 0.123543, 6.81837], [-0.0675099, -0.716563, 0.694247, 7.5226], [0.106742, -0.697029, -0.709054, 1.54042], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.990076, -0.0591213, 0.127486, 7.15572], [-0.127636, -0.757895, 0.639769, 7.53378], [0.0587971, -0.649692, -0.75792, 1.51975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.991326, -0.00199178, -0.131411, 7.40195], [0.0854431, -0.749974, 0.655925, 7.48219], [-0.0998615, -0.661464, -0.743299, 1.42425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.916159, 0.167402, -0.364183, 7.57597], [0.349137, -0.779575, 0.519967, 7.48453], [-0.196864, -0.603523, -0.772661, 1.29597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.827141, 0.259704, -0.498388, 7.56041], [0.521023, -0.686763, 0.506844, 7.48706], [-0.210645, -0.678904, -0.703362, 1.29638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.990974, 0.0325932, -0.130029, 7.44185], [0.114384, -0.711389, 0.693427, 7.54416], [-0.0699, -0.702042, -0.708697, 1.3396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.828627, -0.402667, 0.388892, 7.17912], [-0.546247, -0.733547, 0.404378, 7.59199], [0.122441, -0.54751, -0.827793, 1.40757], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.663817, -0.456482, 0.592427, 6.91937], [-0.736451, -0.537006, 0.411418, 7.60337], [0.130332, -0.7094, -0.692651, 1.50579], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.562156, -0.284212, 0.776662, 6.82116], [-0.819499, -0.31788, 0.476837, 7.74957], [0.111362, -0.904531, -0.41161, 1.61969], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.296629, -0.146457, 0.943695, 6.72714], [-0.946123, -0.179435, 0.269544, 8.03565], [0.129855, -0.972807, -0.191792, 1.75727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.212636, -0.190474, 0.958386, 6.70754], [-0.975511, -0.0978337, 0.196991, 8.10133], [0.0562407, -0.976805, -0.206612, 1.71711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.532733, -0.249031, 0.808813, 6.90389], [-0.842484, -0.246511, 0.479011, 7.83686], [0.0800931, -0.936598, -0.341129, 1.7103], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.766849, -0.0570134, 0.63929, 7.18944], [-0.637848, -0.178444, 0.749205, 7.76051], [0.0713627, -0.982297, -0.173205, 1.82358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.891346, -0.0210548, 0.452834, 7.48107], [-0.432347, -0.339833, 0.835218, 7.7201], [0.136303, -0.94025, -0.312012, 1.85825], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.976767, 0.0251081, 0.212828, 7.67828], [-0.169505, -0.517143, 0.838946, 7.6356], [0.131127, -0.85553, -0.500873, 1.85739], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.988584, 0.057534, 0.139252, 7.74137], [-0.0665677, -0.662343, 0.746237, 7.64393], [0.135166, -0.746988, -0.650952, 1.79249], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.991503, 0.124147, -0.0388351, 7.78597], [0.117748, -0.729698, 0.673555, 7.52868], [0.0552817, -0.672405, -0.738116, 1.64649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.978337, 0.164574, -0.125588, 7.80778], [0.207002, -0.785482, 0.583239, 7.4103], [-0.00266141, -0.596601, -0.802533, 1.51049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.892603, 0.32769, -0.309641, 7.77268], [0.448022, -0.721425, 0.528036, 7.3564], [-0.0503506, -0.610053, -0.790759, 1.31098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.743572, 0.280285, -0.607075, 7.70949], [0.648918, -0.521449, 0.554072, 7.37717], [-0.161261, -0.805935, -0.569618, 0.928764], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.716111, 0.231525, -0.658468, 7.65748], [0.671943, -0.483966, 0.560598, 7.3715], [-0.188884, -0.843904, -0.502145, 0.627727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.680576, 0.390938, -0.619664, 7.63096], [0.729953, -0.434656, 0.527487, 7.46391], [-0.0631259, -0.811321, -0.581183, 0.975094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.382657, 0.649828, -0.656732, 7.37939], [0.917121, -0.181281, 0.355001, 7.54241], [0.111637, -0.738146, -0.66534, 1.14933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.263164, 0.650135, -0.71279, 7.05584], [0.952648, -0.0584544, 0.298404, 7.60703], [0.152337, -0.757567, -0.634733, 1.3533], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.222004, 0.654449, -0.72278, 6.68345], [0.969668, -0.0704441, 0.234052, 7.64455], [0.10226, -0.752818, -0.650238, 1.42011], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.0697853, 0.57003, -0.818655, 6.30791], [0.994911, 0.0200112, 0.0987441, 7.53468], [0.0726695, -0.82138, -0.565733, 1.47013], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.181505, 0.502854, -0.845099, 5.90726], [0.982368, 0.131872, -0.132519, 7.60156], [0.0448077, -0.854253, -0.517924, 1.56053], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.166958, 0.503056, -0.847973, 5.44257], [0.982116, 0.160758, -0.0980005, 7.62006], [0.0870187, -0.849171, -0.5209, 1.59567], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.288311, 0.370453, -0.882973, 4.98883], [0.955553, 0.170624, -0.240425, 7.71878], [0.0615907, -0.913046, -0.40318, 1.62221], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.241336, 0.67814, -0.694177, 4.66744], [0.967265, 0.225923, -0.115574, 7.79501], [0.0784555, -0.699345, -0.710465, 1.5245], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.369671, 0.666621, -0.64727, 4.64193], [0.928698, 0.243078, -0.280056, 8.0722], [-0.0293537, -0.704648, -0.70895, 1.32553], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.417198, 0.571587, -0.706565, 4.6399], [0.87504, 0.0426595, -0.482166, 8.15401], [-0.245458, -0.819432, -0.517959, 1.01956], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.47963, 0.408812, -0.77642, 4.70542], [0.827174, -0.084619, -0.555538, 8.09337], [-0.292811, -0.908687, -0.297573, 0.69833], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.534886, 0.506381, -0.676368, 4.60627], [0.815875, 0.101446, -0.56926, 8.08531], [-0.219648, -0.856321, -0.467406, 1.03203], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.620016, 0.492795, -0.610518, 4.40884], [0.784524, 0.399406, -0.474337, 7.92043], [0.0100939, -0.773063, -0.634248, 1.43241], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.642973, 0.448736, -0.620662, 4.22072], [0.757902, 0.489515, -0.431229, 7.92028], [0.110315, -0.74767, -0.654843, 1.58162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.786227, 0.346525, -0.511632, 3.87927], [0.60947, 0.571451, -0.549535, 8.06996], [0.101945, -0.743884, -0.660487, 1.59595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.881362, 0.299019, -0.365771, 3.4251], [0.46769, 0.661741, -0.585972, 8.15253], [0.0668292, -0.687522, -0.723082, 1.5468], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.956587, 0.208849, -0.203279, 2.98324], [0.291129, 0.71723, -0.633107, 8.14014], [0.0135745, -0.664803, -0.746895, 1.51586], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.999478, 0.0321806, 0.00260704, 2.52139], [0.0234893, 0.780179, -0.625115, 8.23018], [-0.0221505, -0.624728, -0.780528, 1.49462], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.828614, -0.41553, 0.375143, 2.2164], [-0.558725, 0.655726, -0.507789, 8.31789], [-0.0349896, -0.630364, -0.775511, 1.47615], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.645913, -0.469851, 0.601694, 1.99619], [-0.76298, 0.423763, -0.488145, 8.47683], [-0.0256206, -0.774381, -0.632201, 1.46858], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.661271, -0.416567, 0.623852, 2.08566], [-0.747813, 0.300515, -0.592002, 8.72552], [0.0591318, -0.857999, -0.510237, 1.24185], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.717499, -0.539719, 0.440339, 2.10871], [-0.696071, 0.531884, -0.48227, 8.67098], [0.0260813, -0.652536, -0.757309, 1.24569], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.801233, -0.306414, 0.513941, 2.04535], [-0.593639, 0.514671, -0.618632, 8.56674], [-0.074953, -0.800765, -0.594271, 1.45707], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.636092, -0.25749, 0.727383, 2.05751], [-0.771274, 0.240101, -0.58948, 8.62309], [-0.0228608, -0.935976, -0.351322, 1.54536], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.744051, -0.202402, 0.636727, 2.16435], [-0.667439, 0.182084, -0.72206, 8.60925], [0.0302086, -0.962226, -0.270571, 1.5555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.947924, -0.121793, 0.294289, 2.20778], [-0.314793, 0.217799, -0.923833, 8.5395], [0.0484207, -0.968365, -0.244797, 1.57703], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.983139, -0.0311036, 0.180191, 2.09123], [-0.180635, 0.318309, -0.930618, 8.51588], [-0.0284111, -0.947477, -0.318561, 1.54323], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.999269, 0.0320926, -0.0207392, 2.10572], [0.0361072, 0.615482, -0.787323, 8.52483], [-0.0125028, -0.787497, -0.616191, 1.44962], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.999546, 9.2797e-05, 0.0301049, 2.03517], [-0.0194792, 0.760455, -0.649098, 8.52799], [-0.0229537, -0.64939, -0.760109, 1.37901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.982571, -0.135753, 0.126978, 1.81177], [-0.18574, 0.690282, -0.699293, 8.48382], [0.00728041, -0.710691, -0.703467, 1.43698], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.808751, -0.523003, 0.269053, 1.66288], [-0.579361, 0.629626, -0.517602, 8.17046], [0.101305, -0.57449, -0.812218, 1.54249], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.331906, -0.80715, 0.488207, 1.42169], [-0.939368, 0.235531, -0.249223, 7.92952], [0.086172, -0.541325, -0.836386, 1.5773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.047693, -0.775865, 0.629093, 1.27082], [-0.988747, -0.0527305, -0.139992, 7.65593], [0.141788, -0.628691, -0.76462, 1.52874], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.39665, -0.681369, 0.615146, 0.957137], [-0.916886, -0.326623, 0.229428, 7.44338], [0.0445956, -0.655022, -0.754293, 1.44803], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[0.637489, -0.533731, 0.555642, 0.599784], [-0.770029, -0.417272, 0.482638, 7.45469], [-0.025745, -0.735537, -0.676995, 1.45425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.835263, -0.372119, 0.404798, 0.535013], [-0.549158, -0.527648, 0.648083, 7.38612], [-0.0275733, -0.763619, -0.645078, 1.4894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[0.780947, -0.313815, 0.540038, 0.529075], [-0.624305, -0.418611, 0.659551, 7.48269], [0.019089, -0.852224, -0.522829, 1.48547], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[0.81961, -0.413029, 0.397046, 0.540449], [-0.57288, -0.582515, 0.576614, 7.62277], [-0.00687271, -0.700059, -0.714052, 1.44846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[0.976559, -0.165365, 0.137791, 1.05935], [-0.214302, -0.686954, 0.694383, 7.43312], [-0.0201712, -0.707635, -0.70629, 1.49423], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[0.977935, 0.140065, -0.154996, 1.51829], [0.20817, -0.715641, 0.666725, 7.42391], [-0.0175366, -0.68428, -0.729009, 1.49267], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[0.952881, 0.185637, -0.239907, 1.60866], [0.299644, -0.4529, 0.839699, 7.32073], [0.0472253, -0.872021, -0.487186, 1.56941], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[0.831751, -0.322997, 0.451513, 1.34545], [-0.555146, -0.486576, 0.674578, 7.25805], [0.00180866, -0.811737, -0.584021, 1.50985], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[0.522787, -0.589447, 0.615828, 1.13578], [-0.852363, -0.350384, 0.388211, 7.16784], [-0.0130539, -0.727862, -0.6856, 1.46738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[0.0777955, -0.703267, 0.706656, 0.976918], [-0.996795, -0.0681198, 0.0419434, 7.14297], [0.01864, -0.707655, -0.706312, 1.44704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[0.193474, -0.509888, 0.838201, 1.09826], [-0.980267, -0.135778, 0.14367, 6.89823], [0.0405542, -0.849457, -0.526096, 1.49939], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.295857, -0.356564, 0.886188, 1.28071], [-0.948099, -0.222772, 0.226892, 6.60188], [0.116517, -0.907323, -0.403967, 1.51786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[0.43339, -0.489922, 0.756405, 1.27756], [-0.900877, -0.258198, 0.348933, 6.17665], [0.0243526, -0.832653, -0.55326, 1.43606], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.215002, -0.675083, 0.705717, 1.29072], [-0.976164, -0.170462, 0.134333, 5.84772], [0.0296116, -0.717779, -0.695641, 1.40928], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[-0.133475, -0.693887, 0.707605, 1.18926], [-0.989431, 0.0524793, -0.135174, 5.78575], [0.056661, -0.718169, -0.693558, 1.46231], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[-0.309274, -0.449076, 0.83826, 1.15405], [-0.945499, 0.050765, -0.321643, 5.91753], [0.101888, -0.89205, -0.440301, 1.56498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.319107, -0.269658, 0.908546, 1.15605], [-0.938527, -0.0432766, -0.342482, 5.89477], [0.131672, -0.961983, -0.239271, 1.65792], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.360033, -0.0964784, 0.927937, 1.18101], [-0.921281, -0.119983, -0.369926, 5.85538], [0.147026, -0.988077, -0.0456861, 1.72934], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.198283, -0.0110977, 0.980082, 1.19106], [-0.96296, -0.184217, -0.196905, 5.93259], [0.182733, -0.982823, 0.0258406, 1.72339], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.22465, -0.233433, 0.946066, 1.23415], [-0.966183, -0.179474, 0.185143, 5.99993], [0.126576, -0.955666, -0.265858, 1.64583], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.587348, -0.332497, 0.73788, 1.41423], [-0.803178, -0.351699, 0.480845, 5.8643], [0.099632, -0.875073, -0.473625, 1.57602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.787429, -0.208366, 0.580119, 1.80801], [-0.592782, -0.514025, 0.61999, 5.87057], [0.169011, -0.832083, -0.528274, 1.60128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[0.906662, -0.110382, 0.407161, 2.20008], [-0.385227, -0.610019, 0.692443, 5.87933], [0.171943, -0.784661, -0.595603, 1.60303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.946319, -0.138565, 0.292026, 2.57647], [-0.308113, -0.659784, 0.685384, 5.86674], [0.0977037, -0.738569, -0.66706, 1.51854], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[0.991274, -0.0870938, 0.098943, 2.96005], [-0.131796, -0.667498, 0.732854, 5.88658], [0.00221717, -0.7395, -0.673153, 1.43338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[0.993258, 0.109855, 0.0370172, 3.34882], [0.0318761, -0.565834, 0.823902, 5.93146], [0.111456, -0.817168, -0.565521, 1.46995], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[0.980729, 0.191627, -0.0380675, 3.8809], [0.135628, -0.527532, 0.838639, 5.94011], [0.140624, -0.827641, -0.543356, 1.48588], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[0.903771, 0.325614, -0.277802, 4.26714], [0.427421, -0.652368, 0.625881, 5.98338], [0.0225666, -0.684392, -0.728765, 1.44365], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[0.535269, 0.742577, -0.402574, 4.35103], [0.835465, -0.395219, 0.381837, 6.05824], [0.124439, -0.540722, -0.831946, 1.42597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[0.0722933, 0.596318, -0.799486, 4.55073], [0.982724, 0.0943383, 0.159227, 6.2639], [0.170372, -0.797186, -0.579196, 1.4833], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.325549, 0.461561, -0.825214, 4.7351], [0.939233, 0.258375, -0.226015, 6.31825], [0.108895, -0.848648, -0.517627, 1.53064], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.622381, 0.270031, -0.734659, 4.64533], [0.780548, 0.283892, -0.55691, 6.53702], [0.058181, -0.920048, -0.387461, 1.59268], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.693386, 0.105117, -0.712858, 4.39281], [0.717167, 0.196662, -0.668577, 6.56822], [0.0699133, -0.97482, -0.211749, 1.66369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[-0.800292, -0.0250205, -0.599087, 4.2154], [0.588678, 0.157129, -0.792949, 6.60905], [0.113974, -0.987261, -0.11102, 1.76265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[-0.761455, 0.144815, -0.631834, 4.35245], [0.647265, 0.222672, -0.729016, 6.48836], [0.0351191, -0.964078, -0.263289, 1.68322], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[-0.690178, 0.371, -0.621299, 4.69198], [0.723636, 0.356172, -0.591178, 6.3233], [0.00196278, -0.857613, -0.514292, 1.56008], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[-0.706696, 0.454911, -0.541883, 4.80872], [0.707255, 0.475047, -0.523565, 6.17496], [0.0192447, -0.753251, -0.657452, 1.43463], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[-0.7565, 0.390437, -0.524657, 5.11697], [0.653893, 0.465609, -0.596349, 6.00428], [0.0114484, -0.794208, -0.607538, 1.44086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[-0.856394, 0.343829, -0.38519, 5.20362], [0.514897, 0.513305, -0.686585, 5.71213], [-0.0383485, -0.78632, -0.616628, 1.45761], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[-0.88616, 0.218735, -0.408502, 5.16889], [0.462865, 0.376388, -0.80255, 5.53077], [-0.0217909, -0.90027, -0.434786, 1.51177], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[-0.980778, 0.125893, -0.149081, 4.80769], [0.190866, 0.460172, -0.86707, 5.57008], [-0.0405554, -0.878858, -0.475356, 1.52232], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[-0.99924, 0.0341812, 0.0187183, 4.51725], [0.00361041, 0.559441, -0.828862, 5.52849], [-0.0388033, -0.828165, -0.55914, 1.48866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[-0.962782, -0.186764, 0.195369, 4.32953], [-0.270172, 0.644898, -0.714921, 5.68318], [0.00752833, -0.741097, -0.671356, 1.46847], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[-0.995846, -0.0878462, -0.0239298, 4.57098], [-0.0272033, 0.537904, -0.842567, 5.69205], [0.0868882, -0.838417, -0.538059, 1.4695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[-0.960964, 0.0838023, -0.263675, 4.94925], [0.25186, 0.659432, -0.708319, 5.5284], [0.114517, -0.747078, -0.654797, 1.37803], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[-0.848422, 0.223684, -0.479735, 5.33325], [0.501582, 0.629291, -0.59364, 5.22573], [0.169105, -0.744283, -0.646101, 1.37379], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[-0.769094, 0.289321, -0.569901, 5.43955], [0.626489, 0.517768, -0.582605, 4.8182], [0.126516, -0.805115, -0.579469, 1.4079], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[-0.748354, 0.274845, -0.603677, 5.43472], [0.638911, 0.543209, -0.544717, 4.3456], [0.17821, -0.793337, -0.582115, 1.38446], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[-0.660436, 0.457543, -0.59538, 5.25501], [0.742294, 0.517404, -0.425784, 3.85213], [0.113238, -0.723151, -0.681344, 1.36844], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[-0.250316, 0.769354, -0.587738, 5.19441], [0.962163, 0.265165, -0.0626793, 3.40417], [0.107625, -0.58119, -0.80662, 1.32658], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[0.195279, 0.824675, -0.530826, 5.00337], [0.972871, -0.0944285, 0.211196, 3.11918], [0.124043, -0.557668, -0.820743, 1.30051], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[0.407873, 0.782826, -0.469917, 4.73534], [0.906178, -0.284102, 0.313254, 2.9819], [0.111719, -0.553597, -0.825257, 1.29727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[0.849643, 0.477091, -0.224703, 4.4494], [0.511323, -0.641006, 0.572416, 2.74964], [0.129058, -0.601245, -0.788574, 1.3198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[0.909107, 0.310292, -0.277924, 4.39604], [0.405716, -0.508304, 0.759619, 2.46764], [0.0944339, -0.803334, -0.587994, 1.4017], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[0.999197, 0.0399743, 0.00257104, 4.28886], [0.0223718, -0.610145, 0.791973, 2.26845], [0.0332272, -0.79128, -0.61055, 1.46677], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[0.96086, -0.130862, 0.244178, 4.25062], [-0.276836, -0.486819, 0.828473, 2.16632], [0.0104546, -0.863645, -0.503993, 1.52922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[0.774809, -0.267565, 0.572781, 4.10712], [-0.631942, -0.353402, 0.689751, 2.23151], [0.0178685, -0.89639, -0.442905, 1.52942], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[0.653634, -0.264029, 0.709261, 4.00604], [-0.756809, -0.230085, 0.611801, 2.2365], [0.00165687, -0.936669, -0.350211, 1.5394], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3460", "pose": [[0.348629, -0.483795, 0.802745, 3.82517], [-0.937215, -0.18839, 0.293491, 2.22228], [0.00924008, -0.854664, -0.519099, 1.50357], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3480", "pose": [[0.196793, -0.568217, 0.799, 3.75035], [-0.979592, -0.0799758, 0.184397, 1.9634], [-0.040877, -0.818983, -0.57236, 1.47376], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3500", "pose": [[0.326108, -0.498189, 0.803406, 3.89262], [-0.943877, -0.124462, 0.305947, 1.63705], [-0.0524259, -0.858089, -0.510818, 1.38851], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3520", "pose": [[0.430988, -0.568627, 0.700651, 4.16537], [-0.89622, -0.179335, 0.405744, 1.42657], [-0.105066, -0.802809, -0.586906, 1.29244], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3540", "pose": [[0.435742, -0.527954, 0.728967, 4.29242], [-0.894386, -0.163088, 0.416504, 1.2996], [-0.101009, -0.833467, -0.543259, 1.25676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3560", "pose": [[0.213274, -0.544392, 0.811265, 4.29021], [-0.976952, -0.126307, 0.172075, 1.41726], [0.00879212, -0.829267, -0.558783, 1.32039], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3580", "pose": [[-0.236463, -0.583395, 0.777004, 4.16547], [-0.969677, 0.0908822, -0.226862, 1.68424], [0.0617341, -0.807088, -0.587195, 1.39231], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3600", "pose": [[-0.424751, -0.400722, 0.811793, 3.99571], [-0.904299, 0.145438, -0.40136, 1.90453], [0.0427679, -0.904583, -0.424148, 1.49889], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3620", "pose": [[-0.767297, -0.218175, 0.603038, 4.06382], [-0.637846, 0.162292, -0.75287, 2.13149], [0.0663885, -0.962321, -0.263688, 1.52816], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3640", "pose": [[-0.93564, -0.115133, 0.333649, 4.0734], [-0.348096, 0.144686, -0.926226, 2.15887], [0.0583652, -0.982756, -0.175451, 1.55721], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3660", "pose": [[-0.970412, -0.0454511, 0.237138, 4.16664], [-0.240504, 0.0948978, -0.965998, 2.08046], [0.0214017, -0.994449, -0.103021, 1.52083], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3680", "pose": [[-0.993413, 0.0182094, 0.113129, 4.45265], [-0.11436, -0.0957752, -0.988811, 2.17289], [-0.00717086, -0.995236, 0.0972267, 1.32017], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3700", "pose": [[-0.998774, 0.0291141, 0.0400345, 4.63278], [-0.0399141, 0.00470503, -0.999192, 2.12509], [-0.029279, -0.999565, -0.0035373, 1.28471], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3720", "pose": [[-0.951283, -0.00890642, 0.308188, 4.87139], [-0.305838, -0.0992412, -0.946897, 2.21344], [0.0390184, -0.995024, 0.0916826, 1.46033], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3740", "pose": [[-0.784501, -0.10656, 0.610903, 4.83122], [-0.617664, 0.0465659, -0.785062, 2.25878], [0.0552088, -0.993215, -0.102349, 1.54801], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3760", "pose": [[-0.724155, -0.203659, 0.658879, 4.6546], [-0.683681, 0.0867125, -0.724611, 2.24729], [0.0904408, -0.975194, -0.202031, 1.59006], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3780", "pose": [[-0.935045, -0.176347, 0.307556, 4.70748], [-0.34613, 0.266399, -0.899569, 2.24052], [0.0767035, -0.947593, -0.310134, 1.70895], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3800", "pose": [[-0.997516, -0.0416724, 0.0567797, 4.63673], [-0.0686651, 0.396022, -0.91567, 2.20127], [0.0156721, -0.917295, -0.3979, 1.75542], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3820", "pose": [[-0.979936, -0.0783481, 0.18327, 4.39532], [-0.199311, 0.380012, -0.903253, 2.12218], [0.00112337, -0.921657, -0.388003, 1.7565], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3840", "pose": [[-0.883108, -0.204169, 0.422416, 4.18809], [-0.467696, 0.311803, -0.827067, 1.91494], [0.0371506, -0.927952, -0.370844, 1.75774], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3860", "pose": [[-0.492355, -0.427762, 0.758027, 4.08837], [-0.867522, 0.170475, -0.467273, 1.89625], [0.0706569, -0.88767, -0.455028, 1.69726], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3880", "pose": [[-0.21942, -0.392176, 0.893337, 4.33327], [-0.969061, -0.0184748, -0.24613, 1.81054], [0.113031, -0.919705, -0.375989, 1.66268], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3900", "pose": [[0.203812, -0.456562, 0.866032, 4.55826], [-0.969728, -0.215666, 0.114519, 1.59531], [0.134489, -0.863156, -0.486697, 1.5733], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3920", "pose": [[0.581079, -0.530302, 0.617354, 4.72466], [-0.81373, -0.391443, 0.429669, 1.38248], [0.0138046, -0.752032, -0.658982, 1.39694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3940", "pose": [[0.738832, -0.383172, 0.554352, 4.85694], [-0.66771, -0.527393, 0.525375, 1.43533], [0.0910526, -0.758311, -0.645503, 1.44909], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3960", "pose": [[0.968922, -0.0843636, 0.232533, 5.03493], [-0.231985, -0.636198, 0.735823, 1.57312], [0.0858602, -0.7669, -0.635998, 1.5163], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3980", "pose": [[0.975852, -0.0234803, 0.217165, 5.17709], [-0.186793, -0.605069, 0.77395, 1.77842], [0.113228, -0.795826, -0.594844, 1.55708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4000", "pose": [[0.969145, 0.0334188, 0.244212, 5.31242], [-0.19657, -0.492983, 0.847542, 1.93041], [0.148716, -0.869397, -0.471203, 1.56814], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4020", "pose": [[0.933372, -0.0654402, 0.352893, 5.61152], [-0.314802, -0.62151, 0.717373, 1.88342], [0.172381, -0.780668, -0.600701, 1.55315], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4040", "pose": [[0.889737, -0.240285, 0.388113, 5.81474], [-0.427573, -0.736426, 0.524269, 1.90219], [0.159842, -0.632408, -0.757965, 1.54215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4060", "pose": [[0.817188, -0.325005, 0.475999, 6.13207], [-0.554075, -0.670448, 0.493456, 1.8058], [0.158757, -0.666986, -0.72796, 1.54903], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4080", "pose": [[0.833907, -0.121514, 0.538361, 6.36401], [-0.521898, -0.490881, 0.697609, 1.83763], [0.179502, -0.862711, -0.472767, 1.57264], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4100", "pose": [[0.932189, 0.130824, 0.337502, 6.51272], [-0.289022, -0.292328, 0.911598, 1.7534], [0.21792, -0.947327, -0.234694, 1.6316], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4120", "pose": [[0.950426, 0.243617, 0.193235, 6.5474], [-0.152887, -0.175016, 0.972622, 1.79456], [0.270767, -0.95395, -0.129094, 1.64813], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4140", "pose": [[0.983993, 0.12754, 0.124461, 6.77742], [-0.0573371, -0.434689, 0.898753, 1.77552], [0.168729, -0.891504, -0.420418, 1.54029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4160", "pose": [[0.984611, 0.173949, -0.0168108, 7.09878], [0.137186, -0.709745, 0.690972, 1.68603], [0.108263, -0.682645, -0.722686, 1.43313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4180", "pose": [[0.970165, 0.016339, -0.241895, 7.33942], [0.161366, -0.78815, 0.593952, 1.56776], [-0.180945, -0.615266, -0.767272, 1.24662], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4200", "pose": [[0.953717, 0.243184, -0.176874, 7.47685], [0.299322, -0.711418, 0.635838, 1.68464], [0.0287945, -0.659352, -0.751283, 1.3258], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4220", "pose": [[0.931089, 0.332286, -0.150531, 7.55096], [0.345676, -0.671848, 0.655078, 1.8613], [0.11654, -0.661971, -0.740414, 1.36798], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4240", "pose": [[0.89795, 0.364353, -0.246846, 7.59889], [0.421376, -0.54993, 0.721123, 1.92325], [0.126996, -0.751548, -0.647339, 1.44521], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4260", "pose": [[0.797554, 0.44836, -0.403585, 7.5722], [0.583505, -0.403621, 0.704707, 1.85134], [0.153067, -0.797536, -0.58353, 1.51462], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4280", "pose": [[0.775188, 0.487989, -0.401186, 7.50344], [0.600032, -0.37012, 0.709205, 1.83762], [0.197597, -0.790492, -0.579722, 1.5457], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4300", "pose": [[0.515747, 0.560359, -0.648076, 7.45026], [0.837877, -0.172041, 0.518038, 1.92648], [0.178791, -0.810185, -0.558242, 1.54361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4320", "pose": [[0.17701, 0.677013, -0.714367, 7.43022], [0.978136, -0.0405045, 0.203982, 1.94544], [0.109163, -0.734855, -0.669381, 1.49279], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4340", "pose": [[-0.274442, 0.680235, -0.679677, 7.47533], [0.950135, 0.30066, -0.0827419, 2.07398], [0.148068, -0.668494, -0.728829, 1.45664], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4360", "pose": [[-0.769511, 0.422083, -0.479269, 7.53737], [0.638124, 0.538163, -0.550616, 2.22767], [0.0255191, -0.729538, -0.683464, 1.4647], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4380", "pose": [[-0.909293, 0.204695, -0.362333, 7.65932], [0.414923, 0.512895, -0.751517, 2.23881], [0.0320065, -0.83369, -0.551305, 1.51737], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4400", "pose": [[-0.878125, 0.118749, -0.46346, 7.67912], [0.474457, 0.340746, -0.811654, 2.11879], [0.0615386, -0.932626, -0.355559, 1.58085], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4420", "pose": [[-0.88415, 0.067173, -0.462347, 7.61635], [0.465113, 0.220017, -0.857474, 1.99986], [0.044125, -0.973181, -0.225771, 1.63274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4440", "pose": [[-0.78005, 0.0483777, -0.623844, 7.55585], [0.625709, 0.0654684, -0.777304, 1.81314], [0.00323791, -0.996681, -0.0813391, 1.71193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4460", "pose": [[-0.589448, 0.156468, -0.792508, 7.44583], [0.807498, 0.0870073, -0.583418, 1.7022], [-0.0223326, -0.983843, -0.177634, 1.68461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4480", "pose": [[-0.423484, 0.393062, -0.816188, 7.40846], [0.902803, 0.108643, -0.416104, 1.54588], [-0.074882, -0.913071, -0.400866, 1.61155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4500", "pose": [[-0.00534748, 0.455944, -0.889992, 7.32345], [0.999688, -0.0192793, -0.0158833, 1.53373], [-0.0244003, -0.889799, -0.455699, 1.58428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4520", "pose": [[0.327094, 0.510702, -0.795105, 7.02927], [0.944884, -0.189443, 0.267031, 1.67366], [-0.0142535, -0.838627, -0.54452, 1.54047], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4540", "pose": [[0.727734, 0.370282, -0.577315, 6.58572], [0.685722, -0.376021, 0.623212, 1.68665], [0.0136813, -0.849411, -0.527555, 1.54475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4560", "pose": [[0.926732, 0.255953, -0.275054, 6.16309], [0.371846, -0.519926, 0.76903, 1.83503], [0.0538273, -0.814963, -0.577007, 1.51918], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4580", "pose": [[0.994932, 0.100288, -0.00715297, 5.64625], [0.0617779, -0.55365, 0.830454, 1.92135], [0.0793247, -0.826688, -0.557041, 1.50413], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4600", "pose": [[0.967331, -0.0707196, 0.24345, 5.14481], [-0.244243, -0.517303, 0.820209, 2.07865], [0.0679328, -0.852875, -0.517677, 1.48235], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4620", "pose": [[0.886832, -0.195665, 0.41862, 4.74121], [-0.458814, -0.480544, 0.747373, 2.26279], [0.0549306, -0.854864, -0.515936, 1.44752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4640", "pose": [[0.704119, -0.373679, 0.603805, 4.61579], [-0.709305, -0.409898, 0.573471, 2.65411], [0.0332045, -0.832074, -0.553669, 1.42131], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4660", "pose": [[0.589416, -0.491091, 0.641418, 4.74564], [-0.807456, -0.382275, 0.449311, 3.19324], [0.0245451, -0.782749, -0.621854, 1.4051], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4680", "pose": [[0.406229, -0.588355, 0.699154, 4.86746], [-0.91197, -0.309059, 0.269801, 3.79014], [0.0573408, -0.747209, -0.662111, 1.37409], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4700", "pose": [[0.318664, -0.650498, 0.689424, 4.9762], [-0.946695, -0.254587, 0.197366, 4.42409], [0.0471326, -0.715568, -0.696951, 1.36585], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4720", "pose": [[0.0582085, -0.670998, 0.73917, 5.0998], [-0.996929, -0.0779199, 0.00777288, 4.97635], [0.0523805, -0.737353, -0.673474, 1.37441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4740", "pose": [[-0.00389766, -0.64006, 0.768315, 5.33219], [-0.99993, 0.0110816, 0.00415904, 5.48109], [-0.0111762, -0.768245, -0.640058, 1.4263], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4760", "pose": [[0.0564771, -0.576949, 0.814824, 5.62599], [-0.997159, 0.00814246, 0.0748803, 5.80485], [-0.0498368, -0.816739, -0.574851, 1.43091], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4780", "pose": [[0.253474, -0.598217, 0.760189, 5.92965], [-0.966865, -0.131985, 0.218523, 5.84741], [-0.0303908, -0.79039, -0.61185, 1.43572], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4800", "pose": [[0.484746, -0.54034, 0.687789, 6.17726], [-0.874633, -0.293863, 0.385567, 5.58737], [-0.00622162, -0.788465, -0.615048, 1.36803], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4820", "pose": [[0.531736, -0.558344, 0.636795, 6.27999], [-0.822518, -0.161303, 0.545386, 5.40359], [-0.201796, -0.813777, -0.545019, 1.15071], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4840", "pose": [[0.348353, -0.561735, 0.750402, 6.29467], [-0.936532, -0.174862, 0.30386, 5.65034], [-0.0394723, -0.808627, -0.586996, 1.2943], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4860", "pose": [[-0.328701, -0.505548, 0.797732, 6.31458], [-0.943516, 0.21302, -0.253772, 6.2693], [-0.0416389, -0.836088, -0.547013, 1.3355], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4880", "pose": [[-0.624712, -0.367193, 0.689132, 6.32071], [-0.778525, 0.361009, -0.513391, 6.43164], [-0.0602694, -0.857229, -0.511396, 1.35517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4900", "pose": [[-0.818167, -0.251459, 0.517079, 6.30027], [-0.570503, 0.467032, -0.675579, 6.08731], [-0.0716122, -0.847732, -0.525568, 1.45828], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4920", "pose": [[-0.85672, -0.256472, 0.447496, 6.30721], [-0.515653, 0.445242, -0.732025, 5.67247], [-0.0114998, -0.857893, -0.513699, 1.48085], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4940", "pose": [[-0.947103, -0.193732, 0.255858, 6.53569], [-0.319625, 0.497608, -0.806366, 5.32552], [0.0289017, -0.845491, -0.533208, 1.47013], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4960", "pose": [[-0.996661, 0.0230195, 0.0783293, 6.78763], [-0.0493066, 0.594976, -0.802229, 4.97852], [-0.065071, -0.803414, -0.591855, 1.4712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4980", "pose": [[-0.989928, 0.10231, -0.0978485, 6.96758], [0.137276, 0.524799, -0.840084, 4.77304], [-0.0345983, -0.845055, -0.533558, 1.49856], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5000", "pose": [[-0.936291, 0.200628, -0.288284, 6.79246], [0.349064, 0.440622, -0.827046, 4.48663], [-0.0389043, -0.874986, -0.482583, 1.51367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5020", "pose": [[-0.865454, 0.183896, -0.466017, 6.69616], [0.50041, 0.272652, -0.821736, 4.29306], [-0.0240535, -0.944375, -0.327991, 1.55478], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0747_00"}, {"annotation": [{"question_id": "test-scene0748-0", "question": "In what direction is the painting compared to a larger painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-1", "question": "What kind of border does the painting have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-2", "question": "The table in front of the couch has what patterns?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-3", "question": "What appears to be in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-4", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-5", "question": "Where are the paintings located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-6", "question": "Where is the pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-7", "question": "What color pillow is on the end of the couch ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-8", "question": "What color frame do the paintings have ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-9", "question": "What size coffee tab sits in front of an l-shaped couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-10", "question": "What color pillow sits in the left crook of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-11", "question": "What is sitting on the floor in front of the pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-12", "question": "Where is the large painting hung?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-13", "question": "What sits directly in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-14", "question": "Where does the small painting hang on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-15", "question": "Where is the small painting located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-16", "question": "Where is the chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-17", "question": "Where is black luggage located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-18", "question": "What color is the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-19", "question": "Where is the black coffee table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-20", "question": "What color is the chair in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-21", "question": "In what part of the room is the brown chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-22", "question": "What is to the left of the red blanket?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-23", "question": "Where is the entertainment center?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-24", "question": "The entertainment center is underneath what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-25", "question": "What is to the right of the beige blanket?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-26", "question": "Where is the big painting located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-27", "question": "What is on the left of the big painting ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-28", "question": "What is the door to the room called?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-29", "question": "What is to the right of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-30", "question": "The painting is on the same wall as what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-31", "question": "Where is the smallest painting located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-32", "question": "Where is the wooden chair sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-33", "question": "The wooden chair is near what doorway leading to the wooden floored area?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-34", "question": "What is sitting in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-35", "question": "On which side of the couch are the square green pillows if you sit on them?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-36", "question": "What is in front of the white door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-37", "question": "What part of the house is open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-38", "question": "What is located in front of the couches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-39", "question": "What color is the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-40", "question": "What is the shelf called?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-41", "question": "What color is the shelf on the same wall as the door opening in wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-42", "question": "What is the shelf on the same wall as?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-43", "question": "What is the chair made out of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-44", "question": "What part of the chair is closest to the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-45", "question": "What is hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-46", "question": "Where is the window located when you look at the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-47", "question": "What is the color of the chair in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-48", "question": "What is the shape of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-49", "question": "Where is the couch against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-50", "question": "What is sitting in front of the white door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-51", "question": "Where is the small painting above the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-52", "question": "What is the shape of the dark couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-53", "question": "What is sitting on the coffee table in front of the couches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-54", "question": "How many paintings are on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-55", "question": "What is the color of the open door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-56", "question": "What is the dark pink cushion on top of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-57", "question": "What is right in front of the open white door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-58", "question": "What letter does the sofa look like?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-59", "question": "What obscures the painting on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-60", "question": "What is on the corner of the l-shaped sofa next to the right blanket?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-61", "question": "What is sitting on top of the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-62", "question": "What is in the corner next to the black cushion?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-63", "question": "The painting is right behind what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-64", "question": "Where is the L-shaped sofa when the door is open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-65", "question": "What color is the chair in front of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-66", "question": "Where is the dark sofa located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-67", "question": "What does the sofa have when facing the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-68", "question": "On what wall is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-69", "question": "In what part of the room is the pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-70", "question": "What kind of window is located right behind the bright red blanket on the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-71", "question": "What is the size of the painting hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-72", "question": "What color is the pillow on the right side of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-73", "question": "What color blankets are on the black couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0748-74", "question": "What is the pillow on the couch under?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.453423, -0.408236, 0.792307, 2.88649], [-0.891285, 0.20342, -0.405254, 1.95326], [0.004268, -0.889923, -0.45609, 1.49112], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.280812, -0.450545, 0.84744, 2.92983], [-0.959423, 0.108289, -0.260347, 2.06251], [0.0255296, -0.886162, -0.462672, 1.47937], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.259453, -0.450877, 0.854046, 2.92062], [-0.965435, -0.143885, 0.21733, 1.98554], [0.0248953, -0.880912, -0.472624, 1.466], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.551132, -0.368754, 0.748514, 2.80152], [-0.833503, -0.285298, 0.473157, 1.99297], [0.0390709, -0.884661, -0.464595, 1.46709], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.862472, -0.210731, 0.460146, 2.80577], [-0.505574, -0.400401, 0.764247, 1.95786], [0.0231924, -0.89178, -0.451875, 1.45706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.980287, -0.0910268, 0.17536, 2.71286], [-0.197519, -0.473162, 0.858548, 1.91587], [0.00482297, -0.87626, -0.481814, 1.46014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.999401, 0.030309, -0.0167213, 2.50674], [0.0292697, -0.482029, 0.875666, 1.88737], [0.0184804, -0.875631, -0.482627, 1.46635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.88098, 0.243368, -0.405765, 2.38367], [0.471779, -0.386526, 0.792478, 1.88301], [0.0360246, -0.88959, -0.455338, 1.44923], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.586215, 0.397553, -0.705905, 2.34639], [0.809702, -0.258373, 0.526902, 1.90521], [0.0270848, -0.880452, -0.473362, 1.46081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.506169, 0.43753, -0.74321, 2.31854], [0.86222, -0.237515, 0.447396, 1.86688], [0.0192255, -0.867268, -0.49747, 1.45875], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.205548, 0.492464, -0.845712, 2.3044], [0.978624, -0.109387, 0.174155, 1.83783], [-0.006745, -0.863431, -0.504422, 1.46], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.289565, 0.496848, -0.818104, 2.37288], [0.957157, 0.148845, -0.248387, 1.90446], [-0.00164023, -0.854978, -0.518662, 1.46299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.448197, 0.484667, -0.751144, 2.43576], [0.893903, 0.235915, -0.381157, 1.85062], [-0.00752774, -0.842284, -0.538982, 1.4695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.735751, 0.360098, -0.573585, 2.45418], [0.677086, 0.37233, -0.634764, 1.83619], [-0.0150141, -0.855394, -0.51776, 1.4571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.934632, 0.207006, -0.289156, 2.50102], [0.35463, 0.482024, -0.80118, 1.84899], [-0.0264692, -0.851352, -0.523926, 1.45091], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.993287, 0.0915968, -0.0706476, 2.65236], [0.107547, 0.506332, -0.855606, 1.82918], [-0.0425996, -0.85746, -0.512784, 1.44976], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.996401, -0.0249437, 0.0810052, 2.68637], [-0.0821719, 0.518588, -0.851066, 1.83016], [-0.0207796, -0.85466, -0.518772, 1.4528], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.951287, -0.14736, 0.270809, 2.68536], [-0.307884, 0.499972, -0.809466, 1.85674], [-0.0161139, -0.853413, -0.520987, 1.46157], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.887255, -0.224818, 0.402784, 2.78867], [-0.461199, 0.448597, -0.765543, 1.9455], [-0.00857967, -0.864996, -0.501706, 1.44551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.820022, -0.274913, 0.501983, 2.91773], [-0.57229, 0.404531, -0.71333, 1.93526], [-0.00696395, -0.872225, -0.489054, 1.41898], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.897789, -0.21515, 0.384298, 3.08027], [-0.439991, 0.399374, -0.804306, 1.94737], [0.0195681, -0.891185, -0.453218, 1.38251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.979711, -0.145382, 0.137949, 3.35587], [-0.189263, 0.444739, -0.875435, 2.05407], [0.065921, -0.883782, -0.463232, 1.39174], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.927163, -0.229577, 0.296078, 3.34765], [-0.363665, 0.361445, -0.858548, 2.16113], [0.0900866, -0.903688, -0.418608, 1.41304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.939159, -0.19055, 0.285781, 3.36054], [-0.334992, 0.324289, -0.884656, 2.25351], [0.0758958, -0.926568, -0.368392, 1.43271], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.988457, -0.124386, 0.0864888, 3.66417], [-0.132404, 0.43181, -0.892194, 2.41413], [0.0736299, -0.893347, -0.443295, 1.40529], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.999831, -0.00909765, 0.0159933, 4.12259], [-0.0183997, 0.494289, -0.869103, 2.2233], [1.49012e-06, -0.86925, -0.494372, 1.45433], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.992382, 0.0763846, -0.0966627, 4.47658], [0.122686, 0.541107, -0.831957, 2.00107], [-0.0112438, -0.837478, -0.546356, 1.48935], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.959252, 0.16081, -0.232329, 4.35991], [0.282548, 0.550901, -0.785286, 2.09138], [0.00170848, -0.818931, -0.573889, 1.50847], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.780265, 0.407901, -0.474134, 4.20591], [0.624486, 0.466038, -0.626758, 2.30563], [-0.0346911, -0.785128, -0.618362, 1.47313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.549199, 0.555616, -0.624237, 4.11137], [0.835235, 0.340254, -0.431983, 2.33674], [-0.0276176, -0.758629, -0.650938, 1.45416], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.364116, 0.459625, -0.81004, 3.9673], [0.93048, 0.141872, -0.337755, 2.49616], [-0.0403185, -0.876708, -0.47933, 1.48927], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.187708, 0.403266, -0.895624, 4.08219], [0.98212, 0.090389, -0.165137, 2.58305], [0.0143605, -0.910608, -0.413022, 1.47478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.190966, 0.534696, -0.823185, 4.20384], [0.981552, 0.0960318, -0.165327, 2.7316], [-0.00934792, -0.83957, -0.54317, 1.46643], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.0903537, 0.631216, -0.770326, 4.39107], [0.99589, -0.0524719, 0.0738146, 2.81212], [0.00617254, -0.77383, -0.633363, 1.46205], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.203625, 0.640119, -0.7408, 4.50408], [0.979041, -0.130125, 0.156671, 3.01597], [0.00389151, -0.757176, -0.6532, 1.42121], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.219588, 0.637861, -0.738183, 4.6171], [0.973761, -0.18964, 0.125799, 3.13892], [-0.0597464, -0.746438, -0.662767, 1.35994], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.196784, 0.644666, -0.738702, 4.74326], [0.979467, -0.162934, 0.118729, 3.13927], [-0.0438193, -0.746899, -0.663492, 1.25682], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.0228219, 0.698558, -0.71519, 4.85147], [0.993469, -0.0958476, -0.0619167, 3.22559], [-0.111802, -0.709105, -0.696182, 1.20433], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.00955293, 0.604197, -0.796777, 4.83561], [0.998273, -0.0404218, -0.0426205, 3.18283], [-0.0579584, -0.795809, -0.602768, 1.27597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.0386619, 0.47581, -0.878698, 4.79609], [0.999198, 0.027535, -0.0290537, 3.09419], [0.0103709, -0.879117, -0.476493, 1.40582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.448967, 0.371401, -0.812706, 4.75668], [0.893343, 0.167046, -0.417174, 3.09365], [-0.0191792, -0.913322, -0.406786, 1.47535], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.823927, 0.323482, -0.4653, 4.84222], [0.565174, 0.408912, -0.716498, 3.09026], [-0.0415077, -0.853317, -0.519737, 1.42345], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.966488, 0.223914, -0.125556, 4.90971], [0.244369, 0.652619, -0.717198, 3.11784], [-0.0786499, -0.723845, -0.685466, 1.36187], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.985939, 0.163993, -0.0321105, 4.93358], [0.150984, 0.791859, -0.591746, 3.12733], [-0.0716152, -0.588274, -0.805484, 1.30894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.995632, 0.0829861, 0.0427743, 4.95286], [0.0271058, 0.695364, -0.718146, 3.1312], [-0.0893399, -0.71385, -0.694576, 1.37232], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.992394, 0.122048, -0.0160995, 4.90182], [0.0798082, 0.538262, -0.83899, 2.98575], [-0.0937314, -0.833893, -0.543908, 1.45624], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.956832, 0.190609, -0.21941, 4.75116], [0.288388, 0.528817, -0.798239, 2.73743], [-0.0361243, -0.827056, -0.560958, 1.46], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.860809, 0.345269, -0.373895, 4.32542], [0.507026, 0.518353, -0.688647, 2.57083], [-0.0439589, -0.782368, -0.621263, 1.40907], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.736094, 0.529164, -0.42208, 4.17171], [0.673066, 0.506115, -0.539286, 2.3311], [-0.0717499, -0.681053, -0.72871, 1.35837], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.391799, 0.71881, -0.574287, 4.09214], [0.916906, 0.253492, -0.308261, 1.88492], [-0.0760041, -0.647343, -0.7584, 1.31384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.149586, 0.764715, -0.626765, 3.99071], [0.988498, -0.129921, 0.077403, 1.63489], [-0.0222387, -0.631135, -0.775354, 1.27015], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.577116, 0.598312, -0.555842, 3.92581], [0.81423, -0.474046, 0.335127, 1.41964], [-0.0629844, -0.64599, -0.760743, 1.25391], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.510045, 0.729997, -0.454928, 4.07914], [0.859332, -0.409418, 0.306474, 1.50507], [0.0374699, -0.547249, -0.836131, 1.23185], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.39806, 0.768311, -0.501244, 4.07122], [0.915284, -0.295897, 0.273315, 1.56664], [0.0616742, -0.567576, -0.821007, 1.26678], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.316105, 0.612035, -0.724907, 3.97599], [0.948706, -0.199282, 0.245443, 1.66918], [0.0057595, -0.76531, -0.643636, 1.38814], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.295502, 0.595101, -0.747352, 3.86769], [0.955319, -0.189526, 0.226817, 1.62903], [-0.00666399, -0.780984, -0.624516, 1.38034], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.0177524, 0.6758, -0.736871, 3.79465], [0.998552, -0.0494197, -0.0212669, 1.27657], [-0.0507882, -0.735427, -0.675698, 1.37359], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.602359, 0.608969, -0.516063, 4.13108], [0.797182, 0.425898, -0.427915, 1.22755], [-0.040797, -0.669155, -0.742002, 1.46524], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.867755, 0.380162, -0.320123, 4.27886], [0.496756, 0.643538, -0.582317, 1.19043], [-0.0153633, -0.664331, -0.74728, 1.49742], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.997372, 0.0534828, -0.0488656, 4.32636], [0.0724438, 0.740087, -0.668598, 1.42884], [0.000406384, -0.670381, -0.742017, 1.54256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.997945, -0.013764, 0.0625756, 4.3672], [-0.0538489, 0.709413, -0.702733, 1.54293], [-0.0347195, -0.704659, -0.708696, 1.55622], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.903324, -0.262922, 0.338935, 4.43411], [-0.426904, 0.628267, -0.65041, 1.64878], [-0.0419345, -0.732224, -0.679772, 1.57746], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.75252, -0.409727, 0.515594, 4.53374], [-0.658265, 0.491772, -0.569955, 1.58593], [-0.0200287, -0.7683, -0.639777, 1.56723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.0997707, -0.678067, 0.728197, 4.47964], [-0.995009, 0.0690759, -0.0720063, 1.40273], [-0.00147583, -0.731747, -0.681575, 1.56288], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.467154, -0.676722, 0.569047, 4.37016], [-0.884132, -0.351104, 0.308281, 1.36023], [-0.00882649, -0.647127, -0.762331, 1.52466], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.562815, -0.701171, 0.43772, 4.35345], [-0.825541, -0.450239, 0.340246, 1.31442], [-0.0414921, -0.552851, -0.832246, 1.44566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.772189, -0.504789, 0.385892, 4.28228], [-0.634557, -0.581519, 0.50909, 1.3482], [-0.032579, -0.637984, -0.76936, 1.44591], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.922254, -0.270525, 0.276159, 4.10698], [-0.386272, -0.673543, 0.630185, 1.45032], [0.0155238, -0.687864, -0.725674, 1.4701], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.996519, -0.0335314, 0.0763282, 4.01571], [-0.0813661, -0.590648, 0.802817, 1.54116], [0.0181636, -0.806232, -0.59132, 1.4786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.956669, 0.137969, -0.256416, 4.04601], [0.291166, -0.445223, 0.846758, 1.58042], [0.00266376, -0.884727, -0.466103, 1.49744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.876346, 0.285124, -0.388228, 3.92004], [0.481113, -0.478967, 0.734249, 1.48676], [0.0234037, -0.830238, -0.556918, 1.45933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.712842, 0.483071, -0.508428, 3.8269], [0.700882, -0.464925, 0.540935, 1.36417], [0.0249289, -0.741949, -0.669993, 1.43158], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.215466, 0.677046, -0.703693, 3.82699], [0.97539, -0.183745, 0.121871, 1.26549], [-0.0467881, -0.712633, -0.699975, 1.43749], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.0171205, 0.632211, -0.774607, 3.66623], [0.999486, -0.0101867, -0.0304047, 1.18241], [-0.0271129, -0.774729, -0.631712, 1.46511], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.0743024, 0.580733, -0.810696, 3.42059], [0.997052, -0.0588688, 0.0492125, 1.20355], [-0.0191455, -0.811963, -0.583395, 1.4766], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.299866, 0.636777, -0.710349, 3.14077], [0.951308, -0.255301, 0.172726, 1.34948], [-0.0713648, -0.727555, -0.682327, 1.43671], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.80315, 0.431037, -0.411287, 2.87646], [0.595397, -0.605327, 0.528282, 1.39655], [-0.0212543, -0.669169, -0.742806, 1.38256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.913023, 0.247874, -0.323957, 2.84798], [0.404283, -0.655536, 0.63783, 1.47366], [-0.0542639, -0.713323, -0.698731, 1.37928], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.990018, 0.0791586, -0.116615, 2.55448], [0.139208, -0.678608, 0.721188, 1.49239], [-0.0220476, -0.730222, -0.682854, 1.33371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.994892, -0.0719514, 0.0708061, 2.37115], [-0.100714, -0.659718, 0.744734, 1.57632], [-0.00687265, -0.748061, -0.663595, 1.29227], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.914148, -0.258578, 0.312203, 2.18846], [-0.404866, -0.621141, 0.671019, 1.68138], [0.0204115, -0.739811, -0.672505, 1.26643], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.852937, -0.284036, 0.437976, 2.29055], [-0.520338, -0.395415, 0.756898, 1.69444], [-0.0418041, -0.873482, -0.485059, 1.37644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.99434, -0.0994414, 0.0374186, 2.36907], [-0.0914588, -0.621852, 0.777776, 1.59378], [-0.0540742, -0.776795, -0.627427, 1.41985], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.926271, 0.179516, -0.331353, 2.31125], [0.367793, -0.622299, 0.690994, 1.52403], [-0.0821561, -0.761917, -0.642443, 1.44193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.889092, 0.24497, -0.386659, 2.08491], [0.455959, -0.548176, 0.701145, 1.5268], [-0.0401977, -0.799683, -0.599075, 1.44602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.86505, 0.240903, -0.440061, 1.91682], [0.499559, -0.494294, 0.711417, 1.61498], [-0.0461372, -0.835248, -0.547934, 1.42122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.933391, 0.118914, -0.338585, 1.70665], [0.353056, -0.473285, 0.807064, 1.6164], [-0.0642761, -0.872846, -0.483744, 1.44724], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.874968, 0.107667, -0.472059, 1.68598], [0.481552, -0.294968, 0.825289, 1.54298], [-0.0503861, -0.949422, -0.309935, 1.54197], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.808056, 0.0527199, -0.586743, 1.83722], [0.586275, -0.169491, 0.792183, 1.52904], [-0.0576837, -0.984121, -0.167866, 1.59188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.58592, 0.128576, -0.800103, 2.09998], [0.807997, -0.16817, 0.564676, 1.47463], [-0.0619496, -0.977337, -0.202423, 1.58975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.604033, 0.29397, -0.74076, 2.2065], [0.793294, -0.310815, 0.523524, 1.36846], [-0.0763388, -0.903867, -0.420948, 1.5429], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.506454, 0.456118, -0.731751, 2.42787], [0.858857, -0.342239, 0.3811, 1.40036], [-0.0766076, -0.821479, -0.565069, 1.53802], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.572338, 0.524229, -0.630565, 2.49117], [0.815031, -0.448342, 0.367035, 1.33457], [-0.0902987, -0.723998, -0.683866, 1.46955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.622778, 0.574576, -0.531046, 2.51268], [0.776675, -0.53596, 0.330943, 1.29215], [-0.0944673, -0.618554, -0.780043, 1.39399], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.42696, 0.687009, -0.587983, 2.5645], [0.892359, -0.425295, 0.151059, 1.26413], [-0.146287, -0.589188, -0.794643, 1.39896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.00455263, 0.736005, -0.676961, 2.49628], [0.989054, -0.103159, -0.105505, 1.1724], [-0.147487, -0.66907, -0.728418, 1.42734], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.191631, 0.739708, -0.645066, 2.32917], [0.972212, 0.0530218, -0.228016, 1.17113], [-0.134463, -0.670836, -0.729314, 1.41735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.606961, 0.594216, -0.527737, 2.27074], [0.785304, 0.346461, -0.51309, 1.46551], [-0.122046, -0.72586, -0.676928, 1.4253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.797972, 0.428423, -0.423903, 2.15855], [0.592875, 0.431547, -0.679902, 1.66008], [-0.108351, -0.793864, -0.598364, 1.39251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.958846, 0.239384, -0.152676, 1.98327], [0.261578, 0.535669, -0.802892, 1.92947], [-0.110416, -0.809786, -0.576242, 1.41088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.999532, 0.0229007, 0.0202607, 1.69925], [-0.00367647, 0.567795, -0.823162, 1.95836], [-0.0303549, -0.822851, -0.567445, 1.35325], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.921769, -0.204774, 0.329255, 1.37403], [-0.38749, 0.516862, -0.763351, 1.9937], [-0.0138649, -0.831217, -0.555776, 1.28798], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.990453, -0.0922119, 0.102468, 1.56616], [-0.13236, 0.428464, -0.893812, 1.95822], [0.0385163, -0.898841, -0.436579, 1.35721], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.961957, 0.176114, -0.208858, 2.01822], [0.27066, 0.510359, -0.816258, 1.87389], [-0.0371622, -0.841735, -0.53861, 1.38841], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.88627, 0.17597, -0.428439, 2.06242], [0.462991, 0.362223, -0.808971, 1.92756], [0.0128362, -0.91533, -0.4025, 1.44329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.662244, 0.291723, -0.690167, 2.22066], [0.749238, 0.268517, -0.605427, 1.69246], [0.00870448, -0.91804, -0.396393, 1.44884], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.57652, 0.264474, -0.773097, 2.24908], [0.816168, 0.231182, -0.529552, 1.58378], [0.0386731, -0.936274, -0.349136, 1.47423], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.350364, 0.47264, -0.808613, 2.39188], [0.936515, 0.164248, -0.309779, 1.49279], [-0.0136012, -0.865814, -0.500181, 1.40991], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.281184, 0.676631, -0.680519, 2.50704], [0.958944, 0.170847, -0.226356, 1.48257], [-0.0368945, -0.716228, -0.696891, 1.35267], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.0647856, 0.758057, -0.648962, 2.49463], [0.996779, -0.0799667, 0.00609843, 1.47425], [-0.0472724, -0.647267, -0.760796, 1.33106], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.0147773, 0.736411, -0.676373, 2.47477], [0.995747, -0.0723571, -0.0570248, 1.73248], [-0.0909342, -0.672654, -0.734348, 1.37014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.167941, 0.727893, -0.664806, 2.35869], [0.981515, 0.0606807, -0.181508, 1.95531], [-0.0917778, -0.683001, -0.724629, 1.36035], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.30917, 0.705826, -0.637357, 2.18201], [0.95008, 0.199659, -0.239758, 2.11331], [-0.0419731, -0.679666, -0.73232, 1.3537], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.656497, 0.597133, -0.460917, 2.12366], [0.750667, 0.45703, -0.477098, 2.58467], [-0.0742381, -0.659208, -0.748287, 1.2975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.748755, 0.537994, -0.387208, 2.07813], [0.657544, 0.529108, -0.536359, 2.61977], [-0.0836833, -0.656207, -0.749926, 1.31466], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.885813, 0.325318, -0.330915, 1.96689], [0.464043, 0.621311, -0.631376, 2.41748], [0.000203162, -0.71284, -0.701327, 1.38644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.948913, 0.224601, -0.221628, 1.68219], [0.315168, 0.640634, -0.700183, 2.40103], [-0.0152794, -0.734263, -0.678693, 1.39979], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.920741, 0.253846, -0.296307, 1.45331], [0.390174, 0.599378, -0.698935, 2.44308], [0.00017783, -0.759149, -0.650916, 1.38793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.953913, 0.221204, -0.202779, 1.23995], [0.299858, 0.676403, -0.672729, 2.69777], [-0.0116498, -0.70253, -0.711559, 1.36808], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.994494, 0.0957894, -0.04249, 1.20529], [0.100119, 0.748829, -0.655158, 2.82564], [-0.0309395, -0.655805, -0.754296, 1.30094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.996058, 0.0467619, 0.0753756, 1.23456], [-0.00909609, 0.791429, -0.611194, 2.83466], [-0.0882349, -0.60947, -0.787884, 1.30074], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.973673, 0.146861, -0.174337, 1.30727], [0.227656, 0.665363, -0.710961, 2.68722], [0.0115854, -0.731932, -0.681279, 1.38482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.988109, -0.0419198, 0.147928, 1.49489], [-0.143465, 0.597397, -0.789009, 2.56999], [-0.0552966, -0.800849, -0.596307, 1.44846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.903498, -0.231759, 0.360525, 1.6966], [-0.428552, 0.499927, -0.752607, 2.4615], [-0.00581294, -0.834483, -0.551003, 1.4712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.492867, -0.460679, 0.738144, 1.78502], [-0.869964, 0.276134, -0.408549, 2.44439], [-0.0156171, -0.843519, -0.536872, 1.46148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.0675171, -0.479477, 0.874953, 1.78386], [-0.996851, 0.0689648, -0.0391307, 2.48005], [-0.0415787, -0.87484, -0.482623, 1.49234], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.00235358, -0.643275, 0.765632, 1.73857], [-0.998331, 0.042664, 0.0389147, 2.50355], [-0.0576977, -0.764446, -0.642101, 1.41095], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.34013, -0.64217, 0.686972, 1.76186], [-0.935802, 0.303126, -0.179972, 2.51001], [-0.0926663, -0.704083, -0.704045, 1.41853], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[-0.777341, -0.315171, 0.544434, 1.69417], [-0.613928, 0.568868, -0.547249, 2.41002], [-0.137234, -0.759643, -0.635696, 1.44855], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[-0.996363, 0.0674689, 0.0520372, 1.62763], [0.00187984, 0.627985, -0.778223, 2.44183], [-0.0851844, -0.775295, -0.625828, 1.46676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[-0.947913, 0.245702, -0.202711, 1.43208], [0.303926, 0.507174, -0.806476, 2.61109], [-0.0953425, -0.826078, -0.555432, 1.4974], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.870906, 0.271878, -0.409396, 1.34211], [0.488941, 0.395279, -0.777619, 2.70388], [-0.049592, -0.877403, -0.477183, 1.50561], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.542969, 0.489726, -0.682168, 1.29533], [0.839121, 0.284902, -0.463365, 2.73125], [-0.0325706, -0.824014, -0.565632, 1.48986], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.269209, 0.670652, -0.691196, 1.27083], [0.96232, 0.215855, -0.165367, 2.77472], [0.0382944, -0.709671, -0.703492, 1.50288], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[-0.109608, 0.817788, -0.564985, 1.28796], [0.993465, 0.108335, -0.0359225, 2.79177], [0.031831, -0.56523, -0.824319, 1.46724], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0748_00"}, {"annotation": [{"question_id": "test-scene0749-0", "question": "What color is the chair on the dining table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-1", "question": "What color are the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-2", "question": "The average size fridge is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-3", "question": "What is placed in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-4", "question": "Where is a dining table placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-5", "question": "Where are kitchen cabinets placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-6", "question": "What color are the chairs around the brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-7", "question": "What color are kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-8", "question": "What color cabinet is below the kitchen sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-9", "question": "Where is the brown cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-10", "question": "How many doors does the brown cabinet have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-11", "question": "Where is a microwave located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-12", "question": "What is above the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-13", "question": "What type of cabinets are located above the microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-14", "question": "What color are the refrigerators?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-15", "question": "The refrigerator is to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-16", "question": "What color is the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-17", "question": "Where is the wooden chair sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-18", "question": "The wooden chair is closest to what part of the house?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-19", "question": "How many doors do the wooden cabinets have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-20", "question": "What color are the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-21", "question": "How many chairs does the wooden dining table have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-22", "question": "Where is the wooden dining table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-23", "question": "What type of dining table is in the middle of the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-24", "question": "How many chairs are around the rectangular dining table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-25", "question": "Where are the wooden cabinets hung?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-26", "question": "What is on the side by the sink and further from the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-27", "question": "The wooden chair is further from what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-28", "question": "What is lining the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-29", "question": "What type of cabinet is found between the oven and refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-30", "question": "Where can the single wooden kitchen cabinet and drawer be found?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-31", "question": "Where are the wooden cabinets mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-32", "question": "Where are the wooden cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-33", "question": "How many doors does the kitchen cabinet to the left of the stove have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-34", "question": "Where is the kitchen cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-35", "question": "What color is the dishwasher?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-36", "question": "Where is the white dishwasher located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-37", "question": "What color are the chairs by the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-38", "question": "What color cabinet sits below sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-39", "question": "What is located between the stove and refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-40", "question": "What is the item on the right side furthest from the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-41", "question": "What is on the table with four wooden chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-42", "question": "What color is the microwave above the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-43", "question": "What is above the dishwasher?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-44", "question": "What color is the fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-45", "question": "What is the color of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-46", "question": "What is on the counter to the left of the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-47", "question": "What is sitting on the floor right under the window and in front of a cabinet on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-48", "question": "Where is the white gas stove located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-49", "question": "The wooden kitchen cabinet and drawer is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-50", "question": "What color is the window on the right of the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-51", "question": "What is the shape of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-52", "question": "What kind of wooden chair is sitting in the kitchen in front of a white stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-53", "question": "What is sitting on the left side of the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-54", "question": "What color is the frame of the window in front of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-55", "question": "What kinds of things are on the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-56", "question": "Where is a wooden chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-57", "question": "Where is a white microwave located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-58", "question": "What is next to the kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-59", "question": "Where is a dishwasher located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-60", "question": "Where is the microwave located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-61", "question": "What is to the microwaves direct right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-62", "question": "What color is the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-63", "question": "What is to the lower right, of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-64", "question": "What color chair is sitting at the end of the table in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-65", "question": "What color is the chair on the end of the table in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-66", "question": "What color are the long wooden kitchen cabinets above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-67", "question": "What is sitting in the kitchen on the right side of the brown countertop?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-68", "question": "What color countertop is on the right side of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-69", "question": "On what side of the sink is the refrigerator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-70", "question": "What is on top of the kitchen table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-71", "question": "What color is the drawer located on the right side of the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-72", "question": "Where are the wooden chairs located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-73", "question": "How many chairs are at the dining table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-74", "question": "What type of cabinet is located near the entryway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-75", "question": "What is in the kitchen below a brown kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-76", "question": "What is under the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-77", "question": "What is under the window at the rear of the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-78", "question": "What appliance is on the right of the window in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-79", "question": "What color is the dishwasher on the left side rear-corner of the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0749-80", "question": "Where is the white colored dishwasher located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.936615, -0.113143, 0.331588, 5.78621], [-0.349996, 0.345258, -0.870804, 4.2333], [-0.0159583, -0.931663, -0.362974, 1.69149], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.890988, -0.171552, 0.420371, 5.83129], [-0.453859, 0.311275, -0.834937, 4.23145], [0.0123844, -0.934707, -0.355203, 1.68992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.909484, -0.196782, 0.366219, 6.20557], [-0.415728, 0.43706, -0.797589, 4.28497], [-0.00310878, -0.877642, -0.479307, 1.67101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.951156, -0.0944958, 0.293895, 6.54748], [-0.301356, 0.490807, -0.817492, 4.12336], [-0.0669958, -0.866129, -0.49531, 1.6779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.998317, 0.0528135, -0.0239597, 6.82114], [0.0469062, 0.492359, -0.869128, 4.02564], [-0.0341047, -0.868789, -0.494007, 1.67677], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.990897, 0.0825551, -0.106343, 6.99058], [0.128657, 0.348093, -0.92859, 3.90766], [-0.0396426, -0.933818, -0.355546, 1.70378], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.98581, 0.0570258, -0.157882, 7.14033], [0.165249, 0.164289, -0.972472, 3.8439], [-0.0295178, -0.984763, -0.171381, 1.80096], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.951058, 0.0279087, -0.307749, 7.05416], [0.308786, 0.0478154, -0.949929, 3.79665], [-0.0117962, -0.998466, -0.0540931, 1.82035], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.734468, 0.0619724, -0.675808, 6.957], [0.678403, 0.0935498, -0.72871, 3.67472], [0.0180618, -0.993684, -0.110752, 1.79681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.433866, 0.12334, -0.892496, 6.86115], [0.900374, 0.0955983, -0.424485, 3.52375], [0.0329653, -0.987749, -0.152529, 1.73573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.168043, 0.170105, -0.970992, 6.64791], [0.985779, 0.0280682, -0.165685, 3.37459], [-0.000929803, -0.985026, -0.172402, 1.69919], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.21755, 0.239716, -0.946155, 6.52301], [0.976042, -0.0496832, 0.211834, 3.21778], [0.00377214, -0.969571, -0.244782, 1.77131], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.465041, 0.205486, -0.861111, 6.43187], [0.885179, -0.123296, 0.448616, 3.26651], [-0.0139874, -0.970862, -0.23923, 1.78018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.834866, 0.11856, -0.537535, 6.32593], [0.549319, -0.24214, 0.799761, 3.18411], [-0.0353388, -0.96297, -0.267281, 1.75472], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.976047, 0.00822078, -0.217407, 6.37555], [0.212378, -0.25285, 0.943908, 3.2385], [-0.0472117, -0.967471, -0.24854, 1.75223], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.987101, -0.0792335, 0.139118, 6.37594], [-0.156609, -0.297408, 0.941818, 3.22142], [-0.0332487, -0.951457, -0.305981, 1.72505], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.952276, -0.124734, 0.278591, 6.37906], [-0.303377, -0.286059, 0.908918, 3.19183], [-0.0336795, -0.950059, -0.310249, 1.70057], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.87567, -0.181267, 0.447599, 6.11432], [-0.482097, -0.274386, 0.832042, 3.17471], [-0.0280069, -0.944381, -0.32766, 1.69693], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.877062, -0.147727, 0.4571, 5.9884], [-0.480375, -0.266445, 0.835612, 3.18886], [-0.00165048, -0.952462, -0.304653, 1.71105], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.646259, -0.220846, 0.730463, 5.83637], [-0.76283, -0.160668, 0.62632, 3.17416], [-0.020958, -0.961984, -0.272301, 1.71645], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.481358, -0.246317, 0.841203, 5.68866], [-0.876325, -0.114793, 0.467843, 3.1087], [-0.0186738, -0.962367, -0.27111, 1.71972], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.223353, -0.241357, 0.944384, 5.54567], [-0.973852, -0.0965445, 0.205649, 3.2515], [0.0415403, -0.965622, -0.256609, 1.72536], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.100026, -0.253773, 0.962078, 5.49422], [-0.994282, -0.0108346, -0.106232, 3.41119], [0.0373826, -0.967203, -0.251238, 1.7245], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.395368, -0.253397, 0.882878, 5.58429], [-0.918521, 0.107054, -0.380604, 3.48919], [0.00192873, -0.961421, -0.275076, 1.72624], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.542672, -0.316833, 0.777897, 5.51903], [-0.839944, 0.205828, -0.502124, 3.6265], [-0.00102341, -0.925879, -0.377819, 1.71277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.340678, -0.46435, 0.817507, 5.27315], [-0.939584, 0.199124, -0.278446, 3.66931], [-0.0334887, -0.862977, -0.504133, 1.69546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.1234, -0.609656, 0.783002, 4.963], [-0.990921, 0.118134, -0.0641871, 3.67793], [-0.0533676, -0.783814, -0.618698, 1.66599], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.00578704, -0.667011, 0.745026, 4.76433], [-0.999197, 0.0333907, 0.022133, 3.75604], [-0.0396399, -0.7443, -0.666669, 1.59574], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.0785318, -0.598246, 0.797455, 4.6053], [-0.996607, -0.0273477, 0.0776279, 3.54135], [-0.0246319, -0.800846, -0.598364, 1.37947], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.17301, -0.585176, 0.792236, 4.48704], [-0.960584, 0.0774515, 0.266983, 3.45505], [-0.217592, -0.8072, -0.54871, 1.20417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.176306, -0.528613, 0.830353, 4.47584], [-0.952319, 0.121797, 0.27974, 3.45946], [-0.249009, -0.84008, -0.481934, 1.11539], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.03164, -0.517048, 0.855372, 4.47259], [-0.980322, 0.150787, 0.127409, 3.41411], [-0.194856, -0.842571, -0.502102, 1.14931], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.152827, -0.540347, 0.827447, 4.44167], [-0.980917, 0.0188893, 0.193507, 3.17636], [-0.120191, -0.84123, -0.527149, 1.41826], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.438841, -0.43547, 0.785993, 4.5647], [-0.898545, -0.218491, 0.380629, 3.12312], [0.00597966, -0.873286, -0.487172, 1.60523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.763386, -0.249264, 0.595911, 4.57578], [-0.643474, -0.21287, 0.735274, 3.00024], [-0.056426, -0.944751, -0.322897, 1.69819], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.901479, -0.10186, 0.420667, 4.56476], [-0.430155, -0.10309, 0.89685, 2.95022], [-0.0479868, -0.989443, -0.136749, 1.75815], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.961809, -0.0785353, 0.262214, 4.52222], [-0.268774, -0.0896441, 0.959023, 2.95479], [-0.0518112, -0.992873, -0.107329, 1.7982], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.92149, -0.0293885, 0.387288, 4.57006], [-0.387818, -0.0149808, 0.921614, 2.9808], [-0.0212829, -0.999456, -0.0252021, 1.83757], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.771136, -0.137661, 0.62161, 4.58949], [-0.636343, -0.135327, 0.759444, 3.03665], [-0.0204249, -0.981191, -0.191955, 1.75218], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.872548, -0.254427, 0.417044, 4.62568], [-0.485021, -0.349057, 0.801819, 3.07022], [-0.0584327, -0.901901, -0.427972, 1.67758], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.980576, -0.172353, 0.0936231, 4.75089], [-0.172329, -0.5291, 0.830877, 3.00255], [-0.0936681, -0.830872, -0.548524, 1.64072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.981354, -0.158264, 0.109071, 4.76159], [-0.161609, -0.372211, 0.91397, 2.99743], [-0.104051, -0.914555, -0.390848, 1.67148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.786941, -0.331059, 0.520695, 4.64946], [-0.616196, -0.377854, 0.691034, 3.08401], [-0.0320262, -0.864654, -0.501347, 1.65081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.387606, -0.600587, 0.699326, 4.5844], [-0.920827, -0.216969, 0.32404, 3.27396], [-0.0428825, -0.769558, -0.637136, 1.61168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.380073, -0.585133, 0.716355, 4.65252], [-0.908203, -0.0893418, 0.408884, 3.63786], [-0.175251, -0.806001, -0.565375, 1.65944], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.604151, -0.41302, 0.681481, 4.71201], [-0.793002, -0.227452, 0.565167, 3.88702], [-0.078421, -0.881862, -0.464941, 1.69381], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.926076, -0.199539, 0.320262, 5.16582], [-0.375505, -0.403803, 0.83423, 3.85937], [-0.0371387, -0.89282, -0.44888, 1.64066], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.992443, -0.105391, 0.0628391, 5.35442], [-0.10054, -0.404883, 0.908824, 3.93252], [-0.0703393, -0.908275, -0.412419, 1.61124], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.910771, -0.242999, 0.333839, 5.2563], [-0.409422, -0.42655, 0.806492, 4.21705], [-0.053578, -0.87121, -0.487978, 1.66497], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.705893, -0.394954, 0.587985, 5.41788], [-0.706667, -0.336038, 0.622655, 4.36573], [-0.0483348, -0.855038, -0.516308, 1.7053], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.467309, -0.435695, 0.76928, 5.67485], [-0.884022, -0.219151, 0.41289, 4.61717], [-0.0113054, -0.873008, -0.487576, 1.71776], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.38316, -0.214116, 0.898523, 5.79532], [-0.92355, -0.105269, 0.368748, 4.62812], [0.0156316, -0.97112, -0.238081, 1.81587], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.130202, -0.187947, 0.973511, 5.88018], [-0.991116, 0.00219427, 0.132981, 4.58569], [-0.0271295, -0.982177, -0.185992, 1.82774], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.192464, -0.203574, 0.959956, 5.89581], [-0.980062, 0.0890718, -0.177606, 4.52584], [-0.0493489, -0.974999, -0.216659, 1.80732], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.40461, -0.233386, 0.884207, 5.92335], [-0.913606, 0.145648, -0.379619, 4.39684], [-0.0401857, -0.961415, -0.272154, 1.76285], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.707614, -0.23401, 0.666725, 6.12187], [-0.706218, 0.265206, -0.656446, 4.34538], [-0.0232043, -0.935364, -0.352926, 1.73314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.898352, -0.166932, 0.406323, 6.37447], [-0.439131, 0.365114, -0.820887, 4.27373], [-0.0113216, -0.915874, -0.401306, 1.70153], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.978892, -0.0151024, 0.203819, 6.63794], [-0.201023, 0.251103, -0.946856, 4.11066], [-0.0368798, -0.967843, -0.248838, 1.74677], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.987531, 0.000256501, -0.157424, 6.91471], [0.156781, 0.0918657, -0.983352, 4.05075], [0.0142096, -0.995772, -0.0907605, 1.78305], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.895866, 0.0542005, -0.441007, 6.93999], [0.444305, 0.0999133, -0.890287, 3.93548], [-0.00419162, -0.993519, -0.113591, 1.77899], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.849441, 0.00911999, -0.527605, 7.07824], [0.52759, -0.00422815, -0.849489, 3.91688], [-0.00997815, -0.99995, -0.00122012, 1.82518], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.95544, 0.0246922, -0.294151, 7.09692], [0.294684, 0.0217472, -0.955347, 3.9926], [-0.0171927, -0.999459, -0.0280546, 1.81202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.974704, 0.130386, -0.181525, 7.10569], [0.21789, 0.373534, -0.901663, 4.05638], [-0.0497581, -0.918407, -0.392495, 1.71128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.975668, 0.194053, -0.102054, 7.11103], [0.200877, 0.604625, -0.770764, 4.06864], [-0.087864, -0.772511, -0.628894, 1.63452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.857752, 0.397556, -0.325901, 7.07807], [0.508034, 0.55875, -0.655515, 4.04281], [-0.0785062, -0.727838, -0.681241, 1.61022], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.346026, 0.64538, -0.680993, 7.07439], [0.937859, 0.258201, -0.231846, 3.95413], [0.0262044, -0.7189, -0.69462, 1.55651], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.406121, 0.602879, -0.686734, 7.0359], [0.913012, 0.236113, -0.332655, 4.00869], [-0.0384037, -0.762094, -0.646326, 1.61483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.402949, 0.479077, -0.779819, 7.03036], [0.914901, 0.188281, -0.357079, 3.74091], [-0.0242428, -0.857342, -0.514176, 1.64704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.670708, 0.34895, -0.654511, 7.01693], [0.740693, 0.268655, -0.615791, 3.54341], [-0.0390429, -0.897808, -0.438654, 1.67621], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.913344, 0.235394, -0.332254, 6.95965], [0.394265, 0.307294, -0.866098, 3.40478], [-0.101775, -0.922042, -0.373472, 1.67375], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.991396, 0.129283, 0.0204794, 6.88375], [0.0305993, 0.381026, -0.924058, 3.33879], [-0.127268, -0.915481, -0.381703, 1.67825], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.999173, 0.0393647, 0.0101702, 6.36671], [0.00614235, 0.393426, -0.919336, 3.38987], [-0.0401905, -0.918513, -0.393343, 1.60338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.983953, 0.0754943, -0.161672, 6.32565], [0.175055, 0.233042, -0.956581, 3.34983], [-0.0345399, -0.969532, -0.242518, 1.73845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.854597, 0.00487158, -0.519269, 6.56887], [0.519273, 0.0165208, -0.854449, 3.35619], [0.0044162, -0.999852, -0.0166483, 1.88385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.840712, -0.0474642, -0.539399, 6.73348], [0.541123, -0.037334, -0.840114, 3.40208], [0.0197374, -0.998175, 0.0570711, 1.90427], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.990047, -0.0583529, -0.128071, 6.81233], [0.133278, -0.0963942, -0.98638, 3.52522], [0.0452129, -0.993631, 0.103212, 1.95769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.998809, -0.0242448, 0.0423562, 6.93043], [-0.0396317, -0.10355, -0.993834, 3.53639], [0.0284812, -0.994329, 0.102466, 1.97952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.983373, -0.00553429, -0.181514, 7.05878], [0.18157, -0.0123273, -0.983301, 3.43901], [0.00320439, -0.999909, 0.0131272, 1.88043], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.834695, 0.154357, -0.528638, 6.9124], [0.546019, 0.106903, -0.830924, 3.21584], [-0.0717462, -0.982215, -0.173513, 1.73352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.428034, 0.354194, -0.831465, 6.75271], [0.902098, 0.111617, -0.416848, 2.95785], [-0.0548388, -0.928487, -0.367293, 1.65685], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.00726712, 0.506259, -0.862351, 6.63639], [0.999001, -0.0417044, -0.0160646, 2.84602], [-0.0440966, -0.861373, -0.506056, 1.60332], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.485242, 0.391002, -0.782085, 6.73386], [0.874318, -0.206322, 0.439317, 2.74263], [0.0104129, -0.896966, -0.441976, 1.59152], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.653261, 0.51627, -0.553819, 6.8156], [0.757015, -0.432524, 0.489745, 2.71349], [0.0133004, -0.739181, -0.673376, 1.46977], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.668712, 0.483754, -0.56463, 6.82479], [0.741786, -0.485937, 0.46219, 2.74373], [-0.0507879, -0.727906, -0.683793, 1.47425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.593348, 0.479423, -0.6466, 6.91978], [0.800127, -0.439052, 0.408694, 2.78777], [-0.0879535, -0.75986, -0.64411, 1.32385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.746771, 0.341864, -0.570492, 6.92236], [0.661707, -0.468189, 0.585612, 2.85065], [-0.0668987, -0.814818, -0.575844, 1.48248], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.896931, 0.125848, -0.423883, 6.87913], [0.438708, -0.373021, 0.817551, 2.90923], [-0.0552303, -0.919248, -0.389785, 1.6288], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.988491, 0.0101399, -0.150938, 6.88018], [0.144702, -0.354353, 0.923848, 2.99978], [-0.0441176, -0.935057, -0.351742, 1.66498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.968278, -0.0147752, -0.249439, 6.67298], [0.233705, -0.299732, 0.924956, 3.04424], [-0.0884311, -0.953909, -0.286771, 1.73717], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.997493, -0.0589212, 0.0391878, 6.61037], [-0.0567048, -0.334276, 0.940768, 2.97012], [-0.0423317, -0.940632, -0.336779, 1.73298], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.867691, -0.229173, 0.441127, 6.71361], [-0.493732, -0.294111, 0.818369, 2.9231], [-0.0578075, -0.92789, -0.368347, 1.72481], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.67809, -0.402396, 0.615038, 6.78098], [-0.732734, -0.304758, 0.60846, 2.89982], [-0.057404, -0.86325, -0.501502, 1.70493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.540255, -0.583935, 0.605924, 6.90985], [-0.840864, -0.346586, 0.415725, 2.87854], [-0.0327518, -0.734097, -0.678255, 1.68359], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.535038, -0.735839, 0.41506, 7.02683], [-0.842053, -0.424699, 0.332532, 2.85779], [-0.0684148, -0.527421, -0.846846, 1.6303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.572768, -0.744484, 0.343048, 7.035], [-0.81539, -0.474505, 0.33164, 2.85054], [-0.0841227, -0.46967, -0.878825, 1.61652], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.646942, -0.574741, 0.501137, 6.9264], [-0.759315, -0.425184, 0.492605, 2.87876], [-0.0700451, -0.699208, -0.711479, 1.66932], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.752558, -0.338657, 0.564772, 6.76782], [-0.658524, -0.38495, 0.646653, 2.93779], [-0.00158507, -0.85856, -0.512711, 1.72334], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.936974, -0.124607, 0.326424, 6.64661], [-0.349355, -0.349027, 0.869558, 3.01157], [0.00557753, -0.928791, -0.370562, 1.69427], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.99186, 0.0552399, -0.114729, 6.47892], [0.125045, -0.25245, 0.959496, 3.10842], [0.0240392, -0.966032, -0.257302, 1.74359], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.908928, 0.0470184, -0.414294, 6.10046], [0.416847, -0.124909, 0.900353, 3.0924], [-0.00941598, -0.991054, -0.133133, 1.80486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.868135, -0.0611393, -0.492549, 5.85682], [0.4962, 0.0842723, 0.864109, 3.16841], [-0.0113228, -0.994565, 0.103497, 1.91351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.825645, -0.0133205, -0.564033, 5.63336], [0.564084, 0.0389256, 0.8248, 3.1633], [0.0109686, -0.999153, 0.0396525, 1.91847], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.691905, 0.156248, -0.704879, 5.26964], [0.721917, -0.135988, 0.678486, 3.04825], [0.0101572, -0.978312, -0.206889, 1.83209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.62405, 0.150063, -0.76684, 4.99732], [0.781042, -0.148855, 0.606478, 3.12378], [-0.0231383, -0.977407, -0.210099, 1.80985], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.782408, 0.216181, -0.584041, 4.54506], [0.618963, -0.166451, 0.767579, 3.21256], [0.068722, -0.96206, -0.264041, 1.73955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.902554, 0.18572, -0.388464, 4.10327], [0.425964, -0.253423, 0.868522, 3.26747], [0.0628561, -0.94936, -0.307839, 1.69745], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.660224, 0.347573, -0.665806, 4.26254], [0.749726, -0.252006, 0.611885, 3.55333], [0.0448876, -0.903153, -0.426965, 1.71889], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.452917, -0.0115664, -0.891478, 4.52757], [0.887713, 0.0868524, -0.452131, 3.81332], [0.0826566, -0.996154, -0.0290693, 1.93781], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.709894, 0.0921282, -0.698257, 4.57178], [0.698833, 0.215522, -0.682044, 3.72066], [0.0876539, -0.972144, -0.21738, 1.921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.777706, 0.198591, -0.596436, 4.48498], [0.622692, 0.373448, -0.687598, 3.49392], [0.0861868, -0.906145, -0.414094, 1.83257], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.939625, 0.11125, -0.323618, 4.06042], [0.338314, 0.444223, -0.829584, 3.44109], [0.0514671, -0.888982, -0.45504, 1.73918], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.954798, 0.149111, -0.257153, 3.96913], [0.297097, 0.507091, -0.809069, 3.32184], [0.00975956, -0.848896, -0.52847, 1.70682], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.76089, 0.372423, -0.531364, 4.25835], [0.648858, 0.429755, -0.627929, 3.02377], [-0.00549829, -0.822565, -0.568645, 1.69012], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.43432, 0.516238, -0.73815, 4.37648], [0.90032, 0.223225, -0.373623, 2.6365], [-0.0281051, -0.826843, -0.56173, 1.63517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.238872, 0.583197, -0.776416, 4.39597], [0.964581, 0.050358, -0.258938, 2.24158], [-0.111913, -0.810769, -0.57457, 1.63055], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.230177, 0.570201, -0.7886, 4.46236], [0.973123, 0.12896, -0.19079, 2.33238], [-0.00709072, -0.81132, -0.58456, 1.6635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.483536, 0.617779, -0.620115, 4.51429], [0.875271, 0.333391, -0.350359, 2.68257], [-0.00970399, -0.71218, -0.70193, 1.71216], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.555403, 0.614165, -0.560651, 4.73414], [0.831296, 0.427718, -0.354971, 2.85951], [0.0217896, -0.663219, -0.748109, 1.73046], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.633984, 0.3523, -0.68844, 4.83651], [0.77318, 0.307203, -0.554815, 3.05978], [0.0160297, -0.884031, -0.467153, 1.8166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.726551, 0.161349, -0.6679, 4.7776], [0.686819, 0.198927, -0.699076, 3.29254], [0.0200686, -0.966641, -0.255348, 1.88712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.828747, 0.121565, -0.546261, 4.48866], [0.557056, 0.272606, -0.784458, 3.28079], [0.0535514, -0.954415, -0.29364, 1.83194], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.962922, 0.121773, -0.240734, 4.13993], [0.268717, 0.512067, -0.81583, 3.26329], [0.023926, -0.85027, -0.525803, 1.75629], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.99845, -0.0315106, 0.0458736, 3.96022], [-0.0554975, 0.625384, -0.778341, 3.14967], [-0.00416244, -0.779681, -0.626164, 1.70069], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.883345, -0.348444, 0.313511, 3.73368], [-0.467498, 0.606606, -0.64302, 3.14189], [0.0338785, -0.714574, -0.698739, 1.69111], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[-0.675985, -0.436221, 0.593933, 3.60276], [-0.736879, 0.408147, -0.538911, 3.29267], [-0.00732802, -0.801952, -0.597343, 1.7304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.305557, -0.383443, 0.871554, 3.53209], [-0.950818, 0.171711, -0.257801, 3.34833], [-0.0508034, -0.907462, -0.417052, 1.78537], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[-0.114053, -0.238904, 0.964322, 3.55984], [-0.992447, 0.0715404, -0.0996558, 3.38111], [-0.0451798, -0.968404, -0.245259, 1.8411], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.15597, -0.223726, 0.962092, 3.57855], [-0.986148, 0.0203867, 0.16461, 3.45358], [-0.0564415, -0.974439, -0.217447, 1.84309], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0749_00"}, {"annotation": [{"question_id": "test-scene0750-0", "question": "What is strewn on the sinks edge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-1", "question": "What is currently open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-2", "question": "What is the current status of a shower curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-3", "question": "What color is the shower curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-4", "question": "Where is a shower curtain hung?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-5", "question": "What color is the bathroom vanity?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-6", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-7", "question": "What is to the right of the shower and the left of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-8", "question": "Where is the black folded cloth located in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-9", "question": "What color is the wooden bathroom door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-10", "question": "What was on the bottom of the brown shower curtain in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-11", "question": "What color is the ceramic sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-12", "question": "What color fold washcloth was left on the brown ceramic sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-13", "question": "What color is the bathroom vnity?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-14", "question": "Is the shower curtain open or closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0750-15", "question": "What color is the closed bathroom door?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.810964, -0.508395, 0.289607, 1.20938], [-0.584558, -0.725245, 0.363748, 0.582758], [0.0251084, -0.464278, -0.885334, 1.27181], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.749579, -0.520757, 0.408586, 1.23663], [-0.661298, -0.615806, 0.428332, 0.592787], [0.0285527, -0.591266, -0.805971, 1.33766], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.578466, -0.602525, 0.549855, 1.27484], [-0.81512, -0.452543, 0.361642, 0.578793], [0.0309346, -0.657395, -0.752911, 1.362], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.5026, -0.712523, 0.489596, 1.45503], [-0.864432, -0.406156, 0.296302, 0.559387], [-0.01227, -0.572144, -0.820062, 1.3328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.57511, -0.69476, 0.431922, 1.54571], [-0.817904, -0.499137, 0.286174, 0.620131], [0.0167665, -0.517853, -0.855306, 1.29778], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.799801, -0.508053, 0.319687, 1.66513], [-0.594976, -0.741516, 0.310094, 0.663453], [0.0795085, -0.43822, -0.895345, 1.25664], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.819774, -0.486018, 0.302915, 1.86877], [-0.550727, -0.814102, 0.184221, 0.610674], [0.157069, -0.317843, -0.935043, 1.24516], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.826801, -0.471124, 0.307315, 1.97953], [-0.559374, -0.746124, 0.36111, 0.58481], [0.059168, -0.47047, -0.88043, 1.31151], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.894888, -0.333414, 0.296665, 2.01646], [-0.442783, -0.746474, 0.49671, 0.572418], [0.0558431, -0.575858, -0.815641, 1.42869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.981445, -0.0686755, 0.179022, 2.10083], [-0.164454, -0.781556, 0.601768, 0.563565], [0.0985888, -0.620043, -0.778349, 1.49657], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.983031, 0.0843874, 0.162874, 2.11067], [-0.0491731, -0.734176, 0.677176, 0.567267], [0.176723, -0.673694, -0.717569, 1.55515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.982911, 0.136323, 0.123699, 2.1195], [0.0295102, -0.779986, 0.6251, 0.579132], [0.181699, -0.610768, -0.77068, 1.59155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.926717, -0.162803, 0.338661, 2.05108], [-0.318756, -0.817843, 0.47909, 0.613419], [0.198975, -0.551931, -0.809803, 1.58099], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.733725, -0.507991, 0.451211, 1.94966], [-0.660527, -0.688918, 0.298488, 0.637217], [0.159218, -0.517046, -0.841019, 1.54925], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.45024, -0.678303, 0.580679, 1.88565], [-0.881988, -0.439238, 0.170783, 0.661336], [0.139214, -0.589046, -0.796018, 1.53203], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.252299, -0.615439, 0.746713, 1.83532], [-0.958669, -0.263866, 0.106437, 0.645402], [0.131526, -0.742704, -0.656575, 1.53514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.218953, -0.508791, 0.832581, 1.79195], [-0.975525, -0.131874, 0.175956, 0.629298], [0.0202704, -0.850729, -0.525213, 1.54558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.374809, -0.450856, 0.81009, 1.81941], [-0.905317, 0.0103198, 0.424612, 0.599671], [-0.199799, -0.892537, -0.4043, 1.55452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.441596, -0.445773, 0.778639, 1.82189], [-0.859712, 0.0380482, 0.509359, 0.60032], [-0.256684, -0.894337, -0.366435, 1.54548], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.480326, -0.459517, 0.747081, 1.83039], [-0.804674, 0.108034, 0.583805, 0.595131], [-0.348979, -0.881574, -0.31787, 1.55297], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.486714, -0.495146, 0.71968, 1.83371], [-0.737498, 0.208642, 0.642312, 0.579197], [-0.468194, -0.843385, -0.26362, 1.5593], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.458864, -0.526759, 0.71552, 1.83607], [-0.658784, 0.33866, 0.671798, 0.557282], [-0.596193, -0.779638, -0.191621, 1.57604], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.474696, -0.470441, 0.743874, 1.82327], [-0.650271, 0.382105, 0.656615, 0.552742], [-0.593137, -0.795412, -0.124531, 1.58161], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.483877, -0.410199, 0.773045, 1.81812], [-0.651075, 0.421524, 0.631204, 0.551061], [-0.584777, -0.808736, -0.0631048, 1.58136], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.504823, -0.35154, 0.788399, 1.8106], [-0.654577, 0.439512, 0.615109, 0.555389], [-0.562746, -0.826589, -0.00823447, 1.59154], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.49485, -0.268024, 0.826612, 1.78148], [-0.714264, 0.416324, 0.562584, 0.565273], [-0.494924, -0.868814, 0.0145779, 1.60593], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.338835, -0.200193, 0.9193, 1.67033], [-0.862773, 0.323596, 0.388469, 0.571375], [-0.37525, -0.924775, -0.0630755, 1.6046], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.29339, -0.337973, 0.894257, 1.58064], [-0.90523, 0.202549, 0.373541, 0.497638], [-0.307377, -0.919102, -0.246517, 1.56034], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.146814, -0.438417, 0.886699, 1.50768], [-0.961174, 0.148506, 0.232572, 0.509849], [-0.233644, -0.886418, -0.399592, 1.50785], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.0102286, -0.63534, 0.772165, 1.4117], [-0.995714, 0.0774588, 0.0505438, 0.608744], [-0.0919235, -0.768338, -0.633409, 1.40233], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.10958, -0.849485, 0.516109, 1.42285], [-0.987269, -0.032792, 0.155643, 0.556234], [-0.115292, -0.526593, -0.842263, 1.36056], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.346544, -0.818562, 0.458109, 1.42192], [-0.932908, -0.249769, 0.259419, 0.526014], [-0.0979288, -0.517274, -0.850199, 1.3475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.628336, -0.649266, 0.428541, 1.32488], [-0.776068, -0.484926, 0.403194, 0.636871], [-0.0539693, -0.585918, -0.808571, 1.37097], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.937801, -0.315129, 0.145676, 1.34578], [-0.341703, -0.763659, 0.54778, 0.669208], [-0.0613746, -0.563487, -0.823842, 1.37005], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.985162, -0.169659, 0.0259136, 1.24477], [-0.152641, -0.797112, 0.58422, 0.692077], [-0.0784622, -0.579507, -0.811181, 1.38633], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.887376, -0.388307, 0.248559, 0.945796], [-0.459707, -0.704132, 0.541173, 0.870873], [-0.0351229, -0.594488, -0.803337, 1.33496], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.766395, -0.530456, 0.362291, 0.847046], [-0.640544, -0.588583, 0.493228, 0.910488], [-0.0483981, -0.610071, -0.790867, 1.28582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.743523, -0.559612, 0.36607, 1.05804], [-0.667012, -0.581657, 0.465586, 0.843418], [-0.0476207, -0.590347, -0.805743, 1.33451], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.725607, -0.585397, 0.361668, 1.18], [-0.687096, -0.587882, 0.426958, 0.787685], [-0.0373217, -0.558305, -0.828796, 1.34458], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.969399, -0.220121, 0.108679, 1.43771], [-0.244308, -0.8217, 0.5149, 0.759494], [-0.0240382, -0.525695, -0.850334, 1.33455], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.996718, -0.0291077, -0.0755315, 1.54899], [0.0229378, -0.793298, 0.608401, 0.785598], [-0.0776282, -0.608137, -0.790027, 1.36869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.997467, -0.00946703, -0.07049, 1.54757], [0.0377811, -0.769174, 0.637921, 0.821008], [-0.0602582, -0.638969, -0.766869, 1.37594], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.985511, -0.130511, 0.108324, 1.39324], [-0.169587, -0.768381, 0.617115, 0.918732], [0.00269379, -0.626545, -0.779381, 1.36755], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.842598, -0.379528, 0.382082, 1.30889], [-0.533956, -0.68114, 0.500938, 1.01567], [0.0701313, -0.626104, -0.776579, 1.34659], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.895512, -0.32784, 0.300962, 1.35633], [-0.440942, -0.745142, 0.500334, 0.983344], [0.0602301, -0.580762, -0.811842, 1.32884], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.996544, -0.060437, -0.0569934, 1.50318], [-0.015812, -0.811536, 0.584089, 0.850385], [-0.0815528, -0.581169, -0.809686, 1.35548], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.959774, 0.152783, -0.235565, 1.43255], [0.265416, -0.767367, 0.583697, 0.751179], [-0.0915855, -0.62274, -0.77705, 1.39162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.929856, 0.264808, -0.255431, 1.47021], [0.360616, -0.79364, 0.489992, 0.721932], [-0.0729661, -0.547734, -0.833465, 1.3742], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.967944, 0.182695, -0.172356, 1.55724], [0.241999, -0.862072, 0.445272, 0.730761], [-0.0672337, -0.472709, -0.87865, 1.34672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.963662, 0.144743, -0.22451, 1.46622], [0.239863, -0.838775, 0.488797, 0.678205], [-0.117564, -0.524887, -0.843014, 1.27249], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.967821, 0.165791, -0.189302, 1.44891], [0.238504, -0.844235, 0.479982, 0.612972], [-0.0802388, -0.509686, -0.856611, 1.17244], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.896792, 0.307834, -0.317809, 1.41465], [0.430407, -0.773417, 0.465377, 0.604119], [-0.10254, -0.554134, -0.826088, 1.22431], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.627836, 0.577219, -0.522149, 1.34456], [0.769102, -0.563155, 0.302225, 0.588946], [-0.119601, -0.591334, -0.797509, 1.29135], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.462111, 0.700701, -0.543573, 1.14614], [0.885443, -0.39873, 0.238759, 0.586821], [-0.0494402, -0.591636, -0.804688, 1.30186], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.173389, 0.787023, -0.592056, 0.914789], [0.979896, -0.198104, 0.0236305, 0.758852], [-0.0986912, -0.584251, -0.80555, 1.31771], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.107416, 0.789264, -0.604585, 0.798302], [0.991781, -0.127578, 0.00966045, 0.718462], [-0.0695072, -0.600654, -0.796482, 1.25959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.402452, 0.608416, -0.684005, 0.757914], [0.915408, -0.261093, 0.306364, 0.617454], [0.00780809, -0.74944, -0.662026, 1.34428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.295659, 0.652633, -0.697607, 0.73606], [0.955285, -0.198947, 0.218747, 0.624882], [0.00397483, -0.731089, -0.682271, 1.36696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.138914, 0.744678, -0.652806, 0.684698], [0.990286, 0.108432, -0.0870366, 0.963361], [0.00597104, -0.658556, -0.752508, 1.34562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.137799, 0.703935, -0.696769, 0.706383], [0.98996, -0.075528, 0.119478, 0.905593], [0.0314791, -0.706237, -0.707275, 1.30689], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.61253, 0.510669, -0.603344, 0.857087], [0.790173, -0.415676, 0.450377, 0.584765], [-0.0208021, -0.752616, -0.658132, 1.15927], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.670966, 0.551856, -0.495237, 0.983803], [0.738498, -0.437434, 0.5131, 0.408213], [0.0665238, -0.710005, -0.701048, 0.979576], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.651574, 0.541232, -0.531526, 1.09823], [0.757768, -0.431859, 0.489169, 0.389672], [0.0352097, -0.721503, -0.691516, 0.936076], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.649027, 0.60227, -0.464795, 1.02768], [0.755918, -0.441676, 0.483229, 0.546802], [0.085746, -0.664976, -0.741927, 1.13784], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.571003, 0.660592, -0.487415, 1.00263], [0.820861, -0.450771, 0.350704, 0.810184], [0.011959, -0.600353, -0.799646, 1.21683], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.471045, 0.675682, -0.567072, 0.907769], [0.879834, -0.406028, 0.24705, 0.971435], [-0.06332, -0.6153, -0.785746, 1.23869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.995835, 0.0908689, -0.00746691, 0.612544], [0.0803724, -0.836226, 0.542463, 1.03974], [0.043049, -0.540804, -0.840047, 1.25382], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.916204, -0.251663, 0.311827, 0.526083], [-0.381734, -0.784805, 0.488221, 1.01524], [0.121857, -0.566345, -0.81511, 1.21514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.866382, -0.41282, 0.281002, 0.655304], [-0.494913, -0.784907, 0.372804, 0.96926], [0.0666594, -0.462063, -0.884339, 1.24921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.70043, -0.627888, 0.339345, 0.963215], [-0.708944, -0.557152, 0.432411, 0.929632], [-0.0824389, -0.54345, -0.835384, 1.32699], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.460282, -0.727641, 0.508606, 1.04873], [-0.884718, -0.328474, 0.330725, 0.957884], [-0.0735855, -0.6022, -0.794947, 1.36551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.24831, -0.785233, 0.567231, 1.14943], [-0.964707, -0.147478, 0.218151, 0.905487], [-0.0876448, -0.601381, -0.794141, 1.38101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.278247, -0.746678, 0.604194, 1.22515], [-0.960218, 0.231731, -0.155826, 0.982974], [-0.0236589, -0.623516, -0.781453, 1.38824], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.533852, -0.608656, 0.586976, 1.20472], [-0.845559, 0.388903, -0.365765, 0.919387], [-0.00565195, -0.691587, -0.722271, 1.41815], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.70479, -0.481746, 0.520761, 1.16936], [-0.709345, 0.48898, -0.50767, 0.87056], [-0.0100741, -0.7272, -0.686352, 1.43698], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.882619, -0.343821, 0.32058, 1.12236], [-0.470015, 0.63328, -0.614852, 0.842389], [0.00838223, -0.693357, -0.720545, 1.4321], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.934337, -0.216749, 0.282904, 1.07181], [-0.355074, 0.634345, -0.68668, 0.819456], [-0.0306218, -0.742042, -0.669654, 1.44667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.88731, -0.185492, 0.422225, 1.0766], [-0.45669, 0.48078, -0.748522, 0.811094], [-0.0641521, -0.856997, -0.511313, 1.52146], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.759675, -0.207359, 0.616357, 1.11508], [-0.6457, 0.353088, -0.677052, 0.824274], [-0.0772352, -0.912322, -0.402124, 1.53862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.530595, -0.274375, 0.801989, 1.15049], [-0.841698, 0.28225, -0.460303, 0.83185], [-0.100066, -0.919268, -0.380701, 1.49838], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0750_00"}, {"annotation": [{"question_id": "test-scene0751-0", "question": "What kind of sink is placed opposite the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-1", "question": "Where is the marble sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-2", "question": "What is placed next to the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-3", "question": "Where is the trash can placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-4", "question": "What is currently open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-5", "question": "What is the current status of a shower curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-6", "question": "What type of toilet is placed next to a tissue rack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-7", "question": "What is placed next to a standard white toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-8", "question": "What is hung along the shower width?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-9", "question": "Where is a shower curtain hung?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-10", "question": "What is white and closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-11", "question": "What color is a door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-12", "question": "What are these curtains called?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-13", "question": "Where is the shower located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-14", "question": "Where is the sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-15", "question": "What is located directly across from the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-16", "question": "Where is the toilet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-17", "question": "What is located directly across from the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-18", "question": "What is sitting between the shower and the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-19", "question": "On what side of the shower is the dirty white toilet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-20", "question": "What is near the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-21", "question": "Where does the sink sit from the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-22", "question": "Where is the white wooden door closest?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-23", "question": "Where is a trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-24", "question": "What is next to the shower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-25", "question": "What is next to a shower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-26", "question": "How far is the sink from the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-27", "question": "Where is the trash can sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-28", "question": "The trash can is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0751-29", "question": "What is located across from the toilet?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.491862, -0.641245, 0.588962, 0.761118], [-0.870598, 0.353354, -0.342345, 0.579705], [0.0114151, -0.681136, -0.732068, 1.37627], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.448109, -0.613341, 0.650393, 0.73654], [-0.893091, 0.274701, -0.356271, 0.531502], [0.0398517, -0.740508, -0.670865, 1.39433], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.521123, -0.543652, 0.657931, 0.729357], [-0.853408, 0.32175, -0.410089, 0.496784], [0.0112557, -0.77519, -0.631628, 1.38778], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.551497, -0.532979, 0.641705, 0.829315], [-0.833877, 0.331598, -0.44124, 0.570655], [0.0223832, -0.778445, -0.627314, 1.38499], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.662741, -0.552721, 0.505246, 1.00027], [-0.744548, 0.414144, -0.523579, 0.600195], [0.0801487, -0.723177, -0.685997, 1.35008], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.750798, -0.536525, 0.385282, 1.16347], [-0.659671, 0.579283, -0.478818, 0.504904], [0.0337102, -0.613655, -0.788855, 1.3807], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.968915, -0.243618, 0.0430492, 1.3843], [-0.218791, 0.762606, -0.608739, 0.579024], [0.11547, -0.599235, -0.792202, 1.35652], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.990857, -0.0967585, -0.0940164, 1.52168], [-0.00110212, 0.702654, -0.711531, 0.618333], [0.134908, -0.704922, -0.696336, 1.3359], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.957283, 0.0924896, -0.27396, 1.60229], [0.247299, 0.752861, -0.609954, 0.584299], [0.149839, -0.651649, -0.743574, 1.32265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.974967, 0.0925881, -0.202153, 1.46051], [0.193845, 0.799301, -0.568807, 0.534104], [0.108917, -0.593755, -0.797241, 1.36175], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.900712, -0.395061, 0.18068, 1.28459], [-0.433046, 0.783508, -0.44563, 0.516071], [0.0344872, -0.479627, -0.876795, 1.36739], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.747994, -0.623873, 0.226468, 1.25853], [-0.662819, 0.684524, -0.303477, 0.489288], [0.0343082, -0.377106, -0.925534, 1.3534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.0394141, -0.860696, 0.507592, 1.08498], [-0.995441, 0.077979, 0.0549296, 0.526479], [-0.0868593, -0.503112, -0.859845, 1.38173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.43179, -0.733005, 0.525604, 1.06284], [-0.897326, -0.290013, 0.332713, 0.65654], [-0.0914482, -0.615301, -0.78297, 1.34598], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.643248, -0.618054, 0.45193, 1.04605], [-0.754164, -0.409559, 0.513321, 0.587976], [-0.132168, -0.671022, -0.729562, 1.34485], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.837718, -0.386401, 0.385905, 1.09033], [-0.541616, -0.497465, 0.677629, 0.555793], [-0.0698621, -0.776674, -0.626016, 1.34429], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.952201, -0.249968, 0.175581, 1.17612], [-0.294922, -0.60253, 0.741606, 0.528397], [-0.0795856, -0.757941, -0.647451, 1.32959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.988582, -0.150049, 0.0138345, 1.28685], [-0.10637, -0.629866, 0.769386, 0.502097], [-0.106732, -0.762072, -0.638635, 1.3145], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.995063, -0.0813088, -0.0569102, 1.38331], [-0.0135906, -0.679654, 0.733408, 0.460075], [-0.0983117, -0.729013, -0.677403, 1.28471], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.992831, -0.0280856, -0.116181, 1.45111], [0.0483497, -0.794563, 0.605255, 0.453111], [-0.109312, -0.606533, -0.787508, 1.26609], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.979252, 0.0920875, -0.180516, 1.39828], [0.196991, -0.641577, 0.741332, 0.467716], [-0.0475472, -0.761511, -0.646406, 1.30105], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.998599, -0.0199687, 0.049002, 1.29577], [-0.0513214, -0.591025, 0.805019, 0.483543], [0.0128863, -0.806406, -0.591222, 1.3454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.919931, -0.278914, 0.275562, 1.18346], [-0.390743, -0.59416, 0.703061, 0.570211], [-0.0323654, -0.754441, -0.655569, 1.36443], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.718586, -0.527479, 0.453211, 1.18736], [-0.694289, -0.506683, 0.511113, 0.765225], [-0.0399673, -0.681938, -0.730318, 1.36978], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.617129, -0.609663, 0.497456, 1.2432], [-0.786862, -0.477395, 0.391079, 0.830777], [-0.000943065, -0.632775, -0.774335, 1.37441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.573095, -0.678002, 0.460299, 1.41548], [-0.818696, -0.448995, 0.357966, 0.862945], [-0.0360296, -0.581994, -0.812394, 1.32655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.682535, -0.604158, 0.411265, 1.47605], [-0.730642, -0.577569, 0.364111, 0.966234], [0.0175531, -0.549006, -0.835634, 1.28934], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.915584, -0.314379, 0.250744, 1.52276], [-0.398872, -0.789179, 0.46701, 0.974874], [0.0510631, -0.527602, -0.847956, 1.26193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.981126, -0.136399, 0.137065, 1.51787], [-0.189525, -0.818936, 0.541687, 0.961721], [0.0383615, -0.55744, -0.82933, 1.23958], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.987071, 0.104021, -0.121942, 1.58805], [0.157002, -0.780594, 0.604999, 0.881371], [-0.0322542, -0.616322, -0.786834, 1.2206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.943792, 0.142181, -0.298399, 1.57306], [0.307956, -0.706201, 0.637529, 0.825952], [-0.120085, -0.693588, -0.710293, 1.23098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.905119, 0.212875, -0.368025, 1.55029], [0.409293, -0.67053, 0.618764, 0.804137], [-0.115052, -0.710686, -0.694038, 1.22839], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.869338, 0.2789, -0.408002, 1.54185], [0.474162, -0.703473, 0.52943, 0.80454], [-0.13936, -0.653713, -0.7438, 1.21676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.834921, 0.343665, -0.429884, 1.52032], [0.529931, -0.712868, 0.45934, 0.795612], [-0.148591, -0.611322, -0.777307, 1.21365], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.793977, 0.379116, -0.475259, 1.51633], [0.587807, -0.678274, 0.44094, 0.772647], [-0.155188, -0.629456, -0.761381, 1.22085], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.785921, 0.395405, -0.475378, 1.51477], [0.60315, -0.659539, 0.448575, 0.761113], [-0.136161, -0.639268, -0.756833, 1.22127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.761805, 0.383551, -0.522055, 1.51139], [0.634017, -0.606839, 0.479342, 0.765728], [-0.132951, -0.696157, -0.705471, 1.2274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.724052, 0.394858, -0.56554, 1.48868], [0.681018, -0.539275, 0.495377, 0.768883], [-0.109378, -0.743821, -0.659369, 1.23538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.638817, 0.421338, -0.64373, 1.44599], [0.766882, -0.415809, 0.488872, 0.776172], [-0.0616879, -0.805964, -0.588741, 1.2609], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.5941, 0.431953, -0.678573, 1.42069], [0.804142, -0.339914, 0.487661, 0.782719], [-0.0200098, -0.835389, -0.549295, 1.28365], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.49022, 0.457922, -0.741614, 1.37555], [0.871579, -0.251746, 0.420684, 0.739017], [0.00594215, -0.852603, -0.522526, 1.28981], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.482008, 0.484549, -0.729987, 1.32741], [0.876011, -0.250748, 0.411986, 0.732328], [0.0165842, -0.838056, -0.545332, 1.28213], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.46888, 0.490402, -0.734614, 1.33461], [0.883256, -0.257253, 0.39202, 0.739755], [0.00326576, -0.832663, -0.553771, 1.28285], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.446432, 0.553752, -0.702893, 1.32928], [0.894472, -0.298018, 0.333326, 0.740077], [-0.0248943, -0.777525, -0.62836, 1.27698], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.438003, 0.583074, -0.684235, 1.32361], [0.898085, -0.317644, 0.304214, 0.742987], [-0.0399633, -0.747748, -0.662779, 1.27018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.365231, 0.67273, -0.64346, 1.30758], [0.929292, -0.304308, 0.20932, 0.745075], [-0.0549939, -0.674411, -0.736305, 1.24948], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.145678, 0.815317, -0.560389, 1.29285], [0.982772, -0.184382, -0.0127788, 0.737838], [-0.113744, -0.548873, -0.828131, 1.22501], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.04042, 0.838882, -0.54281, 1.32452], [0.983421, -0.0627119, -0.170147, 0.722554], [-0.176774, -0.540688, -0.82244, 1.23427], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.160012, 0.821376, -0.547483, 1.35007], [0.971891, 0.034058, -0.232957, 0.675402], [-0.172699, -0.569369, -0.803738, 1.24708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.14156, 0.841346, -0.52163, 1.3418], [0.978386, 0.0386706, -0.203141, 0.652413], [-0.15074, -0.539112, -0.828635, 1.25348], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.38274, 0.824734, -0.416322, 1.38147], [0.902701, 0.237967, -0.358473, 0.635885], [-0.196574, -0.513017, -0.835567, 1.28352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.519161, 0.770826, -0.369187, 1.42151], [0.823553, 0.335668, -0.457261, 0.5986], [-0.228544, -0.541436, -0.809082, 1.3062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.642088, 0.706278, -0.298153, 1.44618], [0.708123, 0.397377, -0.583656, 0.602338], [-0.293744, -0.585887, -0.755282, 1.31735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.726795, 0.664604, -0.173407, 1.47361], [0.591352, 0.477045, -0.650178, 0.59531], [-0.349388, -0.575091, -0.739729, 1.3162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.662755, 0.647517, -0.376134, 1.42612], [0.698172, 0.352695, -0.623027, 0.604356], [-0.27076, -0.675521, -0.685829, 1.33067], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.56984, 0.64417, -0.510223, 1.35863], [0.798406, 0.287044, -0.529295, 0.617184], [-0.194499, -0.708979, -0.677879, 1.33665], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.609493, 0.571574, -0.549382, 1.29112], [0.779911, 0.307876, -0.544933, 0.576186], [-0.142328, -0.760602, -0.633425, 1.36556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.640173, 0.483778, -0.596772, 1.17191], [0.766105, 0.34427, -0.542736, 0.464558], [-0.0571132, -0.804635, -0.591017, 1.39912], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.709072, 0.414643, -0.57034, 1.10488], [0.705133, 0.419341, -0.571788, 0.477259], [0.00207916, -0.807605, -0.589721, 1.42775], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.739549, 0.363233, -0.566683, 1.02933], [0.672401, 0.437099, -0.597345, 0.453375], [0.0307212, -0.822804, -0.567494, 1.44972], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.801322, 0.32703, -0.500933, 0.912152], [0.596521, 0.500105, -0.627741, 0.422404], [0.0452289, -0.801839, -0.595826, 1.434], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.895648, 0.226256, -0.382914, 0.736661], [0.439966, 0.576829, -0.688258, 0.420649], [0.0651532, -0.784906, -0.616181, 1.43403], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.925247, 0.194857, -0.325498, 0.638899], [0.376255, 0.580994, -0.72172, 0.411111], [0.0484803, -0.790239, -0.610878, 1.43704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.918581, 0.226096, -0.324175, 0.566463], [0.388543, 0.36632, -0.845485, 0.429987], [-0.0724091, -0.902602, -0.424342, 1.27219], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.687395, 0.352199, -0.635173, 0.761478], [0.72586, 0.363016, -0.584248, 0.416482], [0.0248063, -0.862656, -0.505183, 1.25176], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.334699, 0.554025, -0.762255, 0.837701], [0.938495, 0.268841, -0.216684, 0.446212], [0.0848769, -0.787896, -0.60993, 1.31173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.116637, 0.702194, -0.702367, 0.805897], [0.989738, 0.140963, -0.02343, 0.493959], [0.0825554, -0.697892, -0.711429, 1.32948], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.0877516, 0.760006, -0.643964, 0.749959], [0.995553, -0.0446852, 0.0829246, 0.536817], [0.0342476, -0.648378, -0.760548, 1.34196], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.339768, 0.802308, -0.490774, 0.713806], [0.933417, -0.223693, 0.280525, 0.54619], [0.115285, -0.55341, -0.824892, 1.33198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.407519, 0.764882, -0.498882, 0.735898], [0.906375, -0.272131, 0.323157, 0.569475], [0.111416, -0.583866, -0.804169, 1.36806], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.461984, 0.739461, -0.489662, 0.700167], [0.885339, -0.351887, 0.303895, 0.596523], [0.0524125, -0.573911, -0.817239, 1.3771], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.631207, 0.575359, -0.520134, 0.658351], [0.775489, -0.456071, 0.436597, 0.587488], [0.0139823, -0.678941, -0.734059, 1.44966], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.711598, 0.439858, -0.547863, 0.681324], [0.701873, -0.4099, 0.582543, 0.576346], [0.0316677, -0.799067, -0.600408, 1.50068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.704379, 0.383583, -0.597256, 0.669189], [0.709776, -0.370755, 0.598966, 0.615847], [0.0083179, -0.845816, -0.53341, 1.52903], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.647591, 0.297981, -0.701308, 0.628939], [0.760826, -0.303683, 0.573517, 0.683687], [-0.0420784, -0.904977, -0.423374, 1.56681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.595712, 0.245251, -0.76484, 0.636539], [0.80199, -0.233832, 0.549668, 0.692925], [-0.0440372, -0.940837, -0.335985, 1.59385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.609081, 0.167012, -0.775324, 0.648083], [0.793103, -0.131786, 0.59466, 0.688946], [-0.00286062, -0.977108, -0.212726, 1.62143], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.647689, 0.0894511, -0.756635, 0.642995], [0.76161, -0.0483857, 0.646228, 0.679442], [0.0211955, -0.994815, -0.0994656, 1.65021], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.779482, 0.0206428, -0.626084, 0.604519], [0.626299, -0.00564064, 0.779563, 0.658487], [0.012561, -0.999771, -0.0173255, 1.6681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.905087, 0.0218926, -0.424661, 0.554492], [0.424737, 0.00131235, 0.905316, 0.718142], [0.0203772, -0.999759, -0.00811085, 1.67035], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.994512, 0.0512592, -0.0912071, 0.487618], [0.0971488, -0.128826, 0.986897, 0.660137], [0.0388379, -0.990341, -0.133099, 1.651], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.998699, 0.0314542, -0.0401411, 0.503925], [0.0478323, -0.304796, 0.951216, 0.681944], [0.017685, -0.951898, -0.305904, 1.60731], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.996628, 0.0772285, -0.0277159, 0.475355], [0.0575007, -0.41641, 0.907357, 0.766899], [0.0585327, -0.905891, -0.419447, 1.6549], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.995622, 0.0724952, -0.0589962, 0.50274], [0.0891861, -0.548016, 0.8317, 1.00315], [0.0279635, -0.833321, -0.552082, 1.76955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.993955, 0.067041, -0.0869357, 0.509477], [0.109782, -0.603529, 0.789747, 1.08331], [0.000477344, -0.794518, -0.607241, 1.81896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.974412, 0.0728848, -0.212622, 0.523487], [0.220989, -0.483391, 0.847052, 0.937729], [-0.0410425, -0.872365, -0.487129, 1.67147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.877985, 0.13656, -0.458795, 0.544736], [0.469947, -0.428217, 0.771868, 0.870093], [-0.0910573, -0.893298, -0.440144, 1.63357], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.705069, 0.100041, -0.702047, 0.549644], [0.70347, -0.223607, 0.674634, 0.87346], [-0.0894917, -0.969532, -0.228034, 1.61649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.360961, 0.0627151, -0.93047, 0.633707], [0.91456, 0.171392, 0.366341, 1.00062], [0.18245, -0.983205, 0.00450912, 1.54544], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.190698, 0.00558344, -0.981633, 0.655034], [0.899783, 0.398797, 0.177066, 1.12599], [0.392461, -0.917022, 0.071026, 1.56616], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.24028, -0.177598, -0.954319, 0.667155], [0.87383, 0.467695, 0.132976, 1.04337], [0.422714, -0.865864, 0.267568, 1.62443], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0751_00"}, {"annotation": [{"question_id": "test-scene0752-0", "question": "What is on top of a bed on the right of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-1", "question": "What is the closest to the entrance of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-2", "question": "What color is the computer chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-3", "question": "What is on the black computer chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-4", "question": "Where is the computer chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-5", "question": "What color is the mattress closest to window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-6", "question": "On which side of the room is the white mattress located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-7", "question": "Where is the white mattress located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-8", "question": "What object is between the two beds against wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-9", "question": "Where is the computer desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-10", "question": "What color table is close to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-11", "question": "Where is the white table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-12", "question": "How many pillows does the black chair between the beds have over it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-13", "question": "What is on the black chair to the right of the other black chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-14", "question": "Where is the black chair with the bright red article of clothing on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-15", "question": "What is behind the two chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-16", "question": "Is the tv on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-17", "question": "What color is the round table at the end of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-18", "question": "What is on the black chair between the two beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-19", "question": "What is next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-20", "question": "The trash can is to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-21", "question": "The pillow is in front of what on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-22", "question": "The tv is on top of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-23", "question": "What is next to the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-24", "question": "What is on top of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-25", "question": "On what part of the table is a tv located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-26", "question": "What is placed on the table next to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-27", "question": "Where is a tall dresser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-28", "question": "What is on the floor next to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-29", "question": "What is next to a piano?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-30", "question": "What is next to the bed without a duvet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-31", "question": "A nightstand is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-32", "question": "What are the colors of the beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-33", "question": "What is the color of the chair between the two beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-34", "question": "What color is the chair on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-35", "question": "What is beside the white bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-36", "question": "What is on top of the bed on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-37", "question": "What color is the dresser beside the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-38", "question": "Where if the office chair placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-39", "question": "What is hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-40", "question": "Where is the dresser sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-41", "question": "What is next to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-42", "question": "Where is a shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-43", "question": "How many drawers does the dresser have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-44", "question": "What color is the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-45", "question": "Where is the trash can sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-46", "question": "What is the pile of red clothing on top of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-47", "question": "How many rectangular abstrat posters are on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-48", "question": "What is on top of the black storage shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-49", "question": "What shape is the nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-50", "question": "Where is the nightstand sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-51", "question": "How many knobs does the dresser have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-52", "question": "What is the tall wooden dresser sitting next to on a stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-53", "question": "What is on top of the wooden shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-54", "question": "What is on the tall wooden dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-55", "question": "Where is the tall wooden dresser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-56", "question": "What is on the table next to the blue bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-57", "question": "Where is the black square nightstand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-58", "question": "What color is the drawer with many compartments?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-59", "question": "What is on the wall behind the beds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-60", "question": "Where is the square nightstand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-61", "question": "The white bed has two pillow on it. It is located to what direction when you stand at the foot of both beds and look at them?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-62", "question": "Where is the black office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-63", "question": "What color are the sheets on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-64", "question": "Where is the nightstand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-65", "question": "What is the dresser sitting on the left side of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-66", "question": "How do you get to the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0752-67", "question": "What color is the pillow on the white bed?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.112124, -0.552351, 0.826037, 3.84409], [-0.993379, -0.0832372, 0.07918, 3.25062], [0.0250219, -0.829446, -0.558027, 1.41479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.188735, -0.526678, 0.828849, 3.85792], [-0.981654, -0.124491, 0.144424, 3.2956], [0.0271192, -0.8409, -0.540511, 1.42039], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.500896, -0.487166, 0.715382, 3.90605], [-0.865467, -0.289953, 0.408527, 3.25468], [0.00840659, -0.823769, -0.566863, 1.40769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.708232, -0.407988, 0.576154, 3.89868], [-0.705803, -0.390926, 0.590779, 3.22303], [-0.0157971, -0.825059, -0.564825, 1.40529], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.920001, -0.241679, 0.308527, 3.92701], [-0.390875, -0.5085, 0.767232, 3.27951], [-0.0285381, -0.82645, -0.562287, 1.40385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.991602, 0.0514444, -0.118657, 3.9206], [0.126645, -0.572191, 0.810283, 3.25621], [-0.0262099, -0.818505, -0.573901, 1.40147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.885389, 0.235208, -0.400953, 3.72084], [0.464113, -0.495851, 0.733983, 3.26985], [-0.026174, -0.835948, -0.548184, 1.39866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.570122, 0.42744, -0.701609, 3.61068], [0.820678, -0.335855, 0.462265, 3.30195], [-0.0380483, -0.839343, -0.542269, 1.41066], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.131402, 0.533526, -0.835514, 3.6298], [0.991217, -0.0833999, 0.102634, 3.34258], [-0.0149239, -0.841662, -0.539799, 1.42383], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.0353276, 0.520838, -0.852924, 3.68428], [0.99937, -0.0213736, 0.0283417, 3.27587], [-0.00346859, -0.853388, -0.521264, 1.43634], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.215515, 0.518383, -0.827546, 3.73003], [0.976124, 0.0908151, -0.197321, 3.21162], [-0.0271343, -0.850313, -0.525578, 1.44397], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.564777, 0.451949, -0.690484, 3.70207], [0.824467, 0.272727, -0.495857, 3.25576], [-0.0357882, -0.84933, -0.526647, 1.43515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.770846, 0.377488, -0.513126, 3.73328], [0.635122, 0.393277, -0.664795, 3.23202], [-0.0491519, -0.838353, -0.542907, 1.44332], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.864928, 0.302285, -0.400653, 3.82932], [0.499019, 0.432611, -0.750884, 3.12614], [-0.0536541, -0.849395, -0.525024, 1.44527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.956935, 0.200048, -0.210371, 3.89352], [0.283759, 0.491573, -0.823309, 3.05765], [-0.0612887, -0.847548, -0.527169, 1.44249], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.996068, 0.0194079, 0.0864367, 3.83988], [-0.0627448, 0.534233, -0.843005, 3.08773], [-0.0625383, -0.845114, -0.530915, 1.44011], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.947117, -0.0997089, 0.305002, 3.91465], [-0.31255, 0.501905, -0.806476, 3.12355], [-0.0726694, -0.859156, -0.506527, 1.44702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.846853, -0.215, 0.486431, 3.95281], [-0.529046, 0.433986, -0.729223, 3.14374], [-0.0543212, -0.874889, -0.481268, 1.46308], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.782116, -0.198039, 0.590826, 3.94766], [-0.622336, 0.296206, -0.724542, 3.14073], [-0.0315188, -0.934367, -0.354914, 1.50006], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.815675, -0.147363, 0.559427, 3.96218], [-0.578336, 0.231439, -0.782281, 3.13941], [-0.0141945, -0.961624, -0.274004, 1.50563], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.862025, -0.11268, 0.494183, 3.95653], [-0.506673, 0.164625, -0.846275, 3.14832], [0.0140033, -0.979899, -0.199003, 1.51489], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.874629, -0.110706, 0.471982, 3.99143], [-0.48463, 0.174544, -0.857128, 3.15836], [0.0125078, -0.978406, -0.206313, 1.52772], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.880246, -0.104726, 0.462817, 3.9824], [-0.474148, 0.155608, -0.866585, 3.15652], [0.0187363, -0.982252, -0.186629, 1.52925], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.854352, -0.103548, 0.509275, 3.98432], [-0.519553, 0.147285, -0.841648, 3.16811], [0.0121425, -0.983659, -0.179632, 1.53319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.82086, -0.0992424, 0.562441, 3.99061], [-0.571113, 0.150174, -0.807018, 3.18424], [-0.00437352, -0.983666, -0.17995, 1.53111], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.94067, -0.0681364, 0.332411, 3.99098], [-0.339019, 0.147298, -0.929177, 3.14751], [0.014347, -0.986742, -0.161658, 1.51138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.995174, -0.0250939, 0.0948666, 4.07022], [-0.098072, 0.287358, -0.952789, 3.08973], [-0.00335142, -0.957494, -0.288432, 1.47621], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.9674, 0.0692014, -0.243616, 4.13024], [0.253213, 0.24701, -0.935344, 2.96956], [-0.00455141, -0.966539, -0.256481, 1.4599], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.811579, 0.158838, -0.562236, 4.12721], [0.584221, 0.212535, -0.783271, 2.90086], [-0.00491783, -0.964157, -0.265286, 1.48765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.655436, 0.20816, -0.725997, 4.01262], [0.755208, 0.170526, -0.632915, 2.84765], [-0.00794616, -0.963115, -0.268973, 1.49206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.338202, 0.204707, -0.918539, 3.97798], [0.941014, 0.0625955, -0.332527, 2.79535], [-0.0105741, -0.97682, -0.213802, 1.51611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.192644, 0.0361783, -0.980601, 3.88599], [0.981269, 0.00711848, -0.192512, 2.90941], [1.5635e-05, -0.99932, -0.0368721, 1.56164], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.116136, 0.249021, -0.96151, 3.82531], [0.992915, 0.00460703, -0.118736, 2.98344], [-0.0251381, -0.968487, -0.247792, 1.50293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.169364, 0.351101, -0.920893, 3.77557], [0.985191, -0.0856547, 0.148532, 2.86579], [-0.0267291, -0.932412, -0.360408, 1.492], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.331307, 0.239388, -0.912649, 3.72599], [0.943006, -0.116035, 0.311891, 2.98003], [-0.0312365, -0.963965, -0.264188, 1.49401], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.579457, 0.178663, -0.795178, 3.62353], [0.814282, -0.167927, 0.555648, 2.95861], [-0.0342585, -0.969474, -0.242789, 1.53374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.849836, 0.146316, -0.50633, 3.65353], [0.526675, -0.271848, 0.805427, 2.91437], [-0.0197975, -0.951152, -0.308088, 1.49575], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.932805, 0.102871, -0.345387, 3.73029], [0.35715, -0.391945, 0.847835, 2.95523], [-0.048155, -0.914219, -0.402349, 1.45899], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.985307, 0.0604457, -0.15974, 3.63237], [0.164819, -0.581729, 0.796509, 2.87601], [-0.0447796, -0.811134, -0.583144, 1.39795], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.988908, -0.118688, 0.0892962, 3.75774], [-0.142147, -0.581958, 0.800699, 2.90205], [-0.0430663, -0.804511, -0.592374, 1.42369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.954946, -0.189839, 0.22812, 3.93561], [-0.286236, -0.386091, 0.876928, 2.96628], [-0.0784001, -0.902715, -0.423035, 1.47632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.763842, -0.230065, 0.603005, 3.90181], [-0.645072, -0.242214, 0.724717, 3.08103], [-0.0206752, -0.942551, -0.333422, 1.47267], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.402755, -0.323105, 0.856383, 3.9198], [-0.915302, -0.138834, 0.378083, 3.10778], [-0.00326531, -0.936124, -0.351654, 1.50622], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.0916553, -0.527878, 0.84436, 3.90448], [-0.994401, -0.00373833, 0.105605, 3.1986], [-0.05259, -0.849312, -0.525265, 1.43804], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.473623, -0.535578, 0.699169, 3.79612], [-0.880366, 0.310654, -0.3584, 3.1932], [-0.0252485, -0.785271, -0.618638, 1.42317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.774308, -0.40637, 0.485088, 3.70892], [-0.6318, 0.539712, -0.556364, 3.11099], [-0.0357183, -0.737275, -0.674648, 1.38214], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.621935, -0.461093, 0.632922, 3.79027], [-0.782079, 0.406359, -0.472466, 3.15621], [-0.0393424, -0.788839, -0.61334, 1.41317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.401198, -0.359288, 0.842586, 4.01992], [-0.91442, 0.210952, -0.34545, 2.95789], [-0.0536289, -0.909072, -0.413174, 1.48663], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.4267, -0.190901, 0.884016, 4.24543], [-0.904036, 0.117513, -0.410987, 2.79114], [-0.0254257, -0.97455, -0.222724, 1.50645], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.161348, -0.391644, 0.905859, 4.48021], [-0.986803, 0.0513371, -0.15357, 2.82894], [0.0136406, -0.918683, -0.394759, 1.47287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.191382, -0.53389, 0.823611, 4.61445], [-0.980053, -0.058146, 0.190042, 2.81376], [-0.0535715, -0.843552, -0.534368, 1.39969], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.539424, -0.671, 0.508705, 4.70611], [-0.837332, -0.363697, 0.408165, 2.75924], [-0.0888643, -0.64613, -0.758037, 1.34387], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.871863, -0.462471, 0.161165, 4.87077], [-0.462488, -0.669217, 0.581595, 2.51359], [-0.161117, -0.581609, -0.797353, 1.25882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.92146, -0.255688, 0.292462, 4.93299], [-0.387899, -0.646486, 0.656955, 2.48503], [0.021097, -0.718804, -0.694893, 1.34518], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.912798, -0.122198, 0.3897, 4.88043], [-0.38939, -0.548196, 0.740173, 2.60098], [0.123184, -0.827375, -0.547975, 1.4509], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.939154, -0.0606458, 0.338101, 4.79433], [-0.3309, -0.423847, 0.843124, 2.67075], [0.0921714, -0.903701, -0.418125, 1.54102], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.924958, -0.0574072, 0.375709, 4.72001], [-0.366728, -0.394418, 0.842582, 2.73559], [0.0998161, -0.917136, -0.385873, 1.5577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.813731, -0.363107, 0.453867, 4.59264], [-0.580286, -0.55227, 0.598554, 2.90733], [0.0333178, -0.750434, -0.660105, 1.463], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.743497, -0.563637, 0.359896, 4.61601], [-0.668712, -0.621753, 0.407735, 3.04166], [-0.00604856, -0.543817, -0.839182, 1.38952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.665277, -0.683255, 0.300946, 4.7028], [-0.746171, -0.594878, 0.298913, 3.17586], [-0.0252078, -0.423418, -0.905584, 1.33722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.410206, -0.788899, 0.457569, 4.48207], [-0.911705, -0.367342, 0.183996, 3.3635], [0.0229301, -0.492644, -0.869929, 1.34931], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.433353, -0.602166, 0.670523, 4.2499], [-0.900843, -0.267784, 0.341721, 3.36941], [-0.0262178, -0.752122, -0.658502, 1.43006], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.365129, -0.383257, 0.848407, 4.11683], [-0.930386, -0.182125, 0.318138, 3.5351], [0.032588, -0.905508, -0.423076, 1.46617], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.339091, -0.291138, 0.89457, 4.06547], [-0.938717, -0.167247, 0.301394, 3.80883], [0.0618674, -0.941949, -0.330008, 1.48359], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.449816, -0.296541, 0.842454, 4.13197], [-0.893121, -0.150685, 0.423827, 3.88023], [0.00126299, -0.943057, -0.332628, 1.46028], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.523292, -0.308881, 0.794203, 4.10033], [-0.850607, -0.133215, 0.508646, 3.9887], [-0.0513114, -0.941725, -0.332446, 1.44543], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.256003, -0.357063, 0.898314, 4.01613], [-0.966364, -0.118146, 0.228435, 4.19571], [0.0245665, -0.926578, -0.375299, 1.40536], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.110935, -0.518794, 0.847671, 3.94912], [-0.993695, -0.0439856, 0.103125, 4.29929], [-0.0162154, -0.853767, -0.520402, 1.28732], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.164478, -0.523597, 0.835938, 3.93702], [-0.986259, -0.100605, 0.131039, 4.3126], [0.0154882, -0.846005, -0.53295, 1.2906], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.496117, -0.347937, 0.795492, 3.9911], [-0.867027, -0.149795, 0.475212, 4.1926], [-0.0461826, -0.925474, -0.375986, 1.42071], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.30252, -0.367889, 0.879283, 4.04479], [-0.951539, -0.0630636, 0.300993, 4.2165], [-0.0552813, -0.927729, -0.369138, 1.41674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.178742, -0.410393, 0.89422, 4.07643], [-0.974657, 0.198116, -0.103897, 4.40907], [-0.134521, -0.890128, -0.435403, 1.36647], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.237957, -0.508615, 0.827458, 4.08544], [-0.965929, 0.213189, -0.146737, 4.46309], [-0.101772, -0.834183, -0.542016, 1.34542], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.212105, -0.545192, 0.811034, 4.10823], [-0.973087, 0.194321, -0.12386, 4.52908], [-0.0900735, -0.815478, -0.571736, 1.33277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.0374412, -0.624683, 0.77998, 4.06675], [-0.995122, 0.047984, 0.0861987, 4.38846], [-0.0912735, -0.779403, -0.619839, 1.30863], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.439669, -0.561131, 0.701301, 4.09187], [-0.892447, -0.18501, 0.411472, 3.94052], [-0.101142, -0.806785, -0.582123, 1.35633], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.58742, -0.52338, 0.61726, 4.13034], [-0.795596, -0.233794, 0.558899, 3.798], [-0.148204, -0.819398, -0.553734, 1.38091], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.818319, -0.295809, 0.4928, 4.26578], [-0.573502, -0.363425, 0.734178, 3.82303], [-0.0380805, -0.883414, -0.467044, 1.39496], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.963751, -0.113758, 0.241338, 4.49777], [-0.266804, -0.412783, 0.870876, 3.72568], [0.000551254, -0.903697, -0.428171, 1.434], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.99632, 0.0429724, -0.0741618, 4.53875], [0.0845579, -0.351265, 0.93245, 3.50822], [0.0140192, -0.93529, -0.353605, 1.46817], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.967089, 0.123376, -0.222524, 4.45005], [0.254393, -0.4526, 0.854656, 3.39905], [0.00472972, -0.883137, -0.469091, 1.42517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.862964, 0.285027, -0.417197, 4.52957], [0.501477, -0.58408, 0.638256, 3.42459], [-0.0617558, -0.760007, -0.646974, 1.38288], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.747128, 0.403225, -0.528403, 4.55694], [0.651756, -0.600435, 0.463349, 3.42235], [-0.130437, -0.69057, -0.711406, 1.38653], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.620136, 0.380278, -0.686163, 4.52051], [0.77733, -0.415801, 0.47209, 3.4221], [-0.105781, -0.826135, -0.553455, 1.4354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.535511, 0.338586, -0.773684, 4.50856], [0.832784, -0.363959, 0.417139, 3.52036], [-0.140352, -0.867694, -0.476873, 1.44446], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.686022, 0.352436, -0.636523, 4.36873], [0.720371, -0.451867, 0.526196, 3.76647], [-0.102173, -0.819515, -0.563876, 1.41817], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.625897, 0.394521, -0.672759, 4.38398], [0.769832, -0.450719, 0.451897, 3.94557], [-0.124942, -0.800753, -0.585819, 1.40565], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.35519, 0.546103, -0.75869, 4.54336], [0.926828, -0.311464, 0.209715, 4.12847], [-0.121779, -0.777664, -0.616773, 1.41091], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.344103, 0.609171, -0.714494, 4.52953], [0.935647, -0.286067, 0.206713, 4.14995], [-0.0784702, -0.739645, -0.668406, 1.38767], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.23241, 0.753165, -0.615409, 4.62054], [0.972498, -0.170042, 0.159162, 4.26003], [0.0152297, -0.635475, -0.771971, 1.33383], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.176426, 0.76312, -0.621707, 4.63], [0.984235, -0.12878, 0.121232, 4.19119], [0.0124513, -0.633295, -0.77381, 1.34072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.0907005, 0.800492, -0.592441, 4.63142], [0.995628, -0.0862283, 0.0359176, 4.16605], [-0.0223334, -0.593108, -0.804813, 1.34071], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.0383268, 0.701501, -0.711637, 4.62683], [0.999092, 0.0136201, -0.040382, 4.13672], [-0.0186355, -0.712538, -0.701386, 1.38119], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.0629137, 0.519424, -0.852197, 4.62061], [0.998003, 0.0375882, -0.0507673, 4.11628], [0.00566282, -0.85369, -0.520751, 1.43129], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.00394276, 0.387629, -0.921807, 4.58679], [0.999772, 0.0178118, 0.0117665, 4.11824], [0.0209801, -0.921643, -0.387471, 1.46408], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.00681818, 0.282142, -0.959349, 4.53629], [0.999841, 0.0138707, 0.0111854, 4.13967], [0.0164627, -0.959272, -0.282002, 1.50474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.196991, 0.439102, -0.876575, 4.61629], [0.97986, -0.0583709, 0.190962, 4.17773], [0.0326856, -0.896539, -0.441758, 1.41789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.251875, 0.544294, -0.800189, 4.6342], [0.967457, -0.120933, 0.222266, 4.35891], [0.0242082, -0.830132, -0.557041, 1.29919], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.154624, 0.534005, -0.831222, 4.66812], [0.9872, -0.0502363, 0.151366, 4.504], [0.0390727, -0.843987, -0.534938, 1.255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.106294, 0.538431, -0.835939, 4.66421], [0.992876, -0.0119407, 0.118559, 4.54164], [0.0538539, -0.842585, -0.535864, 1.24985], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.11853, 0.509125, -0.852492, 4.62013], [0.978006, 0.0885336, 0.188856, 4.48415], [0.171626, -0.856127, -0.487433, 1.28523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.1034, 0.49069, -0.865178, 4.53367], [0.972901, 0.130967, 0.190554, 4.19139], [0.206813, -0.861436, -0.46385, 1.356], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.0413824, 0.481156, -0.875657, 4.43925], [0.97488, 0.172523, 0.14087, 3.8805], [0.218851, -0.859491, -0.46193, 1.37615], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.00873076, 0.484757, -0.874605, 4.24812], [0.990438, 0.116236, 0.0743119, 3.67627], [0.137684, -0.866891, -0.479107, 1.37341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.26571, 0.482715, -0.834496, 4.02531], [0.963275, -0.0981606, 0.249933, 3.51502], [0.0387316, -0.870259, -0.49107, 1.39176], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.488617, 0.424643, -0.762189, 3.92041], [0.872246, -0.216719, 0.438429, 3.26627], [0.0209952, -0.87904, -0.476286, 1.40733], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.593782, 0.386156, -0.705908, 3.65551], [0.802028, -0.354486, 0.480719, 3.30584], [-0.0646025, -0.8516, -0.520195, 1.38441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.69873, 0.474775, -0.535131, 3.43371], [0.713435, -0.407249, 0.570227, 3.33967], [0.0527982, -0.780216, -0.623278, 1.33562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.754066, 0.467236, -0.461599, 3.12992], [0.64358, -0.385351, 0.661293, 3.2544], [0.131102, -0.795735, -0.591284, 1.35993], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.86749, 0.346201, -0.35722, 2.93835], [0.494253, -0.518504, 0.697759, 3.39766], [0.0563442, -0.781856, -0.620908, 1.33216], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.97109, 0.164373, -0.173107, 2.7881], [0.237346, -0.587313, 0.773777, 3.46734], [0.0255196, -0.792493, -0.609347, 1.37595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.997854, 0.06249, -0.0195768, 2.69817], [0.0480888, -0.496346, 0.866792, 3.4184], [0.0444489, -0.865873, -0.498286, 1.42856], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.999064, 0.0164601, -0.0400099, 2.69156], [0.0430955, -0.459978, 0.886884, 3.42427], [-0.00380549, -0.887778, -0.460257, 1.44941], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.991851, 0.0604749, -0.112139, 2.54647], [0.127363, -0.493726, 0.86024, 3.43917], [-0.00334314, -0.867512, -0.497405, 1.43092], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.907377, 0.16221, -0.387755, 2.30003], [0.418522, -0.433852, 0.79788, 3.58885], [-0.0388039, -0.886262, -0.461556, 1.45147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[0.816567, 0.277943, -0.505931, 2.00784], [0.575693, -0.327774, 0.749094, 3.62277], [0.0423741, -0.902946, -0.42766, 1.48238], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.747941, 0.320614, -0.581198, 1.78117], [0.660377, -0.271062, 0.700306, 3.66775], [0.0669869, -0.907597, -0.414464, 1.49154], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[0.731268, 0.478517, -0.486074, 1.61919], [0.68022, -0.458881, 0.571602, 3.61574], [0.0504711, -0.748632, -0.661062, 1.4], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[0.765693, 0.476064, -0.432523, 1.67049], [0.64316, -0.558703, 0.523637, 3.65038], [0.00763321, -0.679128, -0.73398, 1.37912], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[0.659384, 0.518322, -0.544569, 1.96253], [0.751304, -0.427826, 0.502501, 3.86886], [0.0274763, -0.740478, -0.671519, 1.37864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[0.530437, 0.614021, -0.584478, 1.96059], [0.842584, -0.306064, 0.443145, 4.09274], [0.0932125, -0.727532, -0.679712, 1.3424], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[0.511268, 0.652024, -0.559885, 1.85496], [0.842189, -0.250305, 0.477563, 4.23557], [0.171241, -0.715691, -0.677099, 1.32152], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[0.504738, 0.59245, -0.627888, 1.80544], [0.834202, -0.147568, 0.531348, 4.33428], [0.222141, -0.791977, -0.568706, 1.35859], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[0.75316, 0.472385, -0.457824, 1.6876], [0.609792, -0.240247, 0.755272, 4.34913], [0.246788, -0.848018, -0.469, 1.37145], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[0.755684, 0.381319, -0.532482, 1.66311], [0.632562, -0.214253, 0.744285, 4.35885], [0.169724, -0.899273, -0.403116, 1.41391], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[0.587785, 0.487533, -0.645616, 1.72972], [0.793215, -0.190342, 0.578428, 4.39825], [0.159115, -0.852104, -0.498599, 1.39054], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.358799, 0.39879, -0.843937, 1.80839], [0.919183, 0.00632969, 0.393781, 4.3516], [0.162378, -0.917021, -0.364289, 1.44113], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[0.251626, 0.402322, -0.88024, 1.83444], [0.948568, 0.0780059, 0.306812, 4.20026], [0.192101, -0.912169, -0.362001, 1.46587], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.103849, 0.53238, -0.840111, 1.82628], [0.969052, 0.136034, 0.205993, 4.03498], [0.22395, -0.835503, -0.501777, 1.42931], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[-0.13326, 0.670301, -0.730026, 1.794], [0.974025, 0.224644, 0.0284655, 4.00708], [0.183077, -0.707271, -0.682826, 1.38137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[-0.552347, 0.633389, -0.54197, 1.76655], [0.821794, 0.522825, -0.226514, 4.02801], [0.139884, -0.570502, -0.809296, 1.32823], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.766817, 0.457947, -0.449751, 1.78658], [0.627467, 0.682403, -0.374981, 3.97758], [0.135191, -0.569746, -0.810625, 1.32418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.960285, 0.190614, -0.203765, 1.7361], [0.278749, 0.687729, -0.67032, 4.04135], [0.0123627, -0.700497, -0.713548, 1.35953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.993441, 0.0776953, -0.0839027, 1.75019], [0.113701, 0.592982, -0.797148, 4.04083], [-0.012182, -0.801459, -0.597926, 1.3946], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[-0.998244, 0.0313994, -0.0502316, 1.77134], [0.0591104, 0.472342, -0.879431, 3.95398], [-0.00388706, -0.880856, -0.473369, 1.43656], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[-0.995935, -0.0808458, 0.0397177, 1.57605], [-0.0701403, 0.419408, -0.905084, 3.89862], [0.0565143, -0.904191, -0.423374, 1.44295], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[-0.957642, -0.143811, 0.249477, 1.59058], [-0.28681, 0.399043, -0.870921, 3.91542], [0.0256956, -0.905584, -0.423387, 1.45571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[-0.872551, -0.193573, 0.448536, 1.73655], [-0.488522, 0.348071, -0.800121, 3.99146], [-0.00124109, -0.917266, -0.398274, 1.46694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[-0.578404, -0.263824, 0.77191, 1.81007], [-0.81567, 0.173842, -0.551779, 3.95363], [0.0113822, -0.948776, -0.315745, 1.50578], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[-0.274562, -0.243772, 0.930156, 1.81323], [-0.961482, 0.0565388, -0.268991, 4.00576], [0.0129824, -0.968183, -0.249906, 1.53077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[-0.0412804, -0.173073, 0.984043, 1.80575], [-0.999129, 0.00105575, -0.0417277, 4.09647], [0.00618298, -0.984908, -0.172966, 1.53361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[0.0190393, -0.322459, 0.946392, 1.85114], [-0.999783, -0.0142092, 0.0152717, 4.16218], [0.00852297, -0.946477, -0.322659, 1.5111], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.00511687, -0.47128, 0.881969, 1.84369], [-0.999759, 0.0212603, 0.00556003, 4.16683], [-0.0213713, -0.881727, -0.471275, 1.4184], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.10441, -0.596952, 0.795454, 1.83627], [-0.994395, 0.0760696, -0.0734361, 4.16857], [-0.0166721, -0.798662, -0.601548, 1.37154], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.47497, -0.527539, 0.704348, 1.83835], [-0.879881, 0.271457, -0.390025, 4.10835], [0.0145534, -0.804993, -0.593106, 1.38499], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.672358, -0.395287, 0.625845, 1.82925], [-0.739802, 0.330231, -0.586209, 4.07682], [0.0250473, -0.857144, -0.514467, 1.40987], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.604633, -0.371399, 0.704614, 1.8246], [-0.796298, 0.261751, -0.54534, 4.06267], [0.0181047, -0.890814, -0.454008, 1.42461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.193922, -0.450491, 0.871465, 1.81609], [-0.980878, 0.104014, -0.164501, 4.08618], [-0.0165384, -0.886701, -0.462047, 1.37364], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[0.10538, -0.536023, 0.837601, 1.76995], [-0.992557, -0.00499361, 0.121679, 4.08734], [-0.06104, -0.844189, -0.532559, 1.34473], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[0.318009, -0.564635, 0.761615, 1.81341], [-0.941142, -0.0909466, 0.325545, 4.18267], [-0.114548, -0.820314, -0.560324, 1.3691], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[0.166691, -0.379048, 0.91024, 1.93166], [-0.986009, -0.0650933, 0.153459, 4.24673], [0.00108196, -0.923085, -0.384595, 1.4266], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[-0.114762, -0.425696, 0.897559, 2.10147], [-0.992249, 0.092469, -0.0830131, 4.08709], [-0.0476582, -0.900129, -0.433008, 1.42574], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[-0.00220296, -0.408232, 0.912876, 2.29355], [-0.99434, 0.0978611, 0.041363, 3.87472], [-0.106221, -0.907618, -0.406137, 1.45764], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0752_00"}, {"annotation": [{"question_id": "test-scene0753-0", "question": "The black chair is near what outlet in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-1", "question": "Where is the closet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-2", "question": "What color is the door to the right of the tall cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-3", "question": "What is to the left of door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-4", "question": "What is on the wall to the left of the brown cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-5", "question": "What color door is closest to the black office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-6", "question": "What is located to the left of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-7", "question": "What is hanging on the wall, to the right of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-8", "question": "What is on the wall to the right of a bulletin board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-9", "question": "Where is the blue chair sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-10", "question": "On what side of the white board is the black chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-11", "question": "What direction does the cabinet sit to the wall with the white board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-12", "question": "The whiteboard has a lot of what on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-13", "question": "What is on the light brown computer desk in front of the grey chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-14", "question": "What position are the window blinds in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-15", "question": "What color is the office chair at the round part of the computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-16", "question": "What color is the office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-17", "question": "What is in the corner in front of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-18", "question": "What color is the filing cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-19", "question": "What color is the chair sitting closest to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-20", "question": "What is behind the chair sitting at the round end of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-21", "question": "Where is the blue chair placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-22", "question": "What is underneath the whiteboard on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-23", "question": "What part of the black chair is next to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-24", "question": "Where is a black chair without armrest located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-25", "question": "What is wide and in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-26", "question": "What is the color of the box below the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-27", "question": "Where is the large desk in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-28", "question": "What is next to a file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-29", "question": "Where is a computer chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-30", "question": "What is next to the right side of the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-31", "question": "What is located directly in front of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-32", "question": "What is to the direct left of the small cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-33", "question": "Where is the tall cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-34", "question": "What color is the chair in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-35", "question": "What is located at the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-36", "question": "The blue chair is closest to what item?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-37", "question": "What color is the computer desk chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-38", "question": "What shape is the area of the desk in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0753-39", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.427207, -0.492525, 0.758231, 3.08911], [-0.90303, -0.274233, 0.330657, 2.70766], [0.0450748, -0.825963, -0.561919, 1.30427], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.524096, -0.512283, 0.68036, 3.25061], [-0.85162, -0.322919, 0.412876, 2.6636], [0.00819133, -0.795795, -0.605511, 1.19905], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.406944, -0.488907, 0.7716, 3.16902], [-0.910756, -0.28203, 0.301633, 2.61792], [0.0701437, -0.825487, -0.560045, 1.24578], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.203662, -0.349494, 0.914536, 2.87583], [-0.9757, -0.14956, 0.160128, 2.74413], [0.0808144, -0.924925, -0.371461, 1.39494], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.122224, -0.220731, 0.967646, 2.66903], [-0.992265, -0.0485242, 0.114265, 2.73176], [0.0217324, -0.974127, -0.224955, 1.52029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.0351215, -0.036041, 0.998733, 2.61234], [-0.997776, -0.0553894, -0.0370868, 2.80186], [0.0566557, -0.997814, -0.0340154, 1.63324], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.0942223, 0.00348634, 0.995545, 2.63567], [-0.993461, -0.0651042, -0.0937971, 2.90796], [0.064487, -0.997872, 0.0095979, 1.63191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.143047, -0.200884, 0.969115, 2.43215], [-0.989326, 0.00151798, -0.145716, 2.8284], [0.0278007, -0.979614, -0.198957, 1.49053], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.367979, -0.248039, 0.896141, 2.38451], [-0.929403, 0.0687759, -0.362601, 2.76443], [0.0283063, -0.966305, -0.255837, 1.47363], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.525874, -0.182659, 0.830718, 2.42076], [-0.847927, 0.0357547, -0.528906, 2.79354], [0.0669073, -0.982526, -0.173684, 1.51697], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.566665, -0.130434, 0.813559, 2.43263], [-0.821285, 0.01009, -0.570429, 2.80639], [0.0661942, -0.991406, -0.112841, 1.53098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.617291, -0.121544, 0.777289, 2.47716], [-0.784329, 0.0178679, -0.620088, 2.8151], [0.0614795, -0.992425, -0.10636, 1.50058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.708239, -0.237457, 0.664839, 2.66956], [-0.701199, 0.127285, -0.701512, 2.85218], [0.0819549, -0.963023, -0.256653, 1.41125], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.827745, -0.203924, 0.522736, 2.89337], [-0.555651, 0.16834, -0.814195, 3.00989], [0.0780366, -0.964405, -0.252653, 1.38043], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.919872, -0.192982, 0.341459, 3.21756], [-0.385913, 0.289824, -0.875828, 3.15816], [0.0700559, -0.937422, -0.341075, 1.39131], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.983451, -0.121513, 0.134385, 3.53019], [-0.169103, 0.349406, -0.921586, 3.06791], [0.06503, -0.929059, -0.364172, 1.38066], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.996266, -0.0575372, -0.0643662, 3.83052], [0.0450775, 0.28918, -0.956213, 2.93784], [0.073631, -0.955544, -0.285507, 1.43032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.99619, 0.0159171, -0.0857478, 3.87405], [0.0870067, 0.11384, -0.989682, 2.67354], [-0.00599161, -0.993372, -0.114791, 1.51068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.990869, 0.0121366, -0.13428, 3.97839], [0.134504, 0.0199798, -0.990712, 2.50303], [-0.00934112, -0.999727, -0.0214298, 1.53205], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.955565, -0.019687, -0.294122, 3.94857], [0.294378, -0.0116026, -0.955619, 2.40094], [0.0154006, -0.999739, 0.0168825, 1.54706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.983904, -0.0184388, -0.177747, 3.70709], [0.177259, 0.0253909, -0.983837, 2.34877], [0.0226538, -0.999508, -0.0217139, 1.51006], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.96743, -0.0207141, -0.252289, 3.69473], [0.247745, 0.127161, -0.960444, 2.33258], [0.0519759, -0.991666, -0.117888, 1.45184], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.922989, -0.0168792, -0.384457, 3.67584], [0.379892, 0.119525, -0.917277, 2.45332], [0.0614349, -0.992688, -0.103908, 1.45265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.931082, 0.0333113, -0.363286, 3.53872], [0.364385, 0.132984, -0.921705, 2.73423], [0.017608, -0.990558, -0.135958, 1.46191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.927723, 0.0545634, -0.369259, 3.36927], [0.373137, 0.161846, -0.913551, 2.85487], [0.00991642, -0.985307, -0.170508, 1.41568], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.934172, 0.0995781, -0.342646, 3.09843], [0.355756, 0.185752, -0.915933, 2.95716], [-0.0275598, -0.977538, -0.20895, 1.43916], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.8978, 0.151896, -0.41338, 2.89363], [0.436675, 0.185137, -0.880364, 2.94269], [-0.0571914, -0.970903, -0.232545, 1.45551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.843167, 0.140391, -0.518999, 2.77655], [0.537646, 0.215532, -0.815158, 2.79295], [-0.00257984, -0.966352, -0.25721, 1.4381], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.82356, 0.101603, -0.558056, 2.56163], [0.567225, 0.143666, -0.810935, 2.6984], [-0.00222011, -0.984397, -0.17595, 1.51723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.73568, 0.0232728, -0.67693, 2.47112], [0.675103, 0.106174, -0.730044, 2.50432], [0.0548819, -0.994075, -0.0938214, 1.52673], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.775278, -0.00575555, -0.631594, 2.34339], [0.630957, 0.0387658, -0.774849, 2.26748], [0.0289438, -0.999232, -0.0264229, 1.54594], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.752092, 0.00310065, -0.659051, 2.2274], [0.657679, 0.0682067, -0.750205, 2.10402], [0.0426255, -0.997666, -0.0533369, 1.57622], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.516794, 0.139005, -0.84475, 2.37548], [0.854432, 0.145515, -0.498772, 2.07514], [0.0535921, -0.979542, -0.193971, 1.45371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.362647, 0.0862066, -0.927931, 2.36005], [0.931898, 0.0256792, -0.361811, 2.16665], [-0.00736203, -0.995946, -0.0896483, 1.50561], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.226405, 0.244281, -0.942904, 2.37197], [0.97395, 0.0694418, -0.215869, 2.22125], [0.0127442, -0.967215, -0.25364, 1.44162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.0628541, 0.376717, -0.924194, 2.41031], [0.997625, 0.0498459, -0.0475301, 2.25236], [0.0281619, -0.924986, -0.378955, 1.37104], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.0448792, 0.33739, -0.940295, 2.35098], [0.998873, 0.000536864, -0.0474824, 2.36486], [-0.0155153, -0.941365, -0.337033, 1.38537], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.308324, 0.409826, -0.858475, 2.1294], [0.950631, 0.166109, -0.262124, 2.69388], [0.0351747, -0.896912, -0.440809, 1.34085], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.376683, 0.2021, -0.904028, 2.11232], [0.926315, 0.0897801, -0.365899, 2.76999], [0.00721554, -0.975241, -0.221027, 1.47406], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.265048, -0.0364323, -0.963547, 2.15689], [0.963116, 0.0381505, -0.266371, 2.7178], [0.0464642, -0.998608, 0.0249766, 1.61116], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.222266, 0.0191171, -0.974799, 2.17681], [0.974386, 0.0307161, 0.222774, 2.48215], [0.0342009, -0.999345, -0.0118004, 1.56275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.268104, 0.221642, -0.937547, 2.13199], [0.963175, -0.0410825, 0.26572, 2.40917], [0.0203781, -0.974262, -0.224495, 1.43945], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.280788, 0.365334, -0.887519, 2.0763], [0.959736, -0.0990205, 0.262875, 2.46958], [0.00815451, -0.925595, -0.378427, 1.35595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.371997, 0.431022, -0.822094, 1.95828], [0.927704, -0.142705, 0.344965, 2.50014], [0.0313706, -0.890985, -0.452947, 1.33032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.545822, 0.428964, -0.71977, 1.69512], [0.835865, -0.218912, 0.503395, 2.49275], [0.0583722, -0.876395, -0.478043, 1.32089], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.698947, 0.452665, -0.553686, 1.40136], [0.711095, -0.3573, 0.605542, 2.61983], [0.0762755, -0.816965, -0.571621, 1.26572], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.974023, 0.174249, -0.14463, 1.02187], [0.219107, -0.56383, 0.796297, 2.51542], [0.0572071, -0.8073, -0.587362, 1.28858], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.970709, -0.153634, 0.184719, 0.869568], [-0.239281, -0.548878, 0.800923, 2.26742], [-0.0216605, -0.821663, -0.569562, 1.27313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.890754, -0.190045, 0.412843, 0.737084], [-0.452869, -0.447686, 0.77103, 2.12061], [0.0382942, -0.873762, -0.484844, 1.27636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.847441, -0.244305, 0.471338, 0.817504], [-0.530888, -0.392726, 0.750949, 2.0174], [0.00164652, -0.886612, -0.46251, 1.31377], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.904965, -0.182869, 0.384185, 0.97893], [-0.417933, -0.212657, 0.883238, 1.76207], [-0.0798168, -0.959863, -0.268874, 1.45459], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.967345, -0.0415313, 0.250037, 0.852417], [-0.253304, -0.123479, 0.959474, 1.6771], [-0.00897378, -0.991478, -0.129967, 1.53689], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.986273, -0.0286669, 0.162614, 0.947944], [-0.161075, 0.0496631, 0.985692, 1.66143], [-0.0363325, -0.998355, 0.0443639, 1.66706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.994436, -0.0468508, 0.0943483, 1.02088], [-0.0819157, 0.219189, 0.972238, 1.60084], [-0.06623, -0.974557, 0.214131, 1.7528], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.997799, -0.0314371, 0.0583824, 0.970958], [-0.0458554, 0.308846, 0.950006, 1.4388], [-0.0478964, -0.950592, 0.306725, 1.76866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.983219, 0.00803764, 0.182251, 1.01236], [-0.178734, 0.242486, 0.953549, 1.36071], [-0.036529, -0.970122, 0.239854, 1.70014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.918883, 0.0152621, 0.394235, 1.12966], [-0.390393, 0.179499, 0.90298, 1.493], [-0.0569833, -0.98364, 0.170897, 1.62478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.919692, -0.0446578, 0.390092, 1.16419], [-0.392161, -0.0554063, 0.918227, 1.59515], [-0.0193923, -0.997465, -0.0684697, 1.51403], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.842828, -0.165369, 0.512147, 1.05904], [-0.537745, -0.220361, 0.813801, 1.6229], [-0.0217203, -0.961298, -0.274653, 1.42841], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.73327, -0.237818, 0.636991, 1.03761], [-0.67989, -0.267603, 0.682744, 1.67507], [0.00809175, -0.933719, -0.357915, 1.38319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.679073, -0.289221, 0.674693, 1.13615], [-0.732813, -0.213307, 0.646131, 1.82248], [-0.0429575, -0.933194, -0.356796, 1.38482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.50441, -0.2599, 0.823421, 1.1273], [-0.863425, -0.161024, 0.47809, 2.08915], [0.00833559, -0.952115, -0.305626, 1.37991], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.375028, -0.347227, 0.859527, 1.11042], [-0.926186, -0.179521, 0.33159, 2.40155], [0.039166, -0.920438, -0.388922, 1.34649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.176606, -0.369514, 0.912288, 1.14122], [-0.983956, -0.0901301, 0.153973, 2.69815], [0.0253292, -0.924844, -0.379503, 1.34497], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.0595157, -0.424297, 0.903565, 1.07068], [-0.991529, -0.0795601, -0.10267, 2.96591], [0.11545, -0.902021, -0.415967, 1.29094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.16887, -0.343549, 0.923828, 1.17379], [-0.981949, -0.0223857, -0.187819, 3.0539], [0.0852052, -0.938868, -0.333567, 1.31029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.246199, -0.281274, 0.927508, 1.32084], [-0.96553, -0.0122479, -0.260006, 3.30262], [0.0844928, -0.959549, -0.268563, 1.29495], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.16281, -0.264557, 0.950527, 1.31293], [-0.974686, -0.106497, -0.196589, 3.45764], [0.153237, -0.958472, -0.240521, 1.27738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.202583, -0.219737, 0.954293, 1.36078], [-0.979147, 0.0303339, -0.200875, 3.32004], [0.0151921, -0.975087, -0.2213, 1.37056], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.114167, -0.290654, 0.949993, 1.43632], [-0.989646, 0.050464, 0.134372, 2.94117], [-0.0869961, -0.955497, -0.281883, 1.43306], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.105174, -0.266629, 0.958044, 1.58234], [-0.994293, -0.0108432, 0.106135, 2.73022], [-0.0179105, -0.963738, -0.266247, 1.42201], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.29393, -0.25375, 0.921529, 1.60728], [-0.955557, -0.0550796, 0.289617, 2.4188], [-0.0227329, -0.9657, -0.258662, 1.43856], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.333572, -0.120501, 0.934992, 1.61924], [-0.942263, -0.0115719, 0.334675, 2.26507], [-0.029509, -0.992646, -0.117403, 1.55371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.454064, -0.00823912, 0.890931, 1.66721], [-0.890205, 0.0372133, 0.454038, 2.07933], [-0.0368953, -0.999273, 0.00956282, 1.64253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.341147, 0.184608, 0.921704, 1.61764], [-0.940008, 0.0692271, 0.334056, 2.05732], [-0.00213758, -0.980371, 0.197149, 1.68782], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.216024, 0.235306, 0.94761, 1.39251], [-0.974748, 0.108216, 0.195339, 2.18848], [-0.0565819, -0.965878, 0.252741, 1.82896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.178914, -0.0335951, 0.983291, 1.45003], [-0.983675, 0.0135086, 0.179446, 2.4029], [-0.0193115, -0.999344, -0.0306297, 1.5454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.118924, -0.291443, 0.949167, 1.65199], [-0.992871, -0.0426083, 0.111317, 2.70415], [0.00799966, -0.955639, -0.294432, 1.44409], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.0825435, -0.377407, 0.922361, 1.93393], [-0.996448, 0.015748, -0.0827299, 2.87013], [0.0166975, -0.925914, -0.377366, 1.41075], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.282414, -0.383733, 0.879199, 2.18752], [-0.959143, 0.0967451, -0.265869, 2.87993], [0.0169641, -0.918363, -0.395376, 1.39178], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.506318, -0.403875, 0.761924, 2.24793], [-0.860351, 0.176498, -0.478169, 2.96921], [0.0586422, -0.897627, -0.436838, 1.36076], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.547015, -0.345514, 0.762492, 2.24371], [-0.835005, 0.160443, -0.526333, 2.95966], [0.0595187, -0.924596, -0.37627, 1.39209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.530972, -0.3131, 0.787424, 2.34378], [-0.847389, 0.196499, -0.493275, 2.84048], [-0.000283539, -0.92917, -0.369653, 1.4081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.652642, -0.299306, 0.696042, 2.63751], [-0.756694, 0.210945, -0.618803, 2.91869], [0.0383847, -0.930547, -0.364155, 1.42406], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.75024, -0.253109, 0.6108, 2.88366], [-0.660787, 0.255758, -0.705655, 2.99351], [0.0223911, -0.933019, -0.359131, 1.40304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.974062, -0.123249, 0.189772, 3.12411], [-0.222417, 0.367127, -0.903188, 3.05785], [0.0416463, -0.921969, -0.385017, 1.3918], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.982025, 0.0690561, -0.175664, 3.29806], [0.188481, 0.408483, -0.893094, 3.03363], [0.0100822, -0.91015, -0.414157, 1.36864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.871658, 0.222888, -0.4365, 3.46004], [0.489645, 0.43499, -0.755667, 2.94681], [0.0214441, -0.872413, -0.488298, 1.3202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.665006, 0.340452, -0.664725, 3.51258], [0.743758, 0.382656, -0.548087, 2.84603], [0.0677633, -0.858875, -0.507682, 1.29118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.3364, 0.500789, -0.797525, 3.42344], [0.940616, 0.219661, -0.258825, 2.68241], [0.0455681, -0.837233, -0.544944, 1.2739], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.0980596, 0.48322, -0.86999, 3.50207], [0.991977, 0.0226326, 0.12438, 2.5608], [0.079793, -0.875206, -0.477123, 1.32482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.31169, 0.41689, -0.853846, 3.46847], [0.950094, -0.124346, 0.286113, 2.67031], [0.0131049, -0.900412, -0.434842, 1.35292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.24711, 0.339152, -0.907697, 3.41945], [0.967863, -0.131507, 0.214353, 2.9731], [-0.0466702, -0.931494, -0.360749, 1.40161], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.350301, 0.447801, -0.822656, 3.40554], [0.93117, -0.261257, 0.254297, 3.08887], [-0.10105, -0.855113, -0.508498, 1.33277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.200264, 0.415363, -0.887338, 3.29025], [0.974576, -0.177336, 0.136942, 3.07955], [-0.100476, -0.892203, -0.440317, 1.37392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.108504, 0.290876, -0.950589, 3.05015], [0.993664, -0.00353379, 0.112339, 3.14043], [0.0293175, -0.956754, -0.289416, 1.43793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.083756, 0.164036, -0.982893, 2.94927], [0.995634, 0.0270353, 0.0893537, 3.13392], [0.0412299, -0.986084, -0.161055, 1.49669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.0327621, 0.0907358, -0.995336, 2.89072], [0.998174, 0.0535291, -0.0279758, 3.06391], [0.050741, -0.994435, -0.0923241, 1.50491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.273163, 0.0459594, -0.960869, 2.68839], [0.961466, 0.045288, -0.271167, 3.1516], [0.0310532, -0.997916, -0.0565598, 1.51367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.320959, -0.0203684, -0.946874, 2.51167], [0.94637, 0.0321766, -0.32148, 3.07058], [0.0370151, -0.999275, 0.00894859, 1.51211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.395263, 0.244966, -0.885302, 2.31897], [0.918465, 0.119881, -0.376898, 2.89456], [0.0138038, -0.962092, -0.272377, 1.42503], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.511901, 0.387175, -0.766847, 2.23299], [0.858833, 0.210833, -0.466857, 2.85575], [-0.0190789, -0.897578, -0.440444, 1.3589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.652626, 0.38526, -0.652422, 2.24955], [0.757436, 0.353625, -0.548854, 2.82157], [0.0192615, -0.852364, -0.522595, 1.34284], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.586092, 0.185645, -0.78869, 2.32409], [0.808762, 0.192904, -0.555601, 2.71853], [0.0489968, -0.963496, -0.263203, 1.46555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.574431, 0.0279364, -0.818077, 2.29772], [0.817466, 0.0710954, -0.571574, 2.63471], [0.0421937, -0.997078, -0.0636764, 1.56441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.587244, -0.0509103, -0.807807, 2.17886], [0.809071, -0.00802883, -0.587657, 2.5375], [0.0234319, -0.998671, 0.0459049, 1.72904], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.562428, -0.22797, -0.794799, 2.22847], [0.826847, -0.155228, -0.540583, 2.47805], [-0.000138924, -0.961215, 0.275801, 1.80529], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.589728, -0.380568, -0.712312, 2.34246], [0.807052, -0.245165, -0.537179, 2.48518], [0.0297991, -0.891663, 0.451718, 1.85144], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.697612, -0.252396, -0.670548, 2.29688], [0.715623, -0.199796, -0.669303, 2.53412], [0.0349561, -0.946773, 0.32, 1.80077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.840406, -0.0671372, -0.537782, 2.13958], [0.541952, -0.0999444, -0.834445, 2.66998], [0.0022738, -0.992725, 0.120379, 1.67237], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.899681, 0.0682596, -0.431177, 1.97813], [0.436213, 0.101917, -0.894054, 2.67046], [-0.0170836, -0.992448, -0.121468, 1.46675], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.977542, 0.104876, -0.182793, 1.67467], [0.205713, 0.286518, -0.93573, 2.66431], [-0.0457618, -0.952317, -0.301658, 1.37125], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.998071, -0.0286111, 0.0551003, 1.38978], [-0.0620834, 0.45229, -0.889708, 2.6757], [0.000534147, -0.891412, -0.453194, 1.31464], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.958736, -0.173493, 0.225224, 1.13955], [-0.278163, 0.408747, -0.869225, 2.60783], [0.0587451, -0.896006, -0.44014, 1.32237], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.939153, -0.142407, 0.312589, 0.864398], [-0.342493, 0.31861, -0.883847, 2.58548], [0.026272, -0.937128, -0.347997, 1.3867], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.950027, -0.103664, 0.294452, 0.852293], [-0.311225, 0.241304, -0.919191, 2.52819], [0.0242344, -0.964897, -0.261509, 1.43212], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.985987, -0.0414651, 0.161586, 1.09676], [-0.166454, 0.18028, -0.969429, 2.47013], [0.0110667, -0.982741, -0.184655, 1.43135], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.964261, -0.0659269, 0.25662, 1.17334], [-0.263357, 0.132357, -0.955576, 2.38805], [0.0290326, -0.989007, -0.144989, 1.47125], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.934099, -0.0217443, 0.35635, 1.15209], [-0.356934, 0.0358743, -0.933441, 2.20775], [0.00751311, -0.99912, -0.0412714, 1.49312], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.892863, -0.0120276, 0.450167, 1.3423], [-0.449045, -0.0516197, -0.892017, 2.01253], [0.0339663, -0.998595, 0.0406885, 1.57458], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.792307, -0.00716, 0.610081, 1.46037], [-0.607485, -0.0836166, -0.789918, 1.88199], [0.0566686, -0.996472, 0.0619005, 1.58786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.726846, -0.0384839, 0.685722, 1.51978], [-0.685832, -0.0123353, -0.727656, 1.76393], [0.0364616, -0.999183, -0.0174275, 1.57486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.736763, -0.191765, 0.648388, 1.53186], [-0.674779, 0.147472, -0.723136, 1.83559], [0.0430531, -0.970298, -0.23805, 1.436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.696035, -0.278825, 0.661659, 1.3164], [-0.718002, 0.266641, -0.642943, 1.85491], [0.00284293, -0.922583, -0.385788, 1.37846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.667395, -0.272827, 0.692928, 1.19781], [-0.744346, 0.273221, -0.609343, 1.72766], [-0.023077, -0.922451, -0.385424, 1.36786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.5455, -0.255923, 0.798081, 1.22188], [-0.838111, 0.167057, -0.51929, 1.43482], [-0.000427395, -0.952153, -0.305621, 1.38718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[-0.259461, -0.286795, 0.922187, 1.22075], [-0.964943, 0.116107, -0.235382, 1.16166], [-0.0395656, -0.95093, -0.306866, 1.39366], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.0633463, -0.407102, 0.911184, 1.44361], [-0.997985, 0.0291989, -0.0563353, 1.03072], [-0.00367144, -0.912916, -0.408131, 1.3489], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.0473185, -0.354385, 0.933902, 1.70037], [-0.998732, -0.000681025, 0.0503448, 0.786828], [-0.0172055, -0.935099, -0.353967, 1.39245], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.0113212, -0.182096, 0.983216, 1.96612], [-0.99982, -0.0170623, 0.00835233, 0.741052], [0.0152549, -0.983133, -0.182256, 1.46613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[0.168321, -0.20508, 0.964163, 2.10791], [-0.985587, -0.0518416, 0.161034, 0.77855], [0.016959, -0.977371, -0.21085, 1.47453], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[0.567118, -0.228737, 0.791237, 2.2037], [-0.82236, -0.210716, 0.52851, 0.664703], [0.0458364, -0.95041, -0.307605, 1.4374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[0.761622, -0.198892, 0.616744, 2.19624], [-0.646624, -0.295718, 0.703156, 0.636918], [0.0425301, -0.934341, -0.353833, 1.41931], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[0.82303, -0.145177, 0.549131, 2.37938], [-0.564108, -0.321869, 0.760383, 0.671987], [0.0663588, -0.935587, -0.346804, 1.3909], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.80174, -0.187282, 0.567572, 2.70495], [-0.595062, -0.3388, 0.728777, 0.628962], [0.0558065, -0.922031, -0.383074, 1.37852], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.723346, -0.312223, 0.615864, 2.77239], [-0.689132, -0.382275, 0.6156, 0.622316], [0.0432249, -0.869703, -0.49168, 1.34056], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.521338, -0.41261, 0.746967, 2.64576], [-0.8505, -0.322721, 0.415333, 0.646619], [0.0696921, -0.851824, -0.519171, 1.31032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[0.396833, -0.396803, 0.82769, 2.72699], [-0.910464, -0.284645, 0.300057, 0.61032], [0.116534, -0.872654, -0.474231, 1.32337], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.281142, -0.449745, 0.847755, 2.92658], [-0.952849, -0.235934, 0.190828, 0.664303], [0.114191, -0.861432, -0.49487, 1.32142], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[0.26343, -0.445103, 0.855856, 2.92771], [-0.958002, -0.224911, 0.177901, 0.965411], [0.113307, -0.866775, -0.485657, 1.32431], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[0.165482, -0.488811, 0.856551, 2.94385], [-0.980895, -0.171651, 0.0915481, 1.02644], [0.102278, -0.855336, -0.507877, 1.30783], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[-0.259334, -0.419649, 0.869851, 3.11245], [-0.957274, -0.00763736, -0.289083, 1.05408], [0.127957, -0.907654, -0.399738, 1.34844], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.417794, -0.380482, 0.825034, 3.10603], [-0.897181, 0.0296199, -0.440669, 1.1301], [0.143229, -0.924314, -0.353736, 1.36413], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.466612, -0.381781, 0.79782, 2.96743], [-0.878182, 0.0926794, -0.469262, 1.0883], [0.105214, -0.919594, -0.378519, 1.35866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.42109, -0.348662, 0.837328, 2.79138], [-0.90294, 0.0736881, -0.423403, 0.979812], [0.0859236, -0.934347, -0.34585, 1.38367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.242645, -0.335449, 0.910273, 2.76394], [-0.968875, 0.036353, -0.244869, 1.07443], [0.0490499, -0.941357, -0.333829, 1.37979], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[0.193711, -0.444421, 0.874624, 2.77344], [-0.979645, -0.13548, 0.148129, 0.985566], [0.0526626, -0.885514, -0.461618, 1.30916], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[0.634791, -0.404352, 0.658437, 2.71186], [-0.770896, -0.389365, 0.504098, 0.755297], [0.0525393, -0.827583, -0.558879, 1.31214], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[0.876017, -0.216868, 0.43077, 2.79437], [-0.479857, -0.481377, 0.733494, 0.689254], [0.0482916, -0.849261, -0.52576, 1.29445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[0.975285, -0.0876151, 0.202836, 3.08654], [-0.218306, -0.523697, 0.823458, 0.63167], [0.0340775, -0.847387, -0.529881, 1.30517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[0.989581, 0.138749, -0.0384573, 3.34211], [0.109244, -0.549574, 0.828272, 0.605281], [0.0937871, -0.823843, -0.559005, 1.30277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[0.968126, 0.163, -0.190169, 3.66828], [0.243632, -0.436706, 0.865986, 0.470065], [0.0581083, -0.884714, -0.462498, 1.3489], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[0.890297, 0.254805, -0.37742, 3.82478], [0.454232, -0.438084, 0.775729, 0.523492], [0.0323178, -0.862066, -0.505765, 1.31775], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[0.784175, 0.325412, -0.528372, 4.01585], [0.620112, -0.442551, 0.647773, 0.551395], [-0.0230384, -0.835617, -0.548829, 1.31886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[0.772373, 0.325412, -0.545478, 4.02839], [0.634511, -0.434377, 0.639307, 0.601507], [-0.0289051, -0.839895, -0.541979, 1.31021], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[0.444591, 0.486169, -0.752316, 4.17425], [0.895571, -0.257291, 0.36298, 0.631066], [-0.0170944, -0.83513, -0.549788, 1.30271], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[0.319027, 0.524621, -0.789301, 4.15421], [0.947745, -0.177619, 0.265011, 0.6445], [-0.00116429, -0.832601, -0.553872, 1.30806], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[0.0437295, 0.564444, -0.824313, 4.15943], [0.997817, 0.0161926, 0.0640217, 0.756254], [0.0494844, -0.825313, -0.562504, 1.29856], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[-0.0709561, 0.57105, -0.817843, 4.1343], [0.996378, 0.0791093, -0.0312085, 0.889599], [0.0468774, -0.817095, -0.574594, 1.30851], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[-0.0231868, 0.534933, -0.844577, 3.84429], [0.998158, 0.059764, 0.0104498, 0.901438], [0.0560651, -0.842778, -0.535333, 1.31945], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[-0.0596005, 0.441927, -0.895069, 3.41739], [0.993504, 0.11334, -0.0101951, 0.925894], [0.0969415, -0.889862, -0.445812, 1.32168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[0.0973857, 0.333739, -0.937622, 3.09161], [0.994831, -0.00540115, 0.101405, 0.750947], [0.0287787, -0.94265, -0.33254, 1.38969], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[0.252758, 0.232879, -0.939085, 2.7214], [0.967478, -0.0507971, 0.247803, 0.571736], [0.0100055, -0.971178, -0.238145, 1.40277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[0.532347, 0.104353, -0.84007, 2.32823], [0.846222, -0.0921983, 0.524793, 0.544906], [-0.0226891, -0.990258, -0.137388, 1.4967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[0.799883, 0.101172, -0.591567, 2.01318], [0.600066, -0.151944, 0.785388, 0.714311], [-0.0104255, -0.983198, -0.182247, 1.48914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[0.954336, 0.0490994, -0.294673, 1.70512], [0.297653, -0.240172, 0.92397, 0.973377], [-0.0254057, -0.969488, -0.24382, 1.41734], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[0.996771, -0.0534567, 0.0599245, 1.35981], [-0.073553, -0.308295, 0.948443, 1.23665], [-0.032226, -0.949788, -0.311232, 1.37577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[0.863063, -0.203308, 0.462373, 1.16498], [-0.505005, -0.3298, 0.797623, 1.57509], [-0.00967228, -0.921899, -0.387309, 1.3689], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[0.614086, -0.295431, 0.73186, 1.08873], [-0.789233, -0.233778, 0.567856, 1.93921], [0.00333122, -0.92632, -0.376723, 1.36583], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[0.360761, -0.368186, 0.856908, 1.20242], [-0.932526, -0.157876, 0.324762, 2.28665], [0.0157124, -0.91625, -0.400298, 1.36987], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0753_00"}, {"annotation": [{"question_id": "test-scene0754-0", "question": "What is attached at the bottom of window that jots out?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-1", "question": "Where is a curtain placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-2", "question": "What is a desk/table home to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-3", "question": "Where is the blue chair placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-4", "question": "What is placed on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-5", "question": "Where is a computer monitor placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-6", "question": "What color are the blinds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-7", "question": "The blinds are long and cover only what part of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-8", "question": "What is on the right side of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-9", "question": "On what side of the window is the radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-10", "question": "What color is the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-11", "question": "What color is left of the cabinet's door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-12", "question": "What color is the filing cabinet in the computer tower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-13", "question": "How does the trash can look?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-14", "question": "What is the trash can left of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-15", "question": "What color is the computer tower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-16", "question": "How many black chairs are there close to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-17", "question": "How many monitors are located on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-18", "question": "What is under a window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-19", "question": "What color is the monitor on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-20", "question": "How many tables are in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-21", "question": "Where are the blinds located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-22", "question": "Where is the black computer tower located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-23", "question": "Where is the desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-24", "question": "What color table is located at the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-25", "question": "Where is the brown table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-26", "question": "What color is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-27", "question": "What color is the desktop?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-28", "question": "What color is the chair in the middle on the left side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-29", "question": "Where is a file cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-30", "question": "What color is the computer chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-31", "question": "Where is the blue computer chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-32", "question": "How many drawers does the white filing cabinet have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-33", "question": "Where is the white filing cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-34", "question": "What color is the rolling desk chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-35", "question": "Where is the navy blue rolling desk chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-36", "question": "What type of window is open and uncovered?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-37", "question": "Is the two panel window open or closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-38", "question": "What is behind the keyboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-39", "question": "What is on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-40", "question": "Where is a computer chair not tucked in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-41", "question": "What is next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-42", "question": "Where is a trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-43", "question": "What color does the trashcan appear to be?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-44", "question": "To what side of the storage closet is the trashcan located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-45", "question": "What color is the office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-46", "question": "What is directly above the filing cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-47", "question": "What item is closest to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-48", "question": "What is closest to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-49", "question": "What is on top of the filing cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-50", "question": "What is placed on the wall to the left of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-51", "question": "What is the black computer tower sitting next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-52", "question": "What color are the chairs pulled away from the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-53", "question": "What is on the desk at the left side of the room when facing the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-54", "question": "In what part of the room is the desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-55", "question": "What is the beige filing cabinet next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-56", "question": "What color door is the chair closest to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-57", "question": "Where is the blue door on the white cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-58", "question": "How many handles does the small filing cabinet, under the table, have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-59", "question": "Where can the small metal filing cabinet be found?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-60", "question": "What color is the desk chair in front of the light wooden desk with a blue coffee cup?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-61", "question": "What color frame does the chair cushion have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-62", "question": "How many chairs are below the desk, even slightly?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-63", "question": "Where is the cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-64", "question": "What is the shape of the window on the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-65", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-66", "question": "What shape is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-67", "question": "What is sitting on top of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-68", "question": "What color cushion does the chair have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-69", "question": "What direct does the row of chairs next to the wall face?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-70", "question": "Where is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-71", "question": "What shape is the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-72", "question": "What is on the table with other monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-73", "question": "What color is the keyboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-74", "question": "Where is the black keyboard located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-75", "question": "What is the color of the trash can on the left side of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-76", "question": "What color desk is the blue stationary chair tucked under?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-77", "question": "What color is the stationary chair tucked under a tan desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-78", "question": "What color is the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-79", "question": "Where is the monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-80", "question": "Where is the black plastic computer tower located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-81", "question": "Where are the white plastic blinds located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-82", "question": "Where is the white plastic blinds right side wall located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-83", "question": "What is sitting in the corner next to the blue door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-84", "question": "What is next to the file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-85", "question": "On what side of the desk and chairs is the radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-86", "question": "What color is the office chair with wheels?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-87", "question": "Where is the blue plastic chair with metal legs located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-88", "question": "What color is the metal file cabinet on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-89", "question": "What is directly above the drawers and behind the curtains and hanging potted plants?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-90", "question": "What color is the desk in office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-91", "question": "How many chairs are in the office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-92", "question": "In what part of room is a long white blind located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-93", "question": "Where is the long white blind located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-94", "question": "What is under the desk in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-95", "question": "What is in the left side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-96", "question": "What color is the chair on the right side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-97", "question": "What surrounds the pictures on both sides of large object on wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0754-98", "question": "How many chairs are on wall opposite side of whiteboard?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.737806, -0.332895, 0.587216, 1.27582], [-0.674188, -0.320419, 0.665434, 2.0734], [-0.0333646, -0.886855, -0.460841, 1.34559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.754938, -0.359038, 0.548781, 1.26068], [-0.655668, -0.396692, 0.642444, 2.08109], [-0.0129649, -0.844824, -0.534888, 1.2866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.741247, -0.39826, 0.540316, 1.25909], [-0.671231, -0.438224, 0.597837, 2.10493], [-0.00131486, -0.805822, -0.592157, 1.26297], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.727648, -0.308353, 0.612738, 1.2175], [-0.685405, -0.291201, 0.667399, 2.29335], [-0.0273649, -0.905605, -0.423239, 1.38559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.799382, -0.153505, 0.580883, 1.19752], [-0.599894, -0.150149, 0.785864, 2.36843], [-0.0334149, -0.976674, -0.212113, 1.49155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.810874, -0.0921902, 0.577914, 1.22455], [-0.5825, -0.0320369, 0.812199, 2.33428], [-0.0563622, -0.995226, -0.0796787, 1.57329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.768368, -0.0865621, 0.634128, 1.33506], [-0.639206, -0.0541972, 0.767123, 2.15817], [-0.0320359, -0.994771, -0.0969744, 1.52467], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.964759, -0.0664593, 0.254606, 1.22962], [-0.261342, -0.129198, 0.95656, 2.10338], [-0.0306777, -0.989389, -0.142014, 1.51614], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.999421, -0.0306813, 0.0147107, 1.15712], [-0.017696, -0.0994132, 0.994889, 2.00343], [-0.0290619, -0.994573, -0.0998986, 1.55558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.994391, 0.00268751, -0.105733, 1.22855], [0.105716, 0.00573117, 0.99438, 1.85788], [0.00327843, -0.99998, 0.00541487, 1.60454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.992352, -0.0207387, -0.121688, 1.14832], [0.12307, 0.0897073, 0.988335, 1.74819], [-0.00958043, -0.995752, 0.0915734, 1.66714], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.987788, -0.0185843, -0.15469, 1.13005], [0.149449, -0.167596, 0.974462, 1.68951], [-0.0440351, -0.98568, -0.162772, 1.48482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.99593, 0.00959746, -0.089612, 1.14735], [0.0847946, -0.43665, 0.895626, 1.67684], [-0.0305334, -0.89958, -0.435687, 1.36083], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.986686, -0.0651479, 0.149015, 1.1866], [-0.162602, -0.377024, 0.911819, 1.72027], [-0.00322078, -0.92391, -0.382598, 1.36635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.988293, -0.0687961, 0.136176, 1.14662], [-0.145086, -0.147735, 0.978327, 1.84551], [-0.0471872, -0.986631, -0.155987, 1.48355], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.99044, -0.035305, 0.133349, 1.14189], [-0.130579, 0.0716819, 0.988843, 1.89534], [-0.0444696, -0.996803, 0.0663865, 1.63675], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.994054, -0.0291974, 0.104898, 1.12771], [-0.0974718, 0.190771, 0.976783, 1.78039], [-0.0485309, -0.9812, 0.18679, 1.6497], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.991521, -0.0309822, 0.126202, 1.12266], [-0.116059, 0.22574, 0.96725, 1.63653], [-0.0584562, -0.973695, 0.22023, 1.67303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.988585, -0.0284399, 0.147954, 1.12959], [-0.132941, 0.297422, 0.945445, 1.59893], [-0.0708931, -0.954322, 0.290246, 1.69186], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.962852, -0.0289288, 0.268475, 1.18494], [-0.253384, 0.246883, 0.935332, 1.65386], [-0.0933398, -0.968613, 0.230382, 1.65108], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.933589, -0.0548649, 0.354122, 1.2134], [-0.348865, 0.0866729, 0.933156, 1.75034], [-0.0818902, -0.994725, 0.0617765, 1.5612], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.891845, -0.115366, 0.437382, 1.20993], [-0.448384, -0.0978497, 0.888469, 1.94362], [-0.0597016, -0.988492, -0.138995, 1.48559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.707649, -0.236759, 0.665716, 1.1423], [-0.706504, -0.224873, 0.671032, 2.23194], [-0.00917117, -0.945186, -0.326403, 1.40568], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.494005, -0.344194, 0.79843, 1.08557], [-0.868728, -0.233067, 0.437027, 2.54623], [0.0356653, -0.909511, -0.414147, 1.35341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.200702, -0.386254, 0.900292, 0.996929], [-0.979257, -0.105188, 0.173177, 2.85937], [0.0278092, -0.916375, -0.399354, 1.37217], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.160276, -0.368042, 0.915891, 0.938275], [-0.986925, 0.0437361, -0.155132, 3.0433], [0.0170375, -0.92878, -0.37024, 1.39009], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.355395, -0.375625, 0.855921, 1.03782], [-0.934496, 0.162639, -0.316646, 3.07064], [-0.0202656, -0.912389, -0.408821, 1.37315], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.482043, -0.410482, 0.774041, 0.917556], [-0.876148, 0.226232, -0.425658, 3.10655], [-0.000387728, -0.883359, -0.468696, 1.32101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.553424, -0.435742, 0.709825, 0.903566], [-0.83256, 0.313753, -0.456512, 3.03552], [-0.0237885, -0.843616, -0.53642, 1.29312], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.446432, -0.358764, 0.819748, 1.0861], [-0.894792, 0.17205, -0.412002, 3.02139], [0.0067744, -0.917435, -0.397828, 1.34105], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.482089, -0.359208, 0.7991, 1.33118], [-0.876102, 0.191444, -0.442487, 3.19067], [0.00596228, -0.913411, -0.406996, 1.3482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.368329, -0.380956, 0.84806, 1.54398], [-0.929605, 0.163609, -0.330251, 3.33246], [-0.0129395, -0.910002, -0.414401, 1.31945], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.330651, -0.381929, 0.863018, 1.7041], [-0.94371, 0.125054, -0.306224, 3.44458], [0.00903168, -0.915692, -0.401779, 1.33319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.0885004, -0.349293, 0.932825, 1.69377], [-0.995997, 0.0192217, -0.0872963, 3.5293], [0.0125614, -0.936816, -0.349596, 1.39404], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.246795, -0.164767, 0.954958, 1.56412], [-0.968994, -0.0297863, 0.245283, 3.28777], [-0.0119699, -0.985883, -0.167009, 1.47424], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.37794, -0.100379, 0.920373, 1.59487], [-0.925102, -0.00151998, 0.379716, 3.12229], [-0.0367168, -0.994948, -0.0934356, 1.53553], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.51983, -0.0729986, 0.851145, 1.738], [-0.849601, 0.0598409, 0.52402, 3.02211], [-0.0891861, -0.995535, -0.0309127, 1.58337], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.693961, -0.0435214, 0.718696, 1.80159], [-0.719322, 0.00180101, 0.694674, 2.66236], [-0.0315276, -0.999051, -0.0300561, 1.62799], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.532748, 0.0267584, 0.845851, 1.83819], [-0.845364, -0.0295216, 0.533375, 2.62922], [0.039243, -0.999206, 0.00689295, 1.65027], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.294302, 0.00384313, 0.955705, 1.85298], [-0.955643, -0.0108777, 0.294327, 2.82112], [0.0115269, -0.999933, 0.000471264, 1.62748], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.209885, -0.212118, 0.95444, 1.78185], [-0.977616, -0.0308623, 0.208122, 2.94688], [-0.0146901, -0.976757, -0.213847, 1.48422], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.0443508, -0.28015, 0.958931, 1.66143], [-0.998999, 0.0181007, -0.0409158, 2.98085], [-0.00589478, -0.959786, -0.280672, 1.44117], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.252766, -0.278561, 0.92656, 1.79692], [-0.967395, 0.056902, -0.246799, 3.11149], [0.0160256, -0.958731, -0.283862, 1.40773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.367863, -0.314469, 0.875092, 1.9468], [-0.929578, 0.100389, -0.354692, 3.12506], [0.0236896, -0.943945, -0.329253, 1.36505], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.392392, -0.311454, 0.865462, 2.15837], [-0.919275, 0.101072, -0.380417, 3.13028], [0.0310083, -0.944871, -0.325972, 1.36593], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.700858, -0.223366, 0.677425, 2.45229], [-0.713208, 0.204154, -0.670564, 3.36552], [0.0114821, -0.953115, -0.30239, 1.34507], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.78008, -0.251494, 0.57291, 2.62946], [-0.624007, 0.2458, -0.741753, 3.47848], [0.0457253, -0.936127, -0.348678, 1.3295], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.851603, -0.200893, 0.484165, 2.81133], [-0.518266, 0.184243, -0.835138, 3.48612], [0.0785695, -0.962131, -0.261018, 1.31423], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.838492, -0.236864, 0.490741, 3.01764], [-0.533164, 0.170612, -0.82863, 3.6063], [0.112546, -0.956445, -0.269344, 1.27419], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.79939, -0.266649, 0.5384, 3.07305], [-0.589626, 0.17605, -0.788256, 3.64621], [0.115403, -0.947578, -0.297956, 1.25956], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.738215, -0.214319, 0.639614, 3.14378], [-0.673255, 0.175005, -0.718402, 3.67066], [0.0420317, -0.960958, -0.273482, 1.27168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.816235, -0.19634, 0.543334, 3.13263], [-0.575606, 0.195983, -0.793895, 3.58974], [0.0493892, -0.96075, -0.272983, 1.28482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.947348, -0.136568, 0.289623, 3.19362], [-0.312596, 0.198412, -0.928933, 3.52026], [0.0693983, -0.970558, -0.230656, 1.29367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.981584, -0.146412, 0.122702, 3.19521], [-0.148906, 0.184072, -0.971568, 3.49482], [0.119664, -0.971947, -0.202484, 1.27661], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.987204, -0.140241, 0.0759009, 3.13456], [-0.101857, 0.188339, -0.976808, 3.47221], [0.122694, -0.97204, -0.200213, 1.27689], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.955557, -0.181322, 0.232447, 2.93769], [-0.269302, 0.216089, -0.9385, 3.4626], [0.119942, -0.959389, -0.255316, 1.27676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.872285, -0.24318, 0.424245, 2.62808], [-0.484229, 0.308669, -0.818686, 3.43398], [0.068137, -0.919558, -0.387002, 1.26905], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.841864, -0.345609, 0.414511, 2.51182], [-0.529717, 0.382186, -0.757188, 3.452], [0.10327, -0.857023, -0.504824, 1.25966], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.887119, -0.307503, 0.344183, 2.47483], [-0.457347, 0.485377, -0.745146, 3.41103], [0.0620758, -0.818444, -0.571223, 1.26041], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.92436, -0.226222, 0.307217, 2.33793], [-0.381453, 0.532756, -0.755424, 3.27598], [0.00722173, -0.815472, -0.578751, 1.27685], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.954869, -0.188064, 0.229906, 2.24176], [-0.296856, 0.57796, -0.760157, 3.1963], [0.0100815, -0.7941, -0.607704, 1.27404], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.998164, -0.0495967, -0.0347724, 2.21679], [-0.00369757, 0.622889, -0.782301, 3.17079], [0.0604589, -0.780736, -0.621929, 1.2673], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.953538, 0.114391, -0.278713, 2.18531], [0.292514, 0.572989, -0.765584, 3.15736], [0.0721232, -0.811541, -0.579827, 1.28195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.899625, 0.180362, -0.397675, 2.1481], [0.431544, 0.506284, -0.746623, 3.17976], [0.0666741, -0.843295, -0.5333, 1.29798], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.867368, 0.19236, -0.458989, 2.13764], [0.49357, 0.450604, -0.743871, 3.18648], [0.0637313, -0.871753, -0.485783, 1.3157], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.79469, 0.239064, -0.557957, 2.10518], [0.605548, 0.376092, -0.701332, 3.18881], [0.0421804, -0.895211, -0.443641, 1.33841], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.633553, 0.341314, -0.694346, 2.0778], [0.771215, 0.350455, -0.531421, 3.10613], [0.0619551, -0.872173, -0.485258, 1.29287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.378022, 0.439749, -0.81469, 2.04942], [0.924649, 0.223145, -0.308596, 2.88513], [0.0460891, -0.869958, -0.490967, 1.32753], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.181564, 0.316159, -0.93117, 2.13763], [0.980998, 0.124094, -0.149146, 2.76365], [0.068399, -0.940555, -0.332682, 1.41288], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.18585, 0.165333, -0.968569, 2.19426], [0.982578, 0.0319037, -0.183092, 2.85102], [0.000629634, -0.985722, -0.168382, 1.49956], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.08486, 0.0336698, -0.995824, 2.2787], [0.996249, 0.0198786, -0.084224, 2.85894], [0.0169598, -0.999235, -0.0352303, 1.55899], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.0696533, 0.101421, -0.992403, 2.36546], [0.997565, -0.00343481, 0.0696647, 2.85601], [0.00365674, -0.994838, -0.101413, 1.50139], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.126039, 0.256439, -0.958308, 2.36438], [0.991751, -0.0552977, 0.11564, 2.84467], [-0.0233375, -0.964977, -0.261293, 1.40532], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.230787, 0.333506, -0.914063, 2.16743], [0.972997, -0.0826281, 0.21552, 2.81008], [-0.00365034, -0.93912, -0.34357, 1.35387], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.380879, 0.414353, -0.826585, 1.97297], [0.923766, -0.132, 0.359489, 2.76102], [0.0398465, -0.900493, -0.433042, 1.35129], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.5674, 0.301405, -0.766298, 1.96975], [0.820265, -0.125214, 0.55811, 2.71312], [0.0722659, -0.945239, -0.318278, 1.39123], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.63686, 0.173199, -0.751274, 1.98037], [0.769878, -0.0907826, 0.631702, 2.70205], [0.0412078, -0.980694, -0.191158, 1.45332], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.710604, 0.215294, -0.669844, 1.98001], [0.701874, -0.150422, 0.696237, 2.74174], [0.0491363, -0.964895, -0.258, 1.42587], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.7878, 0.193416, -0.584774, 1.98712], [0.613688, -0.165548, 0.771998, 2.78331], [0.0525085, -0.967049, -0.249116, 1.42913], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.870614, 0.108977, -0.479746, 1.91677], [0.488191, -0.0707681, 0.869863, 2.79031], [0.0608446, -0.991522, -0.114813, 1.49811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.908185, 0.0334816, -0.417228, 1.7334], [0.418021, -0.0215332, 0.908182, 2.82023], [0.0214231, -0.999207, -0.0335521, 1.51608], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.980319, -0.0270395, -0.195559, 1.50553], [0.189202, -0.154124, 0.969767, 2.78471], [-0.0563623, -0.987682, -0.145975, 1.548], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.984478, -0.0761252, -0.15814, 1.34931], [0.145826, -0.146597, 0.978388, 2.63244], [-0.0976629, -0.986263, -0.133221, 1.52997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.997142, -0.0252386, -0.0712149, 1.28932], [0.0561776, -0.382628, 0.922193, 2.44154], [-0.0505237, -0.923558, -0.380116, 1.43129], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.999284, -0.0350753, 0.0142126, 1.22994], [-0.0316415, -0.568288, 0.822221, 2.25743], [-0.0207629, -0.822082, -0.568991, 1.33346], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.996173, -0.0562625, 0.0668905, 1.23377], [-0.0869491, -0.559727, 0.824102, 2.00847], [-0.00892572, -0.826765, -0.562477, 1.33222], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.973365, -0.113215, 0.199358, 1.2714], [-0.229258, -0.475779, 0.849161, 1.79773], [-0.00128776, -0.872248, -0.489062, 1.36973], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.876761, -0.205237, 0.434935, 1.20357], [-0.480215, -0.422792, 0.768531, 1.66941], [0.0261556, -0.88268, -0.469245, 1.36993], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.81134, -0.235187, 0.535177, 1.20425], [-0.583765, -0.374135, 0.720584, 1.46561], [0.0307566, -0.897057, -0.440844, 1.3803], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.728814, -0.243281, 0.640036, 1.21578], [-0.684526, -0.28069, 0.672783, 1.37542], [0.0159768, -0.928455, -0.371103, 1.4191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.59336, -0.274269, 0.75677, 1.24076], [-0.804879, -0.213436, 0.553728, 1.3558], [0.00965184, -0.937668, -0.347398, 1.42145], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.589705, -0.42142, 0.688952, 1.2451], [-0.806684, -0.348406, 0.477362, 1.1588], [0.0388651, -0.837268, -0.545409, 1.30269], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.513619, -0.430018, 0.742482, 1.29465], [-0.856913, -0.300993, 0.418454, 1.0436], [0.0435394, -0.851168, -0.523084, 1.32251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.466934, -0.433155, 0.77094, 1.30806], [-0.88326, -0.270554, 0.382951, 0.909621], [0.0427039, -0.859754, -0.50892, 1.28303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.544145, -0.457729, 0.703129, 1.3441], [-0.838241, -0.332028, 0.432561, 0.673274], [0.0354634, -0.824768, -0.564359, 1.22478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.48786, -0.39377, 0.779062, 1.42633], [-0.869278, -0.300612, 0.392413, 0.641527], [0.0796752, -0.868664, -0.488952, 1.27863], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.545928, -0.309903, 0.778411, 1.64512], [-0.831173, -0.317232, 0.456634, 0.777006], [0.105424, -0.896284, -0.430769, 1.34052], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.504441, -0.358739, 0.785395, 1.85723], [-0.859384, -0.296728, 0.416428, 0.739915], [0.0836596, -0.885019, -0.457976, 1.3354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.353003, -0.442486, 0.824376, 1.99094], [-0.93087, -0.254794, 0.261844, 0.610008], [0.0941835, -0.859818, -0.50184, 1.3175], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.30742, -0.407825, 0.859751, 2.03618], [-0.949089, -0.196668, 0.246075, 0.576252], [0.0687301, -0.891628, -0.447521, 1.33045], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.200565, -0.398757, 0.894855, 2.11452], [-0.979542, -0.0662968, 0.190003, 0.570729], [-0.0164393, -0.914657, -0.403897, 1.2914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.282495, -0.425336, 0.859817, 2.11255], [-0.959225, -0.133853, 0.248941, 0.686146], [0.00920604, -0.895082, -0.445806, 1.13719], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.331683, -0.402834, 0.85306, 2.14398], [-0.943296, -0.154449, 0.293833, 0.717715], [0.0133885, -0.902148, -0.43122, 1.09682], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.512115, -0.345684, 0.786283, 2.21829], [-0.858723, -0.225531, 0.460143, 0.740931], [0.0182671, -0.910845, -0.412344, 1.3299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.710914, -0.260357, 0.653311, 2.46687], [-0.703124, -0.243644, 0.668023, 0.662947], [-0.0147494, -0.934265, -0.356273, 1.3667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.819698, -0.193671, 0.539061, 2.78313], [-0.572784, -0.28321, 0.769227, 0.677529], [0.00369049, -0.9393, -0.343079, 1.35349], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.834007, -0.186967, 0.519111, 3.03697], [-0.551139, -0.326718, 0.76779, 0.684639], [0.0260517, -0.926444, -0.37553, 1.35372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.670636, -0.248983, 0.698753, 3.11264], [-0.740304, -0.28418, 0.609255, 0.713114], [0.0468774, -0.925878, -0.374904, 1.34504], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.326264, -0.31836, 0.890056, 2.9667], [-0.943939, -0.159841, 0.288843, 0.852193], [0.0503109, -0.934397, -0.352662, 1.36118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.258886, -0.288399, 0.921848, 2.60951], [-0.964738, -0.124156, 0.232089, 0.899779], [0.0475181, -0.949427, -0.310372, 1.37151], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.0577742, -0.326558, 0.94341, 2.35763], [-0.997591, -0.055228, 0.0419752, 0.967505], [0.0383953, -0.943562, -0.328962, 1.388], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.126736, -0.300109, 0.945448, 2.21739], [-0.991935, 0.0367325, -0.121308, 1.09877], [0.00167692, -0.953198, -0.302344, 1.41458], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.337966, -0.192445, 0.921273, 2.17276], [-0.940977, 0.0882785, -0.326755, 1.17475], [-0.0184464, -0.977329, -0.210922, 1.47562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.518745, -0.0462684, 0.853676, 2.28534], [-0.854762, 0.00832272, -0.518954, 1.41465], [0.0169061, -0.998894, -0.0438659, 1.58538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.505227, 0.137199, 0.852011, 2.20321], [-0.862603, -0.0508411, -0.503321, 1.48387], [-0.0257381, -0.989238, 0.144035, 1.69427], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.461132, 0.330476, 0.823495, 1.98655], [-0.884529, -0.0974961, -0.456183, 1.49989], [-0.0704698, -0.938765, 0.337274, 1.75935], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.507902, 0.254891, 0.822841, 1.9995], [-0.853666, -0.0211021, -0.520393, 1.59982], [-0.11528, -0.96674, 0.228309, 1.70137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.648679, -0.00663036, 0.761034, 2.08207], [-0.760795, 0.0321318, -0.648196, 1.6856], [-0.0201555, -0.999462, -0.0258876, 1.5587], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.711184, -0.0721705, 0.699292, 1.97979], [-0.7029, 0.0903399, -0.705529, 1.64296], [-0.0122556, -0.993293, -0.114977, 1.47778], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.753635, -0.215487, 0.620967, 1.93772], [-0.655689, 0.180511, -0.733136, 1.66422], [0.0458897, -0.959678, -0.277331, 1.41989], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.847697, -0.0612981, 0.526927, 1.9417], [-0.528423, 0.0101751, -0.84892, 1.78971], [0.0466757, -0.998068, -0.0410168, 1.52922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.895735, 0.0111705, 0.444449, 1.72421], [-0.444297, -0.0587162, -0.893953, 1.87115], [0.0161103, -0.998212, 0.0575571, 1.58296], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.947979, -0.0348346, 0.316422, 1.6653], [-0.317304, 0.0235181, -0.948032, 1.93742], [0.0255826, -0.999116, -0.0333479, 1.51457], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.993399, -0.0557791, 0.100235, 1.57715], [-0.101221, 0.0151277, -0.994749, 2.04597], [0.0539699, -0.998329, -0.0206739, 1.48108], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.989845, -0.00691941, 0.141982, 1.45957], [-0.142014, 0.0918095, -0.985598, 2.18991], [-0.00621548, -0.995753, -0.0918599, 1.47088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.992266, -0.0955982, 0.0791746, 1.51084], [-0.105751, 0.317075, -0.942486, 2.25462], [0.0649957, -0.94357, -0.324732, 1.35692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[-0.982922, -0.0196667, -0.182968, 1.66806], [0.164147, 0.355757, -0.92005, 2.37393], [0.0831866, -0.934371, -0.346453, 1.34415], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.911946, 0.101313, -0.397605, 1.73787], [0.408972, 0.302628, -0.860905, 2.26485], [0.0331056, -0.947709, -0.317415, 1.37101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[-0.822858, 0.0762045, -0.563114, 1.92289], [0.567494, 0.161222, -0.80744, 2.22543], [0.029256, -0.983972, -0.175909, 1.44841], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[-0.778716, -0.0303381, -0.626643, 2.01927], [0.624706, 0.0545728, -0.778951, 2.33623], [0.0578296, -0.998049, -0.0235442, 1.54067], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[-0.745227, -0.0662479, -0.663512, 2.02736], [0.664526, 0.00851876, -0.747217, 2.52226], [0.0551539, -0.997767, 0.0376752, 1.66385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.665495, -0.0570369, -0.74422, 2.01702], [0.746402, -0.0521967, -0.663446, 2.54989], [-0.00100493, -0.997007, 0.077309, 1.68765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.628703, 0.139214, -0.765084, 1.99996], [0.777252, 0.143838, -0.612529, 2.71094], [0.0247755, -0.97976, -0.198635, 1.51304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.649604, 0.250196, -0.717925, 2.09075], [0.759914, 0.184692, -0.623233, 2.83529], [-0.0233353, -0.950416, -0.310104, 1.41292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[-0.694523, 0.147036, -0.704286, 2.26812], [0.718581, 0.0931093, -0.689181, 2.78754], [-0.0357586, -0.984739, -0.170324, 1.44864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[-0.741425, 0.152299, -0.653524, 2.27451], [0.670832, 0.144237, -0.727448, 2.79633], [-0.0165276, -0.977753, -0.209108, 1.44282], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[-0.710338, 0.26558, -0.651834, 2.23318], [0.703847, 0.262262, -0.660165, 2.86536], [-0.00437573, -0.927732, -0.373223, 1.34382], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[-0.496199, 0.3682, -0.786267, 2.19077], [0.868112, 0.223951, -0.442976, 2.78803], [0.0129816, -0.902372, -0.430763, 1.32014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[-0.338729, 0.333188, -0.879914, 2.15178], [0.93952, 0.170122, -0.297257, 2.73846], [0.0506504, -0.927386, -0.370661, 1.3649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[-0.244758, 0.227655, -0.942479, 2.14826], [0.96823, 0.108745, -0.225178, 2.76527], [0.0512273, -0.967651, -0.247038, 1.40833], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[-0.273424, 0.127149, -0.953453, 2.18875], [0.961188, 0.0740714, -0.265764, 2.80039], [0.0368319, -0.989114, -0.142467, 1.50118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[-0.231956, 0.0149494, -0.972612, 2.19881], [0.972721, 0.00696158, -0.231875, 2.85048], [0.0033045, -0.999864, -0.0161563, 1.58303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.189618, -0.119083, -0.97461, 2.2171], [0.981685, -0.041647, -0.185906, 2.88792], [-0.0184513, -0.992011, 0.124799, 1.68473], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.135769, -0.179122, -0.974414, 2.22539], [0.990525, -0.0450749, -0.129728, 2.90171], [-0.0206844, -0.982794, 0.183545, 1.69844], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.00763211, -0.230929, -0.972941, 2.21875], [0.999936, -0.00996375, -0.00547895, 2.9206], [-0.00842887, -0.97292, 0.23099, 1.7122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[0.122273, -0.248599, -0.960858, 2.1862], [0.992443, 0.040694, 0.115764, 2.94194], [0.0103224, -0.967751, 0.251696, 1.70308], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[0.0158477, -0.0109066, -0.999815, 2.13626], [0.999874, -0.000594795, 0.0158551, 2.90719], [-0.000767589, -0.99994, 0.0108958, 1.553], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.122429, 0.26192, -0.957292, 2.09798], [0.99242, 0.0426866, -0.115242, 2.90156], [0.0106795, -0.964145, -0.265161, 1.39561], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[-0.257537, 0.430912, -0.864864, 1.97947], [0.965871, 0.140465, -0.217629, 2.86666], [0.0277041, -0.891395, -0.45238, 1.30029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[-0.205884, 0.476143, -0.854926, 1.67435], [0.976779, 0.152912, -0.150066, 2.57794], [0.0592761, -0.865971, -0.496569, 1.30466], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[-0.0458563, 0.612742, -0.788951, 1.46964], [0.994475, 0.102654, 0.0219247, 2.35772], [0.094423, -0.783587, -0.614065, 1.24424], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[0.396303, 0.615523, -0.681231, 1.35861], [0.917414, -0.236412, 0.320094, 1.99046], [0.0359737, -0.751825, -0.65838, 1.2641], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[0.713522, 0.447136, -0.539403, 1.38448], [0.700632, -0.454016, 0.55044, 1.75928], [0.00122395, -0.770674, -0.637228, 1.26914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[0.89781, 0.268077, -0.349387, 1.36064], [0.4401, -0.517785, 0.733628, 1.55409], [0.015761, -0.812424, -0.582854, 1.31538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[0.990373, 0.077018, -0.115016, 1.31873], [0.138155, -0.498482, 0.855821, 1.40572], [0.00858018, -0.863472, -0.504324, 1.35448], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[0.98601, -0.0962354, 0.1361, 1.33042], [-0.160944, -0.33718, 0.927581, 1.25977], [-0.0433758, -0.936509, -0.347951, 1.41671], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[0.939292, -0.119226, 0.321738, 1.27537], [-0.334915, -0.11476, 0.935234, 1.30639], [-0.0745813, -0.986213, -0.147723, 1.53228], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[0.8987, -0.0412707, 0.436618, 1.25438], [-0.43523, 0.0386018, 0.899491, 1.34173], [-0.0539769, -0.998402, 0.0167292, 1.60236], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[0.850208, 0.031853, 0.525483, 1.27744], [-0.525624, 0.107158, 0.843941, 1.31636], [-0.0294277, -0.993731, 0.107849, 1.64313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[0.816193, 0.0549976, 0.575156, 1.28209], [-0.576552, 0.142373, 0.80456, 1.34375], [-0.037638, -0.988284, 0.147913, 1.66588], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[0.840485, -0.0930108, 0.533793, 1.32393], [-0.540782, -0.0825944, 0.837098, 1.52489], [-0.0337708, -0.992233, -0.119718, 1.45193], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0754_00"}, {"annotation": [{"question_id": "test-scene0755-0", "question": "What color plastic is the trash can covered in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-1", "question": "The trash can is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-2", "question": "What is tucked under the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-3", "question": "Where is a standard chair tucked?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-4", "question": "What side of a table is a computer monitor placed that is tucked in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-5", "question": "What color is the file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-6", "question": "Where is the white file cabinet placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-7", "question": "What type of cabinet is in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-8", "question": "Where is the light colored cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-9", "question": "What type of window is placed next to a poster?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-10", "question": "A double panel window with frame is placed next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-11", "question": "What type of computer is placed on top of a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-12", "question": "On what part of a table is a computer monitor placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-13", "question": "What type of desk is in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-14", "question": "Where is the desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-15", "question": "What shape is the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-16", "question": "What color is the poster to right of the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-17", "question": "What is on both sides of the whiteboard on the floor in front?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-18", "question": "What color is the chair at end of table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-19", "question": "Where is the three segmented navy chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-20", "question": "How many doors does the cabinet have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-21", "question": "Where is the cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-22", "question": "What color is the chair without wheels?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-23", "question": "What is on the wall by the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-24", "question": "What is located under the end of the table at the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-25", "question": "Where is the monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-26", "question": "What is located under the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-27", "question": "What color does the radiator appear?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-28", "question": "Where is the radiator in relation to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-29", "question": "Where is the black chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-30", "question": "What is located beside a chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-31", "question": "What color is the recycling bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-32", "question": "Where is the recycling bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-33", "question": "What part of a wall does the window cover?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-34", "question": "What is in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-35", "question": "What is right of the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-36", "question": "Where are the tall cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-37", "question": "What color does the recycling bin appear in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-38", "question": "What color is the top of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-39", "question": "Where is the blue upholstered chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-40", "question": "What is the color of the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-41", "question": "The computer monitor is farthest away from which chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-42", "question": "What's hanging next to the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-43", "question": "What color is the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-44", "question": "What shape is the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-45", "question": "What color are the computer towers?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-46", "question": "What color is the edge of the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-47", "question": "What shape is the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-48", "question": "What color is the notebook in front of the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-49", "question": "What does the poster on the monitor look like?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-50", "question": "How many computer tower are located under the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-51", "question": "What is beneath the whiteboard smiley face?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-52", "question": "What, aside from a trash bin and chair legs, is under the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-53", "question": "What is on the wall on the right side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-54", "question": "What is the position of a monitor on a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-55", "question": "What is next to a chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-56", "question": "What is next to a file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-57", "question": "What is next to the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-58", "question": "What is next to the recycling bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-59", "question": "What is placed on the ground under a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-60", "question": "What color is the computer chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-61", "question": "How far from the table is the blue computer chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-62", "question": "On what part of a table is a monitor placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-63", "question": "What color is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-64", "question": "On what part of the table is a monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-65", "question": "What is left out without being tucked in the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-66", "question": "What is placed next to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-67", "question": "Where is a desk placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-68", "question": "What is under the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-69", "question": "What color is the monitor on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-70", "question": "What is under the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-71", "question": "Where is the radiator hidden?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-72", "question": "How many drawers does the file cabinet have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-73", "question": "Where is the file cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-74", "question": "What is on a light brown desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-75", "question": "What is the monitor closest to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-76", "question": "In front of the blue chair is what color chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-77", "question": "What color is the chair on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-78", "question": "What is in the floor near a white bin under the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-79", "question": "What is in front of the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-80", "question": "What color is the chair against a light brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-81", "question": "The black office chair is sitting under the painting of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-82", "question": "Where is the white radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-83", "question": "What is the blue office chair sitting in front of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-84", "question": "What is under the computer desk near the corner of the room opposite the blue door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-85", "question": "What is under the computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-86", "question": "How many monitors are on the desk in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-87", "question": "What is the object between a chair and another garbage can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-88", "question": "Where is the garbage can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-89", "question": "On which side of the room is the black rolling chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-90", "question": "What is in front of the blue chair that doesn't roll?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-91", "question": "What kind of chair is in front of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-92", "question": "Where is the small round trash bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-93", "question": "Where does the radiator sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-94", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-95", "question": "What type of blinds do the windows have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-96", "question": "Where is the whiteboard located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-97", "question": "What is the whiteboard located beside?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-98", "question": "Where does the black office chair sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-99", "question": "What is under a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-100", "question": "What is the bin placed under?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-101", "question": "What color bin is placed next to the bin on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-102", "question": "What is present in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-103", "question": "Where is the file cabinet placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-104", "question": "Where is a desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-105", "question": "What is present on the desk in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-106", "question": "What is present in front of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-107", "question": "If you enter the door and go to what corner of the room, you'll see the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-108", "question": "What is the computer tower facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-109", "question": "What color paper is underneath the keyboard of the computer tower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-110", "question": "Where is the poster?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-111", "question": "What is located under the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0755-112", "question": "What is at the end of the computer tower?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.255017, -0.504238, 0.825052, 2.90063], [-0.965122, -0.184984, 0.185257, 1.01558], [0.0592079, -0.843519, -0.533825, 1.32747], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.172376, -0.428814, 0.886795, 2.96089], [-0.984487, -0.104921, 0.14063, 1.01908], [0.0327397, -0.897279, -0.440247, 1.39858], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.120161, -0.271097, 0.955022, 2.87553], [-0.992672, -0.0451871, 0.112071, 1.11534], [0.0127725, -0.961491, -0.27454, 1.52718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.131353, -0.116702, 0.984442, 2.60081], [-0.991119, -0.0362124, 0.127951, 1.04035], [0.0207168, -0.992506, -0.120422, 1.61263], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.0223149, -0.0284917, 0.999345, 2.39523], [-0.99954, 0.0198893, 0.022886, 1.07449], [-0.0205284, -0.999396, -0.0280347, 1.64473], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.0184654, -0.137118, 0.990382, 2.26728], [-0.998877, 0.0457566, -0.0122891, 1.02719], [-0.0436316, -0.989497, -0.137809, 1.56358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.0997464, -0.408774, 0.907168, 2.28504], [-0.994263, 0.0763314, -0.0749279, 0.972593], [-0.0386168, -0.909438, -0.414043, 1.38626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.336222, -0.5484, 0.765645, 2.50394], [-0.940784, 0.15815, -0.299856, 1.00662], [0.043354, -0.821125, -0.569099, 1.29289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.369874, -0.453622, 0.810814, 2.79728], [-0.92712, 0.123533, -0.353818, 1.02997], [0.0603369, -0.882591, -0.466254, 1.32773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.444123, -0.429381, 0.786375, 3.1191], [-0.88788, 0.0932733, -0.450521, 1.14115], [0.120097, -0.898294, -0.422664, 1.33966], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.545545, -0.462438, 0.69895, 3.43625], [-0.831034, 0.190565, -0.522558, 1.22807], [0.108455, -0.86593, -0.488264, 1.30392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.947387, -0.204881, 0.245929, 3.7194], [-0.315153, 0.462632, -0.828644, 1.244], [0.0559989, -0.862552, -0.50286, 1.34385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.999495, -0.0276401, -0.0156859, 3.86325], [0.000910953, 0.468452, -0.883489, 1.40991], [0.0317677, -0.883057, -0.46819, 1.37614], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.994048, 0.0208211, -0.106933, 3.92833], [0.106808, 0.379598, -0.918966, 1.54136], [0.0214577, -0.924917, -0.379562, 1.4216], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.998613, -0.0149835, -0.0504741, 4.06711], [0.0429818, 0.321689, -0.945869, 1.82454], [0.0304094, -0.946727, -0.320599, 1.48055], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.999779, -0.00498071, -0.0204327, 4.11608], [0.0180801, 0.292755, -0.956016, 2.09777], [0.0107434, -0.956174, -0.292601, 1.47985], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.995945, -0.0826619, 0.0354993, 3.92652], [-0.069289, 0.453158, -0.888734, 2.33656], [0.0573775, -0.88759, -0.457048, 1.39336], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.996859, -0.0613563, -0.0500783, 3.93617], [0.0369981, 0.198303, -0.979442, 2.37694], [0.0700256, -0.978218, -0.19541, 1.51064], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.996103, -0.0134122, -0.0871716, 3.96688], [0.0869641, 0.0153656, -0.996093, 2.31873], [0.0146992, -0.999792, -0.0141394, 1.65331], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.998908, 0.0463552, 0.00580829, 4.00041], [-0.0109432, -0.111307, -0.993726, 2.33691], [-0.0454179, -0.992704, 0.111693, 1.71927], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.998864, 0.0342516, 0.0331316, 4.03428], [-0.040154, -0.230565, -0.972228, 2.53911], [-0.0256613, -0.972454, 0.231679, 1.73894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.999866, 0.0139862, 0.00854254, 3.95351], [-0.0125463, -0.317894, -0.948043, 2.70771], [-0.010544, -0.948023, 0.318027, 1.73031], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.955289, -0.0351084, -0.293582, 4.01558], [0.289627, -0.310905, -0.905238, 2.72934], [-0.0594945, -0.949792, 0.307172, 1.77736], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.937645, 0.0324402, -0.346078, 3.8973], [0.33837, -0.142683, -0.930133, 2.62283], [-0.0795531, -0.989237, 0.122809, 1.63446], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.926002, 0.0546148, -0.373548, 3.90517], [0.376007, 0.0449465, -0.925526, 2.47448], [-0.0337578, -0.997495, -0.0621561, 1.53558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.918295, 0.116227, -0.37845, 4.05941], [0.395891, 0.274286, -0.876377, 2.31945], [0.00194475, -0.954598, -0.297889, 1.43882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.851417, 0.13885, -0.505776, 3.98882], [0.524041, 0.265081, -0.809391, 2.1248], [0.0216874, -0.954176, -0.298458, 1.44534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.740551, 0.182363, -0.646783, 3.93192], [0.671039, 0.149211, -0.726253, 1.89206], [-0.0359351, -0.971843, -0.232871, 1.4778], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.762742, 0.132274, -0.633031, 3.78051], [0.646442, 0.128145, -0.752124, 1.84125], [-0.0183671, -0.982895, -0.18325, 1.50908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.775159, 0.10165, -0.623535, 3.62787], [0.6312, 0.0828201, -0.771186, 1.85887], [-0.0267497, -0.991367, -0.12836, 1.55612], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.669593, 0.0868877, -0.737628, 3.64603], [0.742066, 0.0363523, -0.66934, 1.6791], [-0.031343, -0.995555, -0.0888178, 1.608], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.681048, -0.0338654, -0.731455, 3.57924], [0.728947, -0.125977, -0.672879, 1.52747], [-0.0693592, -0.991455, 0.110482, 1.69521], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.53685, -0.169398, -0.826497, 3.56115], [0.837961, -0.220915, -0.499018, 1.38301], [-0.098053, -0.960469, 0.260547, 1.76605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.399084, -0.292282, -0.869082, 3.51155], [0.915321, -0.182851, -0.358822, 1.29376], [-0.0540352, -0.938689, 0.340505, 1.79233], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.324591, -0.272904, -0.905629, 3.34744], [0.944944, -0.135564, -0.297831, 1.22902], [-0.0414912, -0.952442, 0.301882, 1.72546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.156561, -0.0549285, -0.98614, 3.22593], [0.985229, -0.0788116, -0.152027, 1.09295], [-0.0693686, -0.995375, 0.066456, 1.64878], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.0647201, -0.0793138, -0.994747, 3.22706], [0.997756, -0.0222621, -0.0631406, 0.989343], [-0.0171372, -0.996601, 0.0805767, 1.63559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.194955, 0.1079, -0.974859, 3.1993], [0.980705, 0.00676445, -0.195375, 0.922392], [-0.0144866, -0.994139, -0.107137, 1.54915], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.312191, 0.358989, -0.879582, 3.08145], [0.949611, 0.0907589, -0.300004, 0.910801], [-0.0278682, -0.928919, -0.369234, 1.38908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.176809, 0.458446, -0.870957, 2.94455], [0.982289, 0.137951, -0.126797, 0.87398], [0.0620195, -0.87795, -0.474718, 1.3442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.123562, 0.399498, -0.908368, 2.81386], [0.99214, -0.031513, 0.121098, 0.598135], [0.019753, -0.916192, -0.400252, 1.40069], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.271471, 0.33981, -0.900462, 2.56657], [0.9618, -0.0614872, 0.26676, 0.406592], [0.0352807, -0.938482, -0.343521, 1.40398], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.233939, 0.300328, -0.924703, 2.46256], [0.971312, -0.0304075, 0.235855, 0.250859], [0.0427161, -0.953351, -0.298826, 1.40382], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.154473, 0.372573, -0.915056, 2.47419], [0.984962, 0.0144729, 0.172167, 0.190975], [0.0773882, -0.92789, -0.364734, 1.35455], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.222302, 0.394105, -0.891775, 2.48084], [0.972877, -0.0296527, 0.229415, 0.228924], [0.06397, -0.918587, -0.390007, 1.33648], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.123612, 0.47827, -0.86947, 2.67302], [0.991997, -0.0368299, 0.120773, 0.393848], [0.02574, -0.87744, -0.478995, 1.29814], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.312491, 0.469895, -0.825559, 2.76961], [0.949614, -0.132455, 0.284058, 0.409908], [0.0241282, -0.872728, -0.48761, 1.31155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.508742, 0.377238, -0.773869, 2.63668], [0.860852, -0.234161, 0.451778, 0.471567], [-0.0107825, -0.896025, -0.443873, 1.31389], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.587346, 0.377939, -0.715673, 2.39043], [0.809259, -0.262004, 0.52579, 0.415667], [0.0112075, -0.887984, -0.459737, 1.25635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.681785, 0.385377, -0.621815, 2.28735], [0.729846, -0.300301, 0.614121, 0.368711], [0.0499367, -0.872527, -0.486006, 1.14262], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.696627, 0.341054, -0.631183, 2.61045], [0.716138, -0.277734, 0.64032, 0.445647], [0.0430828, -0.898079, -0.437719, 1.04801], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.71476, 0.334618, -0.614124, 2.68912], [0.699363, -0.338131, 0.629729, 0.492371], [0.00306451, -0.879601, -0.475702, 1.15705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.711277, 0.221673, -0.667043, 2.51159], [0.693627, -0.375079, 0.614977, 0.48429], [-0.11387, -0.900098, -0.420544, 1.37553], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.710089, 0.275063, -0.648162, 2.21721], [0.698818, -0.387977, 0.600938, 0.463546], [-0.0861761, -0.879667, -0.467717, 1.39504], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.715294, 0.278084, -0.641111, 1.89217], [0.698652, -0.304894, 0.647245, 0.496147], [-0.0154824, -0.910884, -0.412372, 1.396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.811184, 0.260816, -0.523407, 1.65744], [0.58479, -0.360729, 0.726564, 0.509357], [0.000691235, -0.89546, -0.445141, 1.40884], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.839298, 0.257838, -0.478642, 1.74626], [0.543512, -0.376607, 0.750175, 0.532273], [0.0131641, -0.889768, -0.456223, 1.38327], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.831195, 0.271387, -0.485245, 2.02846], [0.555787, -0.382593, 0.738054, 0.545152], [0.0146466, -0.88316, -0.468843, 1.38169], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.962457, 0.0985855, -0.252897, 2.08978], [0.270979, -0.402824, 0.874244, 0.573399], [-0.015685, -0.909952, -0.414416, 1.39968], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.953585, 0.121158, -0.275672, 2.29939], [0.300794, -0.340564, 0.890808, 0.615647], [0.0140449, -0.932382, -0.361201, 1.41631], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.965336, 0.080664, -0.248232, 2.40746], [0.25994, -0.383098, 0.886379, 0.605882], [-0.0235985, -0.920179, -0.390786, 1.38998], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.970842, 0.0904424, -0.222005, 2.4694], [0.237531, -0.487812, 0.840011, 0.599389], [-0.0323239, -0.868251, -0.495071, 1.33453], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.934096, 0.169881, -0.314016, 2.67491], [0.356797, -0.475462, 0.804134, 0.624445], [-0.0126959, -0.863178, -0.50474, 1.33557], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.982096, 0.0849726, -0.168126, 2.74648], [0.186206, -0.573046, 0.798089, 0.618854], [-0.0285283, -0.815106, -0.578609, 1.2907], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.912016, 0.272306, -0.306717, 2.99016], [0.408591, -0.537982, 0.737312, 0.683591], [0.0357666, -0.797762, -0.60191, 1.2527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.865514, 0.272352, -0.420369, 3.15163], [0.500788, -0.487019, 0.715559, 0.696794], [-0.00984356, -0.829841, -0.557913, 1.25813], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.737923, 0.390103, -0.550716, 3.41801], [0.674555, -0.400837, 0.619924, 0.712458], [0.021087, -0.828945, -0.558933, 1.18268], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.639618, 0.423144, -0.641746, 3.49361], [0.768692, -0.353409, 0.533118, 0.67464], [-0.00121266, -0.834297, -0.551314, 1.09399], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.725305, 0.404272, -0.557222, 3.48317], [0.688159, -0.403163, 0.603239, 0.69391], [0.0192215, -0.820989, -0.57062, 1.16289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.893163, 0.272893, -0.357476, 3.49007], [0.448244, -0.475546, 0.756924, 0.792076], [0.0365636, -0.836293, -0.547062, 1.23474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.99466, 0.0492265, -0.0907053, 3.08626], [0.103111, -0.510939, 0.853411, 0.783133], [-0.00433445, -0.858206, -0.513287, 1.30239], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.934179, -0.146078, 0.325531, 2.72724], [-0.35131, -0.536056, 0.76761, 0.913558], [0.0623716, -0.831448, -0.552091, 1.29559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.611513, -0.441875, 0.656352, 2.40943], [-0.791234, -0.342653, 0.506496, 0.912999], [0.00109324, -0.829057, -0.559164, 1.3133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.463567, -0.504438, 0.728456, 2.37065], [-0.884999, -0.223343, 0.408527, 0.801701], [-0.0433808, -0.834062, -0.549962, 1.32686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.290789, -0.482897, 0.825985, 2.48869], [-0.956281, -0.118611, 0.267316, 0.942635], [-0.0311148, -0.867607, -0.496276, 1.36621], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.32243, -0.344334, 0.881744, 2.59086], [-0.946348, -0.138482, 0.291974, 1.08322], [0.0215692, -0.928578, -0.37051, 1.42902], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.428585, -0.215111, 0.87752, 2.69802], [-0.90286, -0.13856, 0.406995, 1.1282], [0.0340404, -0.96671, -0.2536, 1.48986], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.429175, -0.106527, 0.896917, 2.75032], [-0.903221, -0.0518493, 0.426033, 1.27036], [0.00112043, -0.992957, -0.11847, 1.55983], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.359758, 0.05567, 0.931383, 2.77156], [-0.932699, -0.00576266, 0.36061, 1.33316], [0.0254425, -0.998433, 0.0498503, 1.63052], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.393699, 0.244365, 0.886164, 2.70466], [-0.919166, 0.0924427, 0.382868, 1.2848], [0.0116401, -0.965267, 0.261006, 1.74695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.416458, 0.370657, 0.830166, 2.62535], [-0.907985, 0.123265, 0.40046, 1.27023], [0.0461029, -0.920554, 0.387886, 1.77933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.532803, 0.278725, 0.79902, 2.6101], [-0.843963, 0.105803, 0.525864, 1.26961], [0.0620329, -0.954525, 0.291606, 1.74788], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.602931, 0.0678898, 0.794899, 2.65235], [-0.797773, 0.0442285, 0.601334, 1.28642], [0.00566734, -0.996712, 0.0808274, 1.63639], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.609466, -0.0960577, 0.786972, 2.78042], [-0.792809, -0.0707128, 0.605355, 1.17807], [-0.00249997, -0.992861, -0.119252, 1.52119], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.719462, -0.226202, 0.656663, 2.90924], [-0.694158, -0.265225, 0.669179, 1.00491], [0.0227938, -0.937277, -0.347839, 1.41881], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.763908, -0.258166, 0.591435, 3.05797], [-0.643292, -0.377336, 0.666178, 1.00148], [0.0511851, -0.889364, -0.454326, 1.34929], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.849122, -0.237365, 0.471857, 3.25892], [-0.527445, -0.428689, 0.733503, 0.98201], [0.0281717, -0.871713, -0.489207, 1.3515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.961921, -0.135385, 0.237444, 3.50608], [-0.273299, -0.489337, 0.828165, 0.940742], [0.00406939, -0.861522, -0.507704, 1.35565], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.996303, 0.0374486, -0.0773183, 3.58541], [0.0858585, -0.465115, 0.881077, 0.937647], [-0.0029667, -0.884458, -0.466611, 1.35781], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.923647, 0.158015, -0.349152, 3.70336], [0.381985, -0.453353, 0.805331, 0.842269], [-0.0310344, -0.877213, -0.479098, 1.35853], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.906993, 0.204509, -0.368158, 3.64322], [0.421124, -0.449363, 0.787863, 0.834931], [-0.00431141, -0.869626, -0.493692, 1.35727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.955079, 0.180153, -0.235304, 3.36597], [0.293423, -0.46356, 0.836071, 0.753396], [0.0415434, -0.867558, -0.495598, 1.35546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.911527, 0.237809, -0.335508, 3.33752], [0.408812, -0.435468, 0.802023, 0.827867], [0.044625, -0.868225, -0.49416, 1.36605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.803004, 0.276044, -0.528189, 3.48303], [0.594612, -0.43095, 0.678763, 1.07828], [-0.0402551, -0.859117, -0.510193, 1.36406], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.607193, 0.33583, -0.720093, 3.55068], [0.794409, -0.273925, 0.542108, 1.35121], [-0.0151949, -0.901212, -0.433112, 1.37901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.234015, 0.475328, -0.848115, 3.83007], [0.972195, -0.106765, 0.208415, 1.61753], [0.0085168, -0.873307, -0.487096, 1.36893], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.0565218, 0.544343, -0.836957, 3.96665], [0.99816, 0.0492575, -0.0353717, 1.84932], [0.021972, -0.837415, -0.546125, 1.34525], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.381032, 0.416411, -0.82548, 4.20427], [0.921482, 0.243854, -0.302334, 2.18736], [0.0754014, -0.875864, -0.476631, 1.33909], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.491585, 0.411389, -0.767531, 4.4475], [0.870246, 0.264364, -0.415674, 2.44228], [0.0319034, -0.872279, -0.487966, 1.33372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.677828, 0.401943, -0.615623, 4.49739], [0.735146, 0.358535, -0.575338, 2.72459], [-0.0105305, -0.842552, -0.538512, 1.32192], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.879565, 0.276496, -0.387188, 4.3907], [0.474922, 0.461424, -0.749358, 2.92516], [-0.0285364, -0.842993, -0.537167, 1.35014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.976945, 0.0738607, -0.200307, 4.09823], [0.213436, 0.35923, -0.908515, 2.98238], [0.00485262, -0.930322, -0.366712, 1.45302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.999121, 0.0127563, 0.0399193, 3.83326], [-0.037618, 0.146827, -0.988447, 3.04816], [-0.0184702, -0.98908, -0.146218, 1.56135], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.978084, -0.0356121, 0.205144, 3.60687], [-0.205666, 0.0116256, -0.978553, 2.98562], [0.0324633, -0.999298, -0.018695, 1.60013], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.91948, -0.0934526, 0.381869, 3.33332], [-0.391792, 0.137521, -0.909718, 3.00271], [0.0325004, -0.98608, -0.163062, 1.52991], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.822585, -0.287323, 0.490713, 3.33482], [-0.564743, 0.311909, -0.764054, 3.10322], [0.0664721, -0.905626, -0.418836, 1.41696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.718068, -0.396262, 0.572149, 3.34008], [-0.695184, 0.369264, -0.616736, 3.16672], [0.0331149, -0.840607, -0.540632, 1.38164], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.625854, -0.345172, 0.699401, 3.16062], [-0.77994, 0.277503, -0.560969, 3.11016], [-0.000455201, -0.896576, -0.44289, 1.43353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.576952, -0.244422, 0.779348, 3.13942], [-0.816774, 0.169643, -0.551454, 3.16797], [0.0025762, -0.954714, -0.297513, 1.45426], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.535656, -0.128726, 0.834567, 3.14429], [-0.844254, 0.102191, -0.526111, 3.21746], [-0.0175611, -0.986401, -0.163416, 1.5386], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.590657, -0.0281684, 0.806431, 3.12969], [-0.806792, 0.0385803, -0.589574, 3.21652], [-0.0145051, -0.998858, -0.0455137, 1.60136], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.605502, 0.100206, 0.78951, 3.13162], [-0.795464, -0.0455564, -0.604287, 3.21929], [-0.024586, -0.993923, 0.107295, 1.67329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.617319, 0.215911, 0.756505, 3.11424], [-0.785736, -0.121301, -0.606552, 3.21765], [-0.039196, -0.968849, 0.24453, 1.743], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.638221, 0.240114, 0.73145, 3.10157], [-0.768766, -0.148303, -0.622097, 3.21089], [-0.0408975, -0.959349, 0.279242, 1.75077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.698745, 0.0473591, 0.713801, 3.11692], [-0.712277, 0.046626, -0.700348, 3.12333], [-0.0664497, -0.997789, 0.00115308, 1.58912], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.800925, -0.223409, 0.555524, 3.16428], [-0.597636, 0.241344, -0.764581, 3.03747], [0.0367413, -0.944374, -0.326816, 1.4325], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.97256, -0.189536, 0.134919, 3.42259], [-0.213209, 0.49402, -0.842904, 3.0185], [0.0931082, -0.84854, -0.520875, 1.33096], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.973372, 0.108803, -0.201764, 3.71424], [0.228292, 0.539718, -0.810301, 2.94019], [0.0207327, -0.834785, -0.550185, 1.33976], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.714962, 0.380281, -0.586699, 4.05418], [0.699095, 0.400603, -0.59227, 2.95233], [0.00980423, -0.833609, -0.552268, 1.33494], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.513124, 0.43134, -0.742058, 4.05636], [0.858018, 0.280522, -0.430248, 3.05885], [0.0225801, -0.857469, -0.514039, 1.34147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.350792, 0.395328, -0.848917, 3.97891], [0.936387, 0.137267, -0.323013, 3.07803], [-0.0111678, -0.908225, -0.418332, 1.36086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.232087, 0.324455, -0.916987, 3.9727], [0.972328, 0.0514912, -0.227875, 3.0624], [-0.0267182, -0.944499, -0.327427, 1.19148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.218691, 0.307569, -0.926054, 3.97752], [0.975786, 0.0728707, -0.206233, 3.12461], [0.00405135, -0.948731, -0.316057, 0.969847], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.0113413, 0.390366, -0.92059, 3.91207], [0.999923, 0.00909424, -0.00846202, 3.20209], [0.00506881, -0.920615, -0.390439, 1.12495], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.150709, 0.374808, -0.91477, 3.94794], [0.988477, 0.0439258, -0.144854, 3.1813], [-0.0141105, -0.926061, -0.37711, 1.32122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[-0.303905, 0.394801, -0.867049, 3.77541], [0.9527, 0.124269, -0.277342, 3.08306], [-0.00174754, -0.910324, -0.413893, 1.36242], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.4434, 0.385671, -0.809107, 3.46671], [0.896323, 0.192078, -0.399638, 3.17302], [0.00128272, -0.902421, -0.430853, 1.37165], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[-0.415985, 0.36528, -0.832783, 3.10998], [0.909198, 0.14913, -0.388742, 3.2112], [-0.0178072, -0.918875, -0.394148, 1.37602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[-0.482651, 0.362919, -0.797081, 2.87426], [0.875714, 0.186286, -0.445447, 3.24383], [-0.0131759, -0.91301, -0.407724, 1.39029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[-0.483526, 0.35439, -0.800381, 2.78822], [0.875316, 0.201033, -0.439783, 3.24594], [0.00504822, -0.913232, -0.407408, 1.39426], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.378209, 0.400933, -0.834392, 2.73483], [0.925087, 0.197024, -0.324647, 3.25011], [0.0342335, -0.89467, -0.445414, 1.37033], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.570088, 0.26839, -0.776509, 2.89331], [0.819581, 0.251735, -0.514701, 3.14337], [0.0573339, -0.929837, -0.363478, 1.3936], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.696587, 0.263018, -0.667523, 3.11691], [0.715718, 0.31975, -0.620892, 3.07292], [0.0501345, -0.910264, -0.41098, 1.35818], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[-0.730863, 0.293164, -0.616356, 3.04061], [0.681782, 0.355707, -0.639255, 3.05523], [0.0318358, -0.887428, -0.459847, 1.3473], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[-0.768312, 0.264894, -0.58269, 2.73297], [0.637702, 0.395116, -0.661226, 3.02679], [0.0550759, -0.87961, -0.472496, 1.36601], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[-0.646603, 0.254328, -0.719182, 2.4839], [0.755325, 0.345353, -0.55697, 2.85616], [0.106719, -0.903354, -0.415406, 1.39426], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[-0.479127, 0.282044, -0.831197, 2.30329], [0.875306, 0.22408, -0.428518, 2.76034], [0.0653938, -0.932866, -0.354238, 1.4198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[-0.412801, 0.220582, -0.883707, 2.30636], [0.907566, 0.181566, -0.378625, 2.63944], [0.0769327, -0.95832, -0.275144, 1.44078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[-0.444446, 0.179618, -0.877613, 2.474], [0.892728, 0.169944, -0.417319, 2.49902], [0.0741871, -0.968946, -0.235881, 1.47263], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[-0.521033, 0.07245, -0.850456, 2.59008], [0.848147, 0.155749, -0.506349, 2.63494], [0.0957726, -0.985136, -0.142599, 1.5235], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[-0.596256, 0.0223398, -0.802483, 2.76295], [0.801864, 0.0646754, -0.593996, 2.7152], [0.0386312, -0.997656, -0.0564767, 1.58011], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.585015, -0.111526, -0.803318, 3.0653], [0.810783, -0.056309, -0.582633, 2.65197], [0.0197446, -0.992165, 0.123365, 1.58086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.5524, -0.206079, -0.807704, 3.13744], [0.831896, -0.0747348, -0.549877, 2.6175], [0.0529544, -0.975677, 0.21272, 1.65289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.44895, -0.2763, -0.849766, 3.12013], [0.891315, -0.0711445, -0.447768, 2.56968], [0.0632624, -0.958434, 0.278211, 1.6782], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.20965, -0.196078, -0.957914, 3.14884], [0.976673, 0.004535, -0.214684, 2.49654], [0.046439, -0.980578, 0.190553, 1.64851], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.188207, -0.0721963, -0.979472, 3.19656], [0.978923, 0.0667289, -0.19302, 2.52384], [0.0792945, -0.995156, 0.0581158, 1.54676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.188585, 0.0810092, -0.97871, 3.1955], [0.981018, 0.0613679, -0.18395, 2.56955], [0.0451597, -0.994822, -0.0910447, 1.53633], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[0.0110151, 0.0987788, -0.995048, 3.0136], [0.999682, 0.0214643, 0.0131974, 2.45715], [0.0226617, -0.994878, -0.0985112, 1.51506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[0.196922, 0.0327672, -0.979871, 2.87827], [0.979861, 0.0271445, 0.197828, 2.40164], [0.0330804, -0.999094, -0.0267621, 1.52871], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[0.239599, -0.113215, -0.964248, 2.84134], [0.970868, 0.0306505, 0.237645, 2.46621], [0.00264983, -0.993098, 0.11726, 1.55759], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[0.351983, -0.177562, -0.919011, 2.84612], [0.93599, 0.0726134, 0.344456, 2.47698], [0.00557025, -0.981427, 0.191755, 1.63811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[0.492958, -0.305316, -0.814724, 2.96359], [0.870024, 0.180589, 0.458744, 2.35382], [0.00706837, -0.934971, 0.354655, 1.73186], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[0.516562, -0.350328, -0.781302, 3.05288], [0.855861, 0.183768, 0.483458, 2.34436], [-0.0257907, -0.918422, 0.39476, 1.73325], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[0.594362, -0.211643, -0.775848, 3.19554], [0.80397, 0.133453, 0.579502, 2.45184], [-0.0191077, -0.968193, 0.249474, 1.63771], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[0.629782, 0.0335644, -0.776046, 3.25782], [0.776764, -0.022799, 0.629379, 2.51169], [0.00343171, -0.999177, -0.04043, 1.55282], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[0.637884, 0.164135, -0.752439, 3.30564], [0.768449, -0.0710791, 0.635952, 2.38125], [0.0508994, -0.983874, -0.17147, 1.47136], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[0.545062, 0.289529, -0.786816, 3.39351], [0.830045, -0.054231, 0.555053, 2.12002], [0.118034, -0.955632, -0.269881, 1.40894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[0.447166, 0.317398, -0.836242, 3.53341], [0.882108, -0.00170763, 0.471045, 2.0438], [0.148081, -0.948291, -0.280743, 1.41523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[0.660926, 0.213293, -0.719501, 3.44413], [0.740399, -0.0289409, 0.671544, 1.96212], [0.122412, -0.97656, -0.17705, 1.43902], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[0.776251, 0.0569944, -0.627843, 3.37292], [0.629579, -0.018532, 0.776715, 1.90967], [0.0326335, -0.998202, -0.0502681, 1.53302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[0.794981, -0.000911146, -0.606633, 3.38513], [0.604851, 0.0777987, 0.792529, 1.85456], [0.0464732, -0.996969, 0.0623995, 1.5916], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[0.906957, -0.0113118, -0.421071, 3.19277], [0.421009, -0.00753823, 0.907025, 1.58663], [-0.0134341, -0.999908, -0.00207454, 1.5611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[0.965926, -0.0162438, -0.258307, 3.13528], [0.253701, -0.138025, 0.957384, 1.40158], [-0.0512043, -0.990296, -0.129201, 1.44693], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[0.992541, 0.04065, -0.114931, 3.03148], [0.120018, -0.160485, 0.979714, 1.23192], [0.0213808, -0.986201, -0.164167, 1.45754], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[0.9873, -0.108124, 0.116398, 2.7748], [-0.129332, -0.121514, 0.984128, 1.1425], [-0.0922639, -0.986683, -0.133955, 1.49365], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[0.966964, -0.0549839, 0.248912, 2.68297], [-0.251994, -0.0588384, 0.965938, 1.17825], [-0.0384654, -0.996752, -0.0707502, 1.48044], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[0.914613, -0.0606451, 0.399755, 2.57737], [-0.400716, -0.0040777, 0.916193, 1.21965], [-0.0539324, -0.998151, -0.0280309, 1.52868], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[0.9013, -0.0125468, 0.433014, 2.44249], [-0.430503, 0.0853401, 0.898546, 1.15004], [-0.0482273, -0.996273, 0.0715156, 1.58901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[0.867917, 2.55406e-05, 0.496709, 2.5506], [-0.496693, 0.00796048, 0.86789, 1.08835], [-0.0039317, -0.999968, 0.00692171, 1.58811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[0.934959, -0.0526856, 0.35082, 2.5654], [-0.354727, -0.126423, 0.926383, 1.00789], [-0.00445524, -0.990576, -0.136889, 1.47457], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[0.950018, -0.062703, 0.305833, 2.59097], [-0.310485, -0.29216, 0.904567, 0.995671], [0.0326333, -0.954312, -0.297026, 1.42719], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[0.985278, -0.0501872, 0.163425, 2.63129], [-0.169249, -0.42115, 0.89106, 0.979175], [0.0241066, -0.905601, -0.423444, 1.34727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3460", "pose": [[0.999256, -0.0161569, 0.0350149, 2.8497], [-0.0380365, -0.562495, 0.825926, 1.04526], [0.00635141, -0.826643, -0.562691, 1.29986], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3480", "pose": [[0.987585, -0.0730432, 0.13907, 2.85159], [-0.1539, -0.627278, 0.763438, 0.932564], [0.0314717, -0.775362, -0.630732, 1.29818], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3500", "pose": [[0.719476, -0.366211, 0.590122, 2.64852], [-0.693039, -0.433985, 0.575634, 0.909154], [0.0453006, -0.823132, -0.56604, 1.3174], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3520", "pose": [[0.414211, -0.468882, 0.780114, 2.4899], [-0.909743, -0.239873, 0.338865, 0.864807], [0.0282407, -0.850065, -0.52592, 1.32619], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3540", "pose": [[0.140861, -0.436228, 0.888743, 2.36888], [-0.989747, -0.0835107, 0.115879, 0.997302], [0.0236699, -0.895953, -0.443518, 1.39309], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0755_00"}, {"annotation": [{"question_id": "test-scene0756-0", "question": "What type of cabinet is placed alongside the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-1", "question": "Where is a tall cabinet placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-2", "question": "What is placed next to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-3", "question": "Where is a black trash can placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-4", "question": "What is placed next to the keyboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-5", "question": "Where is a black monitor placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-6", "question": "What is placed along the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-7", "question": "What color is the monitor on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-8", "question": "Where is a black computer monitor placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-9", "question": "What is placed next to a blue trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-10", "question": "What color trash can is next to a black trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-11", "question": "What is placed behind the keyboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-12", "question": "Where is a computer monitor placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-13", "question": "Where is a trash can placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-14", "question": "In what part of the room is a desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-15", "question": "What is next to the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-16", "question": "The cabinet is right of what color door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-17", "question": "What type of window is next to the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-18", "question": "Where is the double panel window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-19", "question": "What color are the monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-20", "question": "What is located behind the keyboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-21", "question": "What type of chair is placed behind the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-22", "question": "What is placed under the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-23", "question": "Where is a computer tower placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-24", "question": "What color is left of the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-25", "question": "What shape is the trash can next to a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-26", "question": "What is next to the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-27", "question": "How many cans are on one side of the file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-28", "question": "What shape is the filing cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-29", "question": "What is on the sides of the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-30", "question": "The monitor is on the left of a monitor that appears to be what orientation?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-31", "question": "What is on the floor under the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-32", "question": "How many computer monitors are on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-33", "question": "Where is the coffee pot located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-34", "question": "Where are the keyboards located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-35", "question": "What color is the cabinet ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-36", "question": "Where is the cabinet located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-37", "question": "What is under the computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-38", "question": "The tower is on the left side of what when you are facing it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-39", "question": "What kind of blinds are on the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-40", "question": "Where is the window with white blinds located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-41", "question": "What color bucket is on the floor next to a black bucket?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-42", "question": "Where are the buckets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-43", "question": "How many monitors are seen on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-44", "question": "What color is the desk next to the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-45", "question": "What color bucket is under a computer desk and on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-46", "question": "Where is the computer chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-47", "question": "What is next to a trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-48", "question": "What is on the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-49", "question": "What color is the tall cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-50", "question": "What is located under a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-51", "question": "What is the computer monitor on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-52", "question": "Where is the computer monitor when you sit in the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-53", "question": "What is partially under the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-54", "question": "How many water bottles are in front of the filing cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-55", "question": "What type of box is the filing cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-56", "question": "Where is the black and blue office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-57", "question": "What color is the chair with metal base?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-58", "question": "Where is the brown and white file cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-59", "question": "What color box is on the metal file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-60", "question": "What color chair is not able to roll?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-61", "question": "Where is the blue chair sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-62", "question": "What is the white item to the left of the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-63", "question": "What is directly to the right of the board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-64", "question": "The bucket is on the floor in front of a large desk in what color?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-65", "question": "Where is the blue office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-66", "question": "What color is the door to the left of the brown cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-67", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-68", "question": "What color board is to the right of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-69", "question": "What color is the computer tower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-70", "question": "What is to the left of the coffee pot?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-71", "question": "What color is the map on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-72", "question": "What color is the recycling bin to the left of the black trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-73", "question": "How many sides does the brown desk have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-74", "question": "What is the color of the two trash bins?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-75", "question": "On what corner of the room is the file cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-76", "question": "Where is the window relative to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-77", "question": "What is behind you if you sit in the rolling chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-78", "question": "On what side of the room is the computer monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-79", "question": "What is in the far corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-80", "question": "Where is the monitor on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-81", "question": "What kind of table is in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-82", "question": "On what side of the room is the large white board located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-83", "question": "How do you get to the large window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-84", "question": "How many chairs are there in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-85", "question": "What is on the side closest to the window of the blackboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-86", "question": "What side of the desk is the black chair that is pushed into the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-87", "question": "What color are the window blinds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0756-88", "question": "Where is the chair located that is pulled out from the desk on the right hand side of the room?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.573693, -0.208884, 0.791987, 2.60838], [-0.819066, 0.149499, -0.553879, 0.917124], [-0.00270505, -0.966446, -0.256856, 1.4434], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.57181, -0.306483, 0.760987, 2.57388], [-0.820347, 0.204541, -0.534036, 0.932068], [0.00801932, -0.92964, -0.368381, 1.3078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.488525, -0.279396, 0.826609, 2.38625], [-0.87255, 0.155261, -0.463197, 0.937499], [0.00107528, -0.94754, -0.319635, 1.34684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.533157, -0.145641, 0.833386, 2.28068], [-0.845998, 0.0982589, -0.524054, 1.04497], [-0.00556362, -0.984446, -0.1756, 1.44763], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.574257, 0.0658084, 0.816026, 2.27158], [-0.818637, -0.0365211, -0.573149, 1.07767], [-0.00791584, -0.997164, 0.0748457, 1.62792], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.555848, 0.211159, 0.804018, 2.31426], [-0.831269, -0.147023, -0.536075, 1.04555], [0.00501167, -0.966331, 0.257253, 1.77414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.606363, 0.359926, 0.709068, 2.27219], [-0.794698, -0.242999, -0.556243, 1.14148], [-0.0279037, -0.90078, 0.433378, 1.88226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.590845, 0.425886, 0.685217, 2.08168], [-0.806771, -0.316989, -0.498638, 1.20623], [0.00484365, -0.847431, 0.530884, 1.88191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.685574, 0.3902, 0.6146, 1.85794], [-0.727157, -0.407739, -0.552261, 1.32225], [0.0351038, -0.825526, 0.563271, 1.86356], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.751736, 0.321693, 0.57568, 1.67291], [-0.659255, -0.388577, -0.643732, 1.4601], [0.0166118, -0.863436, 0.504185, 1.83636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.78447, 0.267936, 0.5593, 1.43178], [-0.619335, -0.385159, -0.684161, 1.56109], [0.0321076, -0.883098, 0.468087, 1.80422], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.896572, 0.21772, 0.38569, 1.30393], [-0.442782, -0.420633, -0.791841, 1.70257], [-0.0101658, -0.880719, 0.47353, 1.79924], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.967341, 0.130347, 0.217397, 1.22183], [-0.25345, -0.484222, -0.837432, 1.82065], [-0.00388812, -0.865181, 0.501444, 1.81041], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.994142, 0.0904198, 0.0592116, 1.1731], [-0.0965199, -0.496181, -0.862837, 1.83682], [-0.0486379, -0.863498, 0.502002, 1.79643], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.958679, -0.0673295, -0.276407, 1.45035], [0.273743, -0.482835, -0.831827, 1.85931], [-0.0774523, -0.873119, 0.481314, 1.77725], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.921415, -0.137144, -0.363574, 1.53727], [0.384358, -0.459222, -0.800865, 2.02494], [-0.057127, -0.877671, 0.475846, 1.75287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.901393, -0.046216, -0.430528, 1.60675], [0.421579, -0.320542, -0.848247, 2.0575], [-0.0988, -0.946106, 0.308418, 1.63433], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.841363, -0.00263211, -0.540465, 1.60658], [0.533484, -0.164319, -0.829695, 1.97427], [-0.0866248, -0.986404, 0.139656, 1.55123], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.796667, 0.050264, -0.602325, 1.59964], [0.602061, -0.021932, -0.798149, 1.96339], [-0.0533284, -0.998495, -0.0127895, 1.4782], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.730913, -0.0047027, -0.682455, 1.60748], [0.682396, 0.00978376, -0.730917, 1.96621], [0.0101142, -0.999941, -0.00394198, 1.48673], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.628209, -0.0783046, -0.774094, 1.5968], [0.778044, -0.064221, -0.624918, 2.02229], [-0.000779137, -0.994859, 0.101269, 1.53073], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.667738, 0.0859603, -0.739416, 1.58971], [0.744077, 0.0479868, -0.666369, 2.03646], [-0.021799, -0.995142, -0.0960036, 1.4231], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.690264, 0.21752, -0.690088, 1.54548], [0.723475, 0.192994, -0.662826, 2.11289], [-0.0109955, -0.956785, -0.290587, 1.34598], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.74418, 0.293842, -0.599877, 1.5306], [0.667644, 0.35565, -0.654038, 2.22508], [0.0211624, -0.887226, -0.460849, 1.31105], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.844597, 0.159921, -0.510961, 1.52882], [0.535146, 0.222622, -0.814898, 2.14863], [-0.0165677, -0.961699, -0.273607, 1.3267], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.928532, 0.0759772, -0.363394, 1.45707], [0.366778, 0.0362337, -0.929603, 1.98133], [-0.0574614, -0.996451, -0.0615109, 1.46021], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.997747, -0.0442992, -0.0503775, 1.3476], [0.0536258, -0.0754837, -0.995704, 2.02964], [0.0403061, -0.996163, 0.0776892, 1.5345], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.99084, 0.0293551, 0.13181, 1.30128], [-0.134906, -0.171841, -0.975844, 2.04916], [-0.00599584, -0.984687, 0.174227, 1.63609], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.981119, -0.0043, 0.193358, 1.37998], [-0.190831, -0.141049, -0.971436, 1.99497], [0.03145, -0.989993, 0.137565, 1.58063], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.967003, -0.039764, 0.251642, 1.27197], [-0.250261, -0.036634, -0.967485, 2.0077], [0.0476896, -0.998537, 0.0254738, 1.50351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.931524, -0.0795726, 0.354869, 1.10833], [-0.359885, 0.0610816, -0.930995, 2.06901], [0.0524056, -0.994956, -0.085536, 1.446], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.941759, -0.117753, 0.314999, 1.06625], [-0.330112, 0.144995, -0.932739, 2.18231], [0.0641599, -0.9824, -0.175422, 1.39255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.933718, -0.148911, 0.325571, 1.05725], [-0.351453, 0.20802, -0.912803, 2.3065], [0.0682012, -0.966723, -0.246567, 1.3536], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.8791, -0.172502, 0.444328, 1.18273], [-0.475465, 0.251994, -0.842872, 2.22648], [0.0334288, -0.95223, -0.303546, 1.34779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.844155, -0.140772, 0.517286, 1.33115], [-0.535844, 0.191809, -0.822241, 2.00281], [0.0165283, -0.971284, -0.237348, 1.39312], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.813375, -0.0821056, 0.575916, 1.53712], [-0.581713, 0.105275, -0.806553, 1.82858], [0.00559303, -0.991048, -0.13339, 1.43863], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.733725, -0.0221812, 0.679084, 1.64996], [-0.679438, 0.018922, -0.733489, 1.5856], [0.00341992, -0.999575, -0.0289542, 1.51979], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.665998, 0.124549, 0.735482, 1.74482], [-0.745729, -0.0869422, -0.660553, 1.43767], [-0.0183267, -0.988397, 0.150783, 1.65858], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.421255, 0.11688, 0.899379, 1.92363], [-0.906317, -0.0174333, -0.422239, 1.40324], [-0.033672, -0.992993, 0.113274, 1.62944], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.257697, -0.0873858, 0.962266, 1.9579], [-0.966226, 0.0227926, -0.256687, 1.12064], [0.000498384, -0.995914, -0.090308, 1.50457], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.135352, -0.205921, 0.969163, 2.02957], [-0.990794, 0.0256237, -0.132929, 1.04714], [0.00253925, -0.978233, -0.207493, 1.41136], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.0817503, -0.335824, 0.93837, 2.0859], [-0.996582, 0.0388004, -0.0729357, 0.954083], [-0.0119156, -0.941125, -0.337848, 1.35879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.144864, -0.332738, 0.931826, 1.94339], [-0.989316, -0.0330948, 0.141983, 0.644295], [-0.0164048, -0.942438, -0.333977, 1.37372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.39585, -0.342995, 0.851855, 2.06917], [-0.91778, -0.116085, 0.379743, 0.472656], [-0.0313629, -0.932137, -0.360746, 1.34613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.506569, -0.32841, 0.797205, 2.12409], [-0.86209, -0.178205, 0.474388, 0.379987], [-0.0137278, -0.927572, -0.373392, 1.34442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.596024, -0.277045, 0.753659, 2.25136], [-0.802932, -0.214366, 0.55619, 0.314717], [0.00746907, -0.936639, -0.350216, 1.36029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.608343, -0.30655, 0.732083, 2.32138], [-0.793207, -0.203168, 0.574061, 0.282203], [-0.0272425, -0.929919, -0.366754, 1.34184], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.550829, -0.292768, 0.781584, 2.29408], [-0.834348, -0.169331, 0.524586, 0.327534], [-0.021236, -0.94107, -0.337543, 1.36237], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.321475, -0.352763, 0.878756, 2.14967], [-0.946217, -0.155368, 0.283784, 0.62496], [0.0364224, -0.922724, -0.383737, 1.34236], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.318599, -0.362704, 0.875751, 1.99734], [-0.947835, -0.131807, 0.290233, 0.716531], [0.0101612, -0.922536, -0.385777, 1.3396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.50664, -0.305482, 0.806224, 1.90937], [-0.862146, -0.184396, 0.471914, 0.709717], [0.00450283, -0.934173, -0.356793, 1.35626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.566375, -0.304019, 0.766024, 2.02555], [-0.824008, -0.191755, 0.533143, 0.850223], [-0.0151968, -0.933168, -0.359119, 1.3363], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.562773, -0.35416, 0.746899, 2.11271], [-0.826205, -0.269328, 0.49482, 0.903608], [0.0259159, -0.895563, -0.444179, 1.32559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.794677, -0.266473, 0.545418, 2.38813], [-0.607032, -0.34734, 0.71475, 0.790461], [-0.00101589, -0.899081, -0.437781, 1.34643], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.829803, -0.232278, 0.507419, 2.57021], [-0.557597, -0.308202, 0.770777, 0.722078], [-0.0226468, -0.922528, -0.385264, 1.35379], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.957703, -0.102779, 0.26878, 2.7294], [-0.287756, -0.347267, 0.892526, 0.66584], [0.00160569, -0.932117, -0.362153, 1.34914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.981173, -0.0177308, 0.192318, 2.90376], [-0.184838, -0.374912, 0.908447, 0.531439], [0.0559948, -0.926891, -0.371131, 1.31281], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.936355, -0.115148, 0.331633, 3.0042], [-0.35049, -0.360246, 0.864511, 0.52212], [0.0199226, -0.925723, -0.377677, 1.31353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.826324, -0.232071, 0.51316, 3.0865], [-0.563081, -0.358848, 0.744425, 0.52747], [0.0113865, -0.904086, -0.427199, 1.29319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.715685, -0.350455, 0.604133, 3.14801], [-0.698353, -0.371408, 0.611849, 0.510586], [0.00995445, -0.859789, -0.510552, 1.27138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.589398, -0.441048, 0.676822, 3.14584], [-0.807835, -0.325554, 0.491343, 0.455582], [0.00363608, -0.836356, -0.548174, 1.25185], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.361306, -0.529167, 0.76775, 2.97674], [-0.932228, -0.222874, 0.285095, 0.472478], [0.0202485, -0.818724, -0.57383, 1.24293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.722188, -0.357428, 0.59219, 2.87596], [-0.690108, -0.430313, 0.581877, 0.493702], [0.0468476, -0.8289, -0.557431, 1.24361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.62266, -0.407851, 0.667796, 2.81155], [-0.780917, -0.378021, 0.497262, 0.495092], [0.0496316, -0.831118, -0.553876, 1.25285], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.700948, -0.357694, 0.617031, 2.6806], [-0.709981, -0.432213, 0.555984, 0.602614], [0.0678169, -0.827796, -0.556915, 1.24441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.514118, -0.412816, 0.751841, 2.63495], [-0.856803, -0.287686, 0.427932, 0.674915], [0.0396373, -0.864187, -0.501607, 1.26287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.488231, -0.459813, 0.741756, 2.59976], [-0.872467, -0.277385, 0.402316, 0.731257], [0.0207622, -0.843581, -0.5366, 1.27766], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.155704, -0.453351, 0.877627, 2.38143], [-0.987482, -0.0941091, 0.126581, 0.881828], [0.0252072, -0.88635, -0.462329, 1.28687], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.102709, -0.501592, 0.858986, 2.13724], [-0.992818, -0.104951, 0.0574273, 0.902589], [0.0613459, -0.858715, -0.508769, 1.24993], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.22171, -0.471868, 0.853338, 1.81841], [-0.974277, -0.0709744, 0.213885, 0.679589], [-0.0403606, -0.878808, -0.475466, 1.21178], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.340918, -0.45883, 0.820518, 1.74015], [-0.940072, -0.160592, 0.300789, 0.600698], [-0.00624299, -0.873891, -0.486082, 1.16836], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.389491, -0.453119, 0.801861, 1.4919], [-0.921012, -0.186042, 0.342238, 0.603146], [-0.00589493, -0.871821, -0.489789, 1.23063], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.207444, -0.453288, 0.866889, 1.25359], [-0.978224, -0.102234, 0.180628, 0.80314], [0.00674911, -0.885482, -0.464625, 1.26526], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.405985, -0.398171, 0.822579, 1.11774], [-0.913878, -0.178685, 0.364553, 0.93237], [0.00182748, -0.89974, -0.436423, 1.30299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.556272, -0.397066, 0.73, 1.03521], [-0.830178, -0.226453, 0.509435, 0.864789], [-0.0369691, -0.889414, -0.455605, 1.30871], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.646576, -0.380568, 0.661141, 1.02321], [-0.762553, -0.298248, 0.574075, 0.931219], [-0.0212903, -0.875338, -0.483043, 1.29692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.647307, -0.353011, 0.675556, 1.0152], [-0.761387, -0.341118, 0.551298, 1.0449], [0.0358297, -0.871218, -0.489586, 1.28684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.74496, -0.324347, 0.582953, 1.18016], [-0.665997, -0.412041, 0.621828, 0.863595], [0.0385125, -0.851481, -0.522969, 1.26605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.874633, -0.230744, 0.426351, 1.32747], [-0.48153, -0.515275, 0.708957, 0.770965], [0.0561006, -0.825378, -0.561786, 1.24368], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.948318, -0.172115, 0.266589, 1.54458], [-0.31723, -0.493912, 0.809578, 0.789429], [-0.00766909, -0.852307, -0.522985, 1.27104], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.973262, -0.139246, 0.182679, 1.77155], [-0.226008, -0.438552, 0.869823, 0.895605], [-0.0410052, -0.887853, -0.458297, 1.32334], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.960522, -0.0945224, 0.261654, 1.8553], [-0.2772, -0.404979, 0.871294, 1.08229], [0.0236074, -0.909427, -0.415192, 1.33555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.99905, -0.0130212, 0.0415768, 2.01189], [-0.0428268, -0.468803, 0.882264, 1.0423], [0.00800321, -0.883207, -0.468916, 1.2629], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.836217, 0.330602, -0.437542, 2.23512], [0.545853, -0.424986, 0.722103, 0.84493], [0.0527797, -0.842668, -0.535841, 1.26369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.718136, 0.405911, -0.565259, 2.27854], [0.695374, -0.386895, 0.605613, 0.767604], [0.0271293, -0.827979, -0.560103, 1.25931], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.513845, 0.484218, -0.708165, 2.48059], [0.857451, -0.316081, 0.406042, 0.697358], [-0.0272245, -0.815859, -0.57761, 1.27271], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.390565, 0.505721, -0.769224, 2.53701], [0.920568, -0.217891, 0.324158, 0.566205], [-0.00367329, -0.834727, -0.550651, 1.29033], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.289147, 0.400234, -0.869602, 2.50702], [0.95643, -0.159169, 0.24476, 0.579746], [-0.0404527, -0.902484, -0.428819, 1.34302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.115621, 0.274425, -0.954632, 2.40971], [0.991382, -0.0914784, 0.0937749, 0.650065], [-0.061594, -0.957247, -0.282637, 1.36747], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.0267617, 0.16105, -0.986583, 2.35419], [0.997612, -0.0671682, 0.0160964, 0.719159], [-0.0636747, -0.984658, -0.162463, 1.41774], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.056845, 0.0732242, -0.995694, 2.28465], [0.995422, -0.072594, -0.062168, 0.725727], [-0.0768336, -0.99467, -0.0687625, 1.47905], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.154644, -0.0541046, -0.986488, 2.15005], [0.986145, -0.0691196, -0.150799, 0.747611], [-0.0600267, -0.99614, 0.0640438, 1.58149], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.0930344, -0.0851878, -0.992012, 2.03943], [0.995431, -0.0135533, 0.0945189, 0.864281], [-0.0214969, -0.996273, 0.0835377, 1.63769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.166419, -0.276549, -0.946481, 2.06095], [0.985112, 0.00465276, 0.171852, 0.848648], [-0.0431218, -0.960988, 0.273206, 1.75126], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.220749, -0.38062, -0.897997, 2.12557], [0.97351, 0.0297619, 0.226698, 0.727835], [-0.0595596, -0.924253, 0.377107, 1.77201], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.341173, -0.34174, -0.87568, 2.14364], [0.938683, 0.0745416, 0.336629, 0.73233], [-0.0497649, -0.936834, 0.346217, 1.7473], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.445949, -0.22829, -0.865456, 2.1403], [0.893657, 0.0594772, 0.444791, 0.797524], [-0.0500666, -0.971775, 0.230537, 1.67339], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.522795, -0.134327, -0.841809, 2.15746], [0.850475, 0.0148576, 0.525806, 0.844621], [-0.0581229, -0.990826, 0.122009, 1.60725], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.580184, -0.00128068, -0.814485, 2.1687], [0.812743, -0.064468, 0.579044, 0.898245], [-0.0532498, -0.997919, -0.0363624, 1.49616], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.583661, 0.20341, -0.786107, 2.13898], [0.811277, -0.186836, 0.554005, 0.916417], [-0.0341833, -0.961102, -0.274071, 1.35267], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.60612, 0.409256, -0.682003, 2.05324], [0.795229, -0.32818, 0.509814, 0.913238], [-0.0151755, -0.851356, -0.524369, 1.23768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.625676, 0.453067, -0.635028, 2.04492], [0.780036, -0.372306, 0.502924, 0.976557], [-0.0085665, -0.810012, -0.586351, 1.22135], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.687763, 0.304921, -0.658791, 2.02835], [0.724865, -0.337722, 0.600429, 1.00928], [-0.0394045, -0.890487, -0.453299, 1.30302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.735848, 0.130933, -0.664367, 1.96205], [0.673504, -0.243152, 0.698047, 1.1164], [-0.0701446, -0.96111, -0.267107, 1.4057], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.842545, 0.00480011, -0.538606, 1.82164], [0.534702, -0.127959, 0.835297, 1.25038], [-0.0649099, -0.991768, -0.110378, 1.51854], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.935028, -0.102563, -0.339415, 1.59232], [0.337217, -0.0385909, 0.940636, 1.34834], [-0.109573, -0.993978, -0.00149745, 1.63086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.971789, -0.146717, -0.184665, 1.4316], [0.204032, 0.130197, 0.970268, 1.41463], [-0.118312, -0.980573, 0.156459, 1.69998], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.992214, -0.0989181, 0.0756739, 1.18918], [-0.045097, 0.281024, 0.958641, 1.36531], [-0.116093, -0.954589, 0.274375, 1.74888], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.987218, -0.00976248, 0.159075, 1.00183], [-0.143691, 0.377252, 0.914896, 1.24804], [-0.0689432, -0.926059, 0.371027, 1.75207], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.983284, -0.0198834, 0.180991, 0.89899], [-0.16028, 0.377117, 0.912192, 1.13395], [-0.0863922, -0.925952, 0.367626, 1.73339], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.978505, -0.0358472, 0.203083, 0.812097], [-0.182335, 0.309678, 0.933195, 1.16055], [-0.096343, -0.950165, 0.296486, 1.69008], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.93247, -0.0934844, 0.348943, 0.809598], [-0.335729, 0.13235, 0.932615, 1.2936], [-0.133368, -0.986785, 0.0920273, 1.5983], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.907107, -0.0170622, 0.420554, 0.864084], [-0.418091, 0.0787153, 0.904989, 1.45772], [-0.0485451, -0.996751, 0.0642696, 1.58039], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.8278, 0.00834891, 0.560961, 0.84192], [-0.558698, 0.103216, 0.822924, 1.5562], [-0.0510297, -0.994624, 0.0901067, 1.58934], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.758814, 0.074012, 0.647088, 0.806269], [-0.650356, 0.13977, 0.74666, 1.59097], [-0.0351814, -0.987414, 0.154193, 1.62815], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[0.673796, 0.116771, 0.729632, 0.858103], [-0.737419, 0.16912, 0.653921, 1.58723], [-0.0470364, -0.978654, 0.200062, 1.64046], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.605169, 0.235782, 0.76038, 0.915085], [-0.7944, 0.241191, 0.557455, 1.58051], [-0.0519595, -0.9414, 0.333266, 1.65032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[0.427103, 0.233492, 0.873536, 0.968483], [-0.903644, 0.144192, 0.403282, 1.55223], [-0.0317932, -0.961608, 0.272578, 1.66056], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[0.2317, 0.0899443, 0.96862, 1.08778], [-0.972374, 0.0504462, 0.227914, 1.50261], [-0.0283636, -0.994668, 0.0991479, 1.61038], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.00738966, 0.0337245, 0.999404, 1.23594], [-0.999827, -0.0173416, -0.00680766, 1.5633], [0.0171017, -0.999281, 0.0338468, 1.54158], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.322313, 0.0940638, 0.941948, 1.32607], [-0.946537, -0.0461714, -0.319273, 1.73108], [0.0134591, -0.994495, 0.103917, 1.57798], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.358269, 0.12346, 0.925419, 1.34285], [-0.933551, -0.059236, -0.353515, 1.84678], [0.011173, -0.99058, 0.136479, 1.68148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.178762, -0.0566655, 0.982259, 1.33519], [-0.98311, -0.029507, -0.180619, 1.78927], [0.0392185, -0.997957, -0.0504337, 1.49551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[0.00517437, -0.301276, 0.953523, 1.23465], [-0.999099, -0.0417131, -0.00775802, 1.61937], [0.0421117, -0.952624, -0.301221, 1.37289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[0.151351, -0.506974, 0.84857, 1.11602], [-0.986982, -0.124761, 0.1015, 1.70268], [0.0544102, -0.852884, -0.519257, 1.28432], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[0.476476, -0.373013, 0.796135, 1.03807], [-0.87319, -0.306365, 0.379051, 1.88758], [0.102517, -0.875786, -0.471687, 1.32647], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.525874, -0.319181, 0.788403, 1.1449], [-0.849027, -0.252646, 0.464029, 1.88117], [0.0510776, -0.913396, -0.403854, 1.3539], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[0.251671, -0.366291, 0.89582, 1.16356], [-0.967665, -0.11142, 0.226296, 2.07241], [0.0169222, -0.923805, -0.382488, 1.35075], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[-0.00389266, -0.362994, 0.931783, 1.22355], [-0.999982, 0.00561623, -0.00198972, 2.46441], [-0.00451094, -0.931774, -0.36301, 1.34748], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[-0.392363, -0.319604, 0.862499, 1.37322], [-0.919783, 0.143604, -0.365209, 2.8484], [-0.00713595, -0.936606, -0.350312, 1.35641], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[-0.40005, -0.37019, 0.838403, 1.57818], [-0.916481, 0.166381, -0.363841, 3.14778], [-0.00480404, -0.913935, -0.405833, 1.31195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.312885, -0.39005, 0.866005, 1.83407], [-0.949745, 0.119507, -0.289313, 3.23216], [0.00935285, -0.913005, -0.40784, 1.32078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.378208, -0.347016, 0.858218, 2.13283], [-0.92572, 0.14279, -0.35022, 3.3059], [-0.00101295, -0.926926, -0.375244, 1.34132], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.513579, -0.299737, 0.803987, 2.30868], [-0.858015, 0.171945, -0.483988, 3.21073], [0.00682777, -0.938399, -0.345487, 1.35831], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[-0.694081, -0.28476, 0.661183, 2.50713], [-0.719637, 0.249757, -0.647877, 3.24181], [0.0193539, -0.925491, -0.378275, 1.34954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[-0.78874, -0.177655, 0.588496, 2.71055], [-0.614694, 0.237777, -0.752073, 3.23302], [-0.00632162, -0.954935, -0.296748, 1.38236], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[-0.959257, -0.0280373, 0.281142, 2.95314], [-0.279663, 0.235759, -0.930702, 3.26137], [-0.0401873, -0.971407, -0.233994, 1.35723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[-0.964385, -0.118822, 0.236312, 2.99735], [-0.260608, 0.274081, -0.925723, 3.22653], [0.0452273, -0.954338, -0.295286, 1.32082], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[-0.997266, -0.0579845, 0.0458199, 3.28455], [-0.0580894, 0.231746, -0.971041, 3.2519], [0.0456867, -0.971047, -0.234481, 1.31524], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[-0.99596, -0.0533886, 0.0722, 3.46093], [-0.0811718, 0.191474, -0.978135, 3.25182], [0.0383968, -0.980045, -0.195034, 1.328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[-0.976295, -0.0560545, 0.209062, 3.48045], [-0.215273, 0.151006, -0.964808, 3.24063], [0.0225121, -0.986942, -0.159493, 1.37679], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[-0.865527, -0.0736286, 0.495421, 3.30664], [-0.500755, 0.147654, -0.852903, 3.25535], [-0.0103527, -0.986295, -0.164668, 1.42703], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.702866, -0.175157, 0.689419, 3.12562], [-0.710645, 0.130626, -0.691318, 3.28414], [0.0310331, -0.975836, -0.216287, 1.42093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.694792, -0.217242, 0.685617, 3.08898], [-0.718853, 0.179672, -0.671542, 3.26029], [0.0227005, -0.959439, -0.280999, 1.38884], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.53982, -0.26014, 0.800576, 2.80443], [-0.841263, 0.20008, -0.50224, 3.14674], [-0.029526, -0.944614, -0.326853, 1.34936], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.329704, -0.30964, 0.891863, 2.62142], [-0.944085, 0.108253, -0.311426, 3.12627], [-0.00011678, -0.944672, -0.328018, 1.28045], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.0615546, -0.264164, 0.962512, 2.59395], [-0.996749, 0.0664915, -0.0454954, 2.95426], [-0.0519806, -0.962183, -0.267398, 1.35773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.0202332, -0.314609, 0.949006, 2.66408], [-0.99979, 0.00935221, -0.0182155, 2.8639], [-0.00314458, -0.949175, -0.314732, 1.35348], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[-0.0515024, -0.397073, 0.916341, 2.37705], [-0.99867, 0.018265, -0.0482151, 2.72557], [0.00240788, -0.917605, -0.397485, 1.33543], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[-0.0536716, -0.400455, 0.914743, 2.08307], [-0.998536, 0.0277159, -0.0464547, 2.72444], [-0.00674993, -0.915897, -0.401357, 1.35023], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[0.24302, -0.387545, 0.889241, 1.82011], [-0.967297, -0.0281683, 0.252076, 2.47428], [-0.0726424, -0.92142, -0.381717, 1.3517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[0.453737, -0.244926, 0.856816, 1.62669], [-0.890176, -0.0799704, 0.448544, 2.1171], [-0.0413399, -0.966238, -0.254312, 1.4261], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[0.69863, -0.133758, 0.702869, 1.52976], [-0.714977, -0.0935699, 0.692858, 1.72544], [-0.0269078, -0.986587, -0.161004, 1.4502], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[0.885239, -0.140748, 0.44333, 1.51884], [-0.463125, -0.17817, 0.8682, 1.35889], [-0.0432094, -0.973881, -0.222908, 1.42613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[0.959705, -0.157252, 0.232891, 1.52161], [-0.267685, -0.259407, 0.92793, 1.10608], [-0.0855049, -0.95288, -0.291048, 1.40677], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[0.994397, -0.0719132, 0.0774813, 1.67105], [-0.0932546, -0.251576, 0.963334, 1.06363], [-0.0497839, -0.965162, -0.256873, 1.42867], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[0.999021, -0.0367508, -0.0246491, 1.70215], [0.0193697, -0.137658, 0.99029, 1.1982], [-0.0397871, -0.989798, -0.136812, 1.47686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[0.994476, -0.0230204, -0.102412, 1.71715], [0.0943196, -0.232184, 0.968088, 1.09654], [-0.0460642, -0.972399, -0.22873, 1.44061], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[0.981879, -0.0168271, -0.188763, 1.71069], [0.179545, -0.236159, 0.954983, 1.08022], [-0.0606477, -0.971569, -0.228859, 1.42581], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[0.943386, 0.0652498, -0.325215, 1.77832], [0.331457, -0.222666, 0.916818, 1.22882], [-0.0125922, -0.972709, -0.231687, 1.42506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[0.875477, -0.0318127, -0.482212, 1.99109], [0.478033, -0.0893488, 0.873786, 1.26111], [-0.0708825, -0.995492, -0.0630153, 1.53208], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[0.711961, 0.00141297, -0.702218, 2.17938], [0.699469, -0.0898461, 0.708993, 1.19726], [-0.0620897, -0.995955, -0.0649552, 1.55013], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[0.690794, 0.142238, -0.708924, 2.26047], [0.722884, -0.114698, 0.681384, 1.07991], [0.015607, -0.983164, -0.182054, 1.45776], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[0.60775, 0.171332, -0.775426, 2.33054], [0.794104, -0.138847, 0.59171, 0.989984], [-0.00628669, -0.97538, -0.220439, 1.39967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[0.491104, 0.262039, -0.830754, 2.29355], [0.870777, -0.173685, 0.459979, 0.937075], [-0.0237575, -0.949299, -0.313475, 1.35294], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[0.227096, 0.310817, -0.922941, 2.22987], [0.97293, -0.1141, 0.200971, 0.870887], [-0.0428427, -0.943596, -0.328315, 1.34827], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[0.016235, 0.305851, -0.951941, 2.12478], [0.998165, -0.0605006, -0.00241494, 0.874701], [-0.0583316, -0.950155, -0.306272, 1.34866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[-0.141107, 0.341028, -0.929402, 1.91575], [0.988992, 0.00631499, -0.147837, 1.0226], [-0.0445475, -0.940032, -0.338165, 1.3546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[-0.278034, 0.349793, -0.894618, 1.65156], [0.956595, 0.0161703, -0.290973, 1.1123], [-0.0873142, -0.936687, -0.339106, 1.37387], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[-0.627793, 0.280097, -0.726238, 1.42794], [0.777915, 0.193523, -0.597827, 1.43081], [-0.0269056, -0.940263, -0.339384, 1.38196], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[-0.848761, 0.232928, -0.47471, 1.36681], [0.525997, 0.279973, -0.803083, 1.70701], [-0.0541542, -0.931321, -0.36015, 1.3933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[-0.860791, 0.166645, -0.480904, 1.36637], [0.50876, 0.255278, -0.82219, 2.03179], [-0.0142495, -0.952398, -0.304523, 1.39462], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[-0.916638, 0.112889, -0.383445, 1.34238], [0.397686, 0.160961, -0.903293, 2.3281], [-0.0402519, -0.980483, -0.192438, 1.39583], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3460", "pose": [[-0.919044, 0.0731408, -0.387309, 1.35729], [0.390551, 0.0364237, -0.91986, 2.49599], [-0.0531721, -0.996656, -0.0620402, 1.45927], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3480", "pose": [[-0.970909, 0.0558507, -0.232843, 1.42425], [0.229217, -0.0644064, -0.971242, 2.53174], [-0.0692411, -0.99636, 0.0497307, 1.49504], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3500", "pose": [[-0.97299, 0.0260015, -0.229378, 1.35862], [0.221496, -0.174789, -0.959369, 2.43271], [-0.0650379, -0.984262, 0.164309, 1.54982], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0756_00"}, {"annotation": [{"question_id": "test-scene0757-0", "question": "What is the oven left of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-1", "question": "What color is the chair on the right of a sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-2", "question": "What is on the right of the wardrobe closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-3", "question": "What color is the trash can next to the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-4", "question": "The white toilet seat is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-5", "question": "Where is the towel hanging?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-6", "question": "What colors are the towels on the right of the dark coats?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-7", "question": "What is on top of a metal stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-8", "question": "What is on top of the brown table in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-9", "question": "What is on the side of the sofa closest to the opening into the next room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-10", "question": "What is on the floor right in front of the red cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-11", "question": "What color is the luggage?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-12", "question": "What is the item to the left of the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-13", "question": "What is the item on the floor to the left of a white desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-14", "question": "The trash can is on the floor to the left of what color desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-15", "question": "What is the item above the kitchen sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-16", "question": "Where is the row of cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-17", "question": "What does the wardrobe closet look like?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-18", "question": "What color is the radiator painted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-19", "question": "What shape is the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-20", "question": "What is the shape of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-21", "question": "What is on the same wall as the white shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-22", "question": "To the right of the shelf is what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-23", "question": "Where is the shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-24", "question": "Where is the metal kitchen cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-25", "question": "What color are the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-26", "question": "What is placed in the top of the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-27", "question": "What color are the pillows on the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-28", "question": "How many pillows are in the middle of the black couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-29", "question": "Where is the couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-30", "question": "What color is the door in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-31", "question": "What is the door located inside the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-32", "question": "What are the colors of the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-33", "question": "Along with the kitchen sink, where are the kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-34", "question": "What is the color of the pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-35", "question": "What is near the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-36", "question": "What is on the right side of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-37", "question": "Where is the brown trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-38", "question": "What color suitcase is laying on the floor on its side?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-39", "question": "What furniture has tucked in blankets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-40", "question": "What is under the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-41", "question": "Where is an oven located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-42", "question": "What do curtains do?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-43", "question": "Where is the dresser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-44", "question": "What color is the chair that is pulled into the white desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-45", "question": "What color is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-46", "question": "Where is the other side of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-47", "question": "What tap comes out of the top of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-48", "question": "What kind of legs make up grey chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-49", "question": "What color is the suitcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-50", "question": "The red double door cabinet is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-51", "question": "What color rug is on the other side of the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-52", "question": "What is on the top of the brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-53", "question": "What is on the side of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-54", "question": "What is the suitcase beside?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-55", "question": "What finish does the refrigerator have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-56", "question": "Where is the refrigerator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-57", "question": "What color is the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-58", "question": "What kind of borders do the kitchen cabinets have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-59", "question": "Where is the drawer cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-60", "question": "What is to the right of the bed on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-61", "question": "What is the item on the couch furthest to the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-62", "question": "What is on the left of the desk chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-63", "question": "What color is the chair in front of the laptop?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-64", "question": "What is on the floor to the left side of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-65", "question": "What is the small bag on the right side of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-66", "question": "To the right of the small bag is a desk in what color?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-67", "question": "What is white and is to the right of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-68", "question": "What color is the office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-69", "question": "What color are the chairs by the brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-70", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-71", "question": "What is in front of the white office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-72", "question": "Where is the teapot located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-73", "question": "What is directly behind the suitcase?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-74", "question": "What is located directly across from the bathroom door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-75", "question": "What is the white part of the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-76", "question": "Where is the bathroom door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-77", "question": "To the left of the sofa is what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-78", "question": "To what side of the bathroom is the cubby located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-79", "question": "What is above the row of shoes?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-80", "question": "What is next to the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-81", "question": "What type of desk has bits and bobs on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-82", "question": "What is next to the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-83", "question": "What item is attached to the wall to the left of the toilet seat?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-84", "question": "To the left of the toilet seat is what attached to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-85", "question": "What color is the dining chair closest to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-86", "question": "What color are the curtains in front of a full window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-87", "question": "What is the counter to the right of the stove top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-88", "question": "Where are the kitchen cabinets with a green towel located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-89", "question": "What is the beige carpet in front of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-90", "question": "What is the white storage organizer filled with?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-91", "question": "What is in front of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-92", "question": "Where is the white cushion on top of a black sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-93", "question": "What type of appliance is under the electric stove that has a kettle on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-94", "question": "What is above the black couch on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-95", "question": "Where is the yellow to red gradient comforter located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-96", "question": "What is the black desk chair facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-97", "question": "Where is the black desk chair with wheels located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-98", "question": "What is in the corner of the room next to a window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-99", "question": "In what part of the room is the toilet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-100", "question": "What type of bed is in the corner of the room behind a shelf being used as a partition?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-101", "question": "In what part of a room does the curtain cover a window from ceiling to floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-102", "question": "What is in the kitchen area of the room near the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-103", "question": "Where is the sink unit located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-104", "question": "On what side of the black couch is the soft cushion located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-105", "question": "Where is the kitchen cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-106", "question": "What is the shoe shelf up against?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-107", "question": "What is next to the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-108", "question": "What color is the striped rug on the floor next to the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-109", "question": "What type of pillow is located in corner of sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-110", "question": "In what corner of the sofa is a white cloth pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-111", "question": "Where is the white cloth pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-112", "question": "Where is the gray wooden shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-113", "question": "What color suitcase is lying on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-114", "question": "Where is the black suitcase located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-115", "question": "Where is the white plastic chair with metal legs located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-116", "question": "What color is the couch in the living room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-117", "question": "What color carpet is in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-118", "question": "What kind of curtains are by the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-119", "question": "Where are the curtains located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-120", "question": "What kind of pillow is on the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-121", "question": "Where is the fluffy pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-122", "question": "What type of oven is in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-123", "question": "What kind of desk is by the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-124", "question": "Where is the desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0757-125", "question": "Where is the bed?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.875966, -0.120951, 0.466964, 3.03872], [-0.482214, -0.194679, 0.854149, 8.06801], [-0.0124022, -0.973381, -0.228856, 1.5414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.884184, -0.0915708, 0.458077, 3.10817], [-0.467139, -0.175289, 0.866634, 8.09544], [0.000937397, -0.980249, -0.197764, 1.55228], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.894132, -0.114037, 0.43304, 3.17643], [-0.446093, -0.142369, 0.88359, 8.12335], [-0.0391105, -0.983222, -0.178168, 1.57608], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.871387, -0.0991852, 0.480466, 3.24374], [-0.488465, -0.0842004, 0.868511, 8.20544], [-0.045688, -0.9915, -0.12182, 1.60549], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.888764, -0.0898704, 0.44947, 3.31859], [-0.457016, -0.0985146, 0.883986, 8.33494], [-0.0351649, -0.991069, -0.128628, 1.58141], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.909535, -0.133002, 0.393772, 3.30993], [-0.411552, -0.155858, 0.89796, 8.17117], [-0.0580576, -0.978784, -0.196496, 1.51638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.923821, -0.163972, 0.34593, 3.24943], [-0.374547, -0.200244, 0.905327, 8.02612], [-0.0791779, -0.965927, -0.246404, 1.49241], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.900193, -0.185439, 0.394037, 3.09344], [-0.434868, -0.334373, 0.836113, 7.94852], [-0.0232931, -0.924017, -0.381641, 1.39443], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.911909, -0.205123, 0.355455, 2.97323], [-0.410365, -0.445465, 0.795714, 7.84425], [-0.0048765, -0.871484, -0.490399, 1.33657], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.892425, -0.273478, 0.35887, 2.94895], [-0.450287, -0.48938, 0.746826, 7.66089], [-0.0286166, -0.82808, -0.559878, 1.31491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.854018, -0.313328, 0.415307, 2.99872], [-0.517955, -0.437273, 0.735197, 7.57201], [-0.0487545, -0.842981, -0.535729, 1.32552], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.827616, -0.318577, 0.462127, 3.16664], [-0.558432, -0.38427, 0.735181, 7.53671], [-0.0566305, -0.866513, -0.495931, 1.34077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.872258, -0.276254, 0.403547, 3.44445], [-0.487602, -0.427885, 0.761025, 7.49842], [-0.0375641, -0.86058, -0.507928, 1.35147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.943566, -0.183323, 0.275818, 3.73346], [-0.329383, -0.432733, 0.839195, 7.31082], [-0.0344887, -0.882686, -0.468695, 1.38388], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.970365, -0.0888084, 0.224734, 3.98279], [-0.240889, -0.428993, 0.870596, 7.28045], [0.0190929, -0.898931, -0.437673, 1.37363], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.994174, -0.0415576, 0.0994497, 4.35702], [-0.107773, -0.396364, 0.911746, 7.26481], [0.00152831, -0.917152, -0.398534, 1.41256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.99936, 0.016934, -0.0315223, 4.69345], [0.0357802, -0.462507, 0.885894, 7.29169], [0.000422373, -0.886454, -0.462816, 1.34365], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.976203, 0.0785145, -0.202149, 5.08637], [0.212722, -0.527928, 0.822217, 7.2778], [-0.042164, -0.845652, -0.532066, 1.32727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.95667, 0.119946, -0.265322, 5.38031], [0.290208, -0.466952, 0.835305, 7.33019], [-0.023701, -0.87611, -0.481528, 1.36788], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.905498, 0.163931, -0.391409, 5.46864], [0.424319, -0.338312, 0.83994, 7.37599], [0.00527401, -0.926645, -0.375899, 1.43571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.874738, 0.232259, -0.425311, 5.30768], [0.480394, -0.30029, 0.824043, 7.36503], [0.0636743, -0.925139, -0.374251, 1.5158], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.928852, 0.210768, -0.304649, 4.98399], [0.365964, -0.394464, 0.842893, 7.40303], [0.0574818, -0.894413, -0.443532, 1.52952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.967545, 0.182216, -0.175083, 4.7502], [0.24045, -0.450757, 0.859652, 7.51248], [0.0777227, -0.873851, -0.479941, 1.47729], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.998467, 0.0217401, 0.050897, 4.50083], [-0.0329173, -0.506023, 0.861892, 7.45467], [0.0444926, -0.862246, -0.504531, 1.4663], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.980333, -0.0931321, 0.173992, 4.16972], [-0.194871, -0.317545, 0.928003, 7.44012], [-0.0311766, -0.943659, -0.329449, 1.4938], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.933528, -0.139869, 0.330095, 3.89802], [-0.355525, -0.242693, 0.902609, 7.39924], [-0.0461357, -0.959967, -0.276287, 1.52961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.933476, -0.118341, 0.338555, 3.67882], [-0.354123, -0.154764, 0.922304, 7.33645], [-0.0567499, -0.980838, -0.186376, 1.52491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.883683, -0.0542542, 0.464932, 3.45276], [-0.467904, -0.130203, 0.874136, 7.39334], [0.0131099, -0.990002, -0.140444, 1.58903], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.832438, -0.0838941, 0.547731, 3.45803], [-0.553305, -0.0723009, 0.829835, 7.54907], [-0.0300168, -0.993848, -0.106605, 1.61062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.767122, -0.05212, 0.639381, 3.71666], [-0.640541, -0.00769203, 0.767886, 7.69539], [-0.0351042, -0.998611, -0.0392857, 1.59389], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.720382, -0.0165864, 0.69338, 3.99394], [-0.693001, 0.0235436, 0.720552, 7.86263], [-0.0282761, -0.999585, 0.00546601, 1.60523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.745081, 0.020481, 0.666659, 4.2437], [-0.666969, 0.0267653, 0.744605, 7.93701], [-0.00259313, -0.999432, 0.0336025, 1.58737], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.765856, 0.0288371, 0.642366, 4.44817], [-0.64281, 0.0594252, 0.763717, 8.04791], [-0.0161494, -0.997816, 0.064048, 1.57469], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.792918, 0.114029, 0.598564, 4.50258], [-0.609317, 0.142184, 0.780075, 8.06785], [0.00384541, -0.98325, 0.18222, 1.61483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.797778, 0.15884, 0.581653, 4.42242], [-0.602897, 0.197117, 0.773085, 7.95943], [0.00814293, -0.967427, 0.253019, 1.66265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.773283, 0.0110165, 0.633966, 4.43106], [-0.633997, -0.000807091, 0.773335, 7.98348], [0.00903099, -0.999939, 0.00636032, 1.58471], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.785435, -0.125915, 0.606001, 4.45803], [-0.618447, -0.120403, 0.776548, 8.00644], [-0.0248144, -0.984707, -0.172441, 1.47058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.795665, -0.198304, 0.572357, 4.52645], [-0.605043, -0.214977, 0.766621, 7.96245], [-0.0289806, -0.956274, -0.291032, 1.40811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.745788, -0.313117, 0.588012, 4.53395], [-0.663701, -0.273083, 0.696367, 7.85625], [-0.0574681, -0.909606, -0.411478, 1.37209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.54756, -0.340135, 0.764517, 4.31047], [-0.836147, -0.25757, 0.484268, 7.85129], [0.0322002, -0.904414, -0.425438, 1.36994], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.487189, -0.125946, 0.864167, 4.09578], [-0.873195, -0.085339, 0.479841, 7.80044], [0.0133132, -0.98836, -0.151551, 1.44676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.420707, 0.0445566, 0.906102, 3.92915], [-0.907088, 0.00521437, 0.420908, 7.8149], [0.0140293, -0.998993, 0.0426105, 1.50529], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.375988, 0.134134, 0.916865, 3.88246], [-0.926058, 0.0197892, 0.376863, 7.98786], [0.0324059, -0.990766, 0.131656, 1.59801], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.400095, 0.268307, 0.876319, 3.876], [-0.915268, 0.0679593, 0.397071, 8.03111], [0.0469826, -0.960933, 0.272763, 1.67532], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.391041, 0.338955, 0.855685, 3.85087], [-0.91906, 0.0941689, 0.382701, 8.01206], [0.0491393, -0.936078, 0.348344, 1.69], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.257726, 0.0909919, 0.961924, 3.92303], [-0.966206, 0.0193671, 0.257041, 7.95088], [0.00475876, -0.995663, 0.0929084, 1.639], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.231511, -0.109108, 0.966695, 3.90223], [-0.972786, -0.0162463, 0.231136, 7.89523], [-0.00951366, -0.993897, -0.1099, 1.46044], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.301199, -0.0559707, 0.951918, 3.89288], [-0.953349, 0.00340742, 0.301852, 7.61852], [-0.0201385, -0.998427, -0.0523333, 1.49164], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.334962, -0.0199856, 0.94202, 3.98927], [-0.939847, 0.0639998, 0.335547, 7.44204], [-0.0669953, -0.99775, 0.00265408, 1.52848], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.397534, -0.0869701, 0.913457, 4.16599], [-0.913526, 0.0560464, 0.4029, 7.27593], [-0.0862364, -0.994633, -0.0571692, 1.50638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.408202, -0.20506, 0.889563, 4.20649], [-0.911252, -0.0331446, 0.410514, 7.19027], [-0.0546958, -0.978188, -0.200391, 1.41115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.19834, -0.273273, 0.941267, 4.04754], [-0.979836, -0.0316493, 0.197279, 7.31758], [-0.0241204, -0.961416, -0.27404, 1.36502], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.0101191, -0.189301, 0.981867, 3.85825], [-0.999917, -0.00592505, -0.0114476, 7.44054], [0.00798462, -0.981901, -0.189225, 1.41522], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.0658305, -0.0548666, 0.996321, 3.70421], [-0.997097, 0.0419072, -0.0635741, 7.524], [-0.038265, -0.997614, -0.0574661, 1.49341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.215945, -0.145121, 0.965561, 3.79945], [-0.971528, 0.130657, -0.197642, 7.48858], [-0.0974752, -0.980749, -0.169204, 1.44905], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.144035, -0.202156, 0.968704, 3.87289], [-0.987742, 0.088887, -0.128317, 7.23134], [-0.0601652, -0.975311, -0.212481, 1.36714], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.0175147, -0.225265, 0.97414, 3.9798], [-0.997954, 0.0638531, -0.0031774, 6.96242], [-0.0614861, -0.972203, -0.225922, 1.31533], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.146959, -0.298799, 0.942933, 4.16885], [-0.98682, 0.021003, 0.160454, 6.66628], [-0.067748, -0.954085, -0.291775, 1.31793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.194537, -0.336909, 0.921221, 4.40259], [-0.977845, 0.00739762, 0.209199, 6.53963], [-0.077296, -0.941508, -0.328006, 1.31973], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.28144, -0.328025, 0.901771, 4.62723], [-0.957224, -0.0301797, 0.287768, 6.49619], [-0.06718, -0.944187, -0.322487, 1.3361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.272304, -0.273998, 0.922375, 4.65582], [-0.96032, -0.017308, 0.278364, 6.45609], [-0.0603067, -0.961574, -0.267839, 1.36088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.13232, -0.229806, 0.9642, 4.54916], [-0.991206, -0.0322723, 0.128334, 6.62955], [0.0016249, -0.972701, -0.232055, 1.39096], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.173648, -0.205213, 0.96319, 4.28326], [-0.984446, 0.0626771, -0.164126, 6.97425], [-0.0266891, -0.976708, -0.212905, 1.40486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.411268, -0.134747, 0.9015, 4.10341], [-0.910585, 0.105375, -0.399663, 7.27666], [-0.041142, -0.985261, -0.166036, 1.45984], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.594881, -0.0686856, 0.800874, 4.06148], [-0.79898, 0.159626, -0.579785, 7.57166], [-0.0880173, -0.984785, -0.149837, 1.50679], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.686636, 0.0630854, 0.724259, 3.98519], [-0.719529, 0.0834925, -0.689425, 7.75593], [-0.103963, -0.99451, -0.0119372, 1.54873], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.687086, 0.193443, 0.700352, 4.0646], [-0.725138, -0.121949, -0.677719, 7.89415], [-0.0456928, -0.973503, 0.224062, 1.6029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.706547, 0.132761, 0.695102, 4.06473], [-0.706028, -0.0654414, -0.705154, 7.89619], [-0.0481287, -0.988985, 0.139971, 1.60428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.767203, 0.0106743, 0.641316, 4.15143], [-0.637749, 0.0938936, -0.7645, 7.87559], [-0.068376, -0.995525, -0.065228, 1.51234], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.8972, -0.00559791, 0.441589, 4.31254], [-0.440862, 0.0700858, -0.894835, 7.84617], [-0.0259399, -0.997525, -0.0653489, 1.51646], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.920646, -0.037694, 0.388574, 4.62776], [-0.390372, 0.0773629, -0.917401, 8.00036], [0.00451931, -0.99629, -0.0859386, 1.51382], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.942076, -0.0247238, 0.334488, 4.96559], [-0.335198, 0.104043, -0.936385, 8.09633], [-0.01165, -0.994265, -0.106303, 1.48951], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.986846, -0.0463121, 0.154889, 5.3217], [-0.160275, 0.154902, -0.974842, 8.12527], [0.0211543, -0.986844, -0.160288, 1.49148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.999521, 0.022315, -0.0214605, 5.55284], [0.0249494, 0.17013, -0.985106, 8.26333], [-0.0183316, -0.985169, -0.170606, 1.51788], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.991131, 0.0597955, -0.118674, 5.6716], [0.131077, 0.293003, -0.947084, 8.42771], [-0.0218596, -0.95424, -0.298242, 1.47441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.990864, 0.0745865, -0.112366, 5.80215], [0.132253, 0.374102, -0.917909, 8.46263], [-0.0264273, -0.924383, -0.380548, 1.43098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.993183, 0.0609593, -0.0993576, 5.80204], [0.114901, 0.368335, -0.922566, 8.44483], [-0.0196421, -0.927693, -0.372828, 1.43431], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.987984, 0.0992116, -0.118508, 5.79099], [0.148351, 0.393697, -0.90719, 8.41385], [-0.0433475, -0.913871, -0.403685, 1.42284], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.985871, 0.135297, -0.0987614, 5.66031], [0.1496, 0.445915, -0.882485, 8.31508], [-0.0753587, -0.884791, -0.459855, 1.39629], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.953553, 0.197792, -0.227191, 5.45995], [0.293704, 0.442986, -0.847055, 8.23314], [-0.0668982, -0.874438, -0.480502, 1.38471], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.902176, 0.222709, -0.369433, 5.41522], [0.428545, 0.364873, -0.82657, 8.19146], [-0.0492878, -0.904029, -0.42462, 1.41235], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.929865, 0.170316, -0.326106, 5.27758], [0.362015, 0.265645, -0.89352, 8.21177], [-0.0655519, -0.948907, -0.308671, 1.47393], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.965602, 0.104292, -0.238197, 5.19672], [0.248709, 0.103093, -0.963076, 8.26026], [-0.0758843, -0.989189, -0.125484, 1.53507], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.970962, 0.045761, -0.234818, 5.20045], [0.232773, -0.0458806, -0.971448, 8.27312], [-0.055228, -0.997898, 0.0338963, 1.58404], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.948292, 0.0638296, -0.310915, 5.1098], [0.313974, 0.0451102, -0.948359, 8.17805], [-0.0465079, -0.996941, -0.0628185, 1.55874], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.921374, 0.211993, -0.325774, 4.97535], [0.375874, 0.272635, -0.885657, 8.07568], [-0.098936, -0.938472, -0.330881, 1.44899], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.960844, 0.15531, -0.229472, 4.75589], [0.274324, 0.416464, -0.866778, 8.10738], [-0.0390527, -0.895788, -0.442763, 1.40221], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.956975, 0.180576, -0.22714, 4.4724], [0.282941, 0.407014, -0.868495, 7.93733], [-0.0643799, -0.895395, -0.440594, 1.37375], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.984168, 0.113917, -0.135782, 4.129], [0.172896, 0.448478, -0.876912, 7.80924], [-0.0389997, -0.886504, -0.461073, 1.37829], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.997757, -0.00211995, 0.066916, 3.79675], [-0.0617237, 0.416256, -0.90715, 7.68689], [-0.025931, -0.909245, -0.415452, 1.41298], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.952397, -0.0799366, 0.294193, 3.44397], [-0.301513, 0.389583, -0.870238, 7.65473], [-0.0450487, -0.917516, -0.39514, 1.47296], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.90029, -0.108214, 0.421624, 3.14398], [-0.430919, 0.358478, -0.828131, 7.60418], [-0.0615273, -0.927245, -0.369366, 1.44324], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.82917, -0.150028, 0.538488, 2.86599], [-0.555666, 0.326217, -0.764734, 7.50114], [-0.0609328, -0.933313, -0.353855, 1.4843], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.798395, -0.0913202, 0.59517, 2.68159], [-0.595483, 0.266269, -0.757959, 7.35902], [-0.0892585, -0.959563, -0.266967, 1.54788], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.836621, -0.0565805, 0.544853, 2.72458], [-0.546634, 0.150614, -0.823715, 7.14458], [-0.0354562, -0.986972, -0.156936, 1.60009], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.835192, -0.0627683, 0.546366, 2.6832], [-0.543496, 0.246068, -0.802535, 6.95667], [-0.0840695, -0.967218, -0.239628, 1.54024], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.857928, -0.156002, 0.489513, 2.66391], [-0.510392, 0.367859, -0.77729, 6.91218], [-0.0588126, -0.916702, -0.395219, 1.44957], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.901078, -0.204879, 0.382209, 2.67727], [-0.43318, 0.466588, -0.771136, 6.97373], [-0.0203445, -0.860419, -0.509182, 1.36111], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.976067, -0.116883, 0.18339, 2.88278], [-0.217375, 0.549301, -0.806855, 7.1555], [-0.0064292, -0.827409, -0.561562, 1.34355], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.999926, -0.00937543, 0.00786509, 3.22259], [-0.0117617, 0.55883, -0.829199, 7.14103], [0.00337886, -0.829229, -0.558899, 1.34613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.973266, 0.122351, -0.194379, 3.57955], [0.229505, 0.485004, -0.84386, 7.13339], [-0.0089725, -0.865911, -0.500118, 1.40259], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.871932, 0.233581, -0.430319, 3.76736], [0.489621, 0.411495, -0.768729, 6.97162], [-0.00248655, -0.880972, -0.473162, 1.38372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.689113, 0.390001, -0.610757, 3.97741], [0.72204, 0.298007, -0.62438, 6.81389], [-0.0614983, -0.871258, -0.486957, 1.38634], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.575436, 0.328923, -0.748788, 3.94101], [0.816448, 0.177496, -0.549462, 6.65906], [-0.0478234, -0.927526, -0.370686, 1.436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.44995, 0.24707, -0.858196, 3.86424], [0.892742, 0.0990654, -0.439542, 6.52616], [-0.0235801, -0.96392, -0.265144, 1.456], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.348581, 0.0982956, -0.93211, 3.82756], [0.936956, 0.010467, -0.34929, 6.39741], [-0.0245772, -0.995102, -0.0957473, 1.55697], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.27529, 0.07014, -0.958799, 3.76809], [0.958217, -0.0605795, -0.279555, 6.51052], [-0.0776915, -0.995696, -0.0505323, 1.56693], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.0778527, 0.237375, -0.968294, 3.71184], [0.996061, -0.0228229, -0.0856801, 6.67546], [-0.0424375, -0.97115, -0.234663, 1.46105], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.0843719, 0.276456, -0.957316, 3.75764], [0.996104, -0.0481222, 0.0738938, 6.51494], [-0.0256397, -0.959821, -0.27944, 1.39797], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.225756, 0.306396, -0.924747, 3.62233], [0.972419, -0.127983, 0.19499, 6.28019], [-0.0586078, -0.943261, -0.326838, 1.3681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.363644, 0.359058, -0.859558, 3.49599], [0.931537, -0.141498, 0.334989, 6.02705], [-0.00134543, -0.922527, -0.385931, 1.31787], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.395697, 0.443739, -0.804065, 3.45073], [0.918076, -0.168542, 0.358791, 5.91417], [0.0236903, -0.880165, -0.474077, 1.29376], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.447405, 0.436608, -0.780514, 3.38973], [0.894329, -0.216466, 0.391558, 5.8345], [0.0020023, -0.873222, -0.487319, 1.27206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.465518, 0.356822, -0.809921, 3.38054], [0.883843, -0.234975, 0.404484, 5.91878], [-0.0459827, -0.904138, -0.42476, 1.31946], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.434795, 0.391782, -0.81084, 3.51088], [0.900227, -0.212422, 0.380089, 6.25904], [-0.0233284, -0.895201, -0.445052, 1.29451], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[0.298382, 0.39647, -0.868205, 3.50466], [0.951457, -0.195502, 0.237717, 6.49975], [-0.0754875, -0.89699, -0.435558, 1.35348], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.257188, 0.382547, -0.887419, 3.54112], [0.962663, -0.181683, 0.200675, 6.80564], [-0.0844616, -0.905897, -0.414991, 1.32273], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[0.0587549, 0.367486, -0.928171, 3.74399], [0.996083, -0.083125, 0.0301428, 7.07932], [-0.0660772, -0.926307, -0.370931, 1.37202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[0.0682565, 0.383371, -0.921069, 3.97807], [0.995237, -0.0905738, 0.0360539, 7.2552], [-0.0696026, -0.919142, -0.387727, 1.33598], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.00390957, 0.428621, -0.903476, 4.14344], [0.996641, -0.0722364, -0.0385825, 7.54513], [-0.0818011, -0.900592, -0.426898, 1.28289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[0.121229, 0.623003, -0.772769, 4.21347], [0.990928, -0.121454, 0.0575375, 7.58967], [-0.0580096, -0.772733, -0.632074, 1.21545], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[0.174683, 0.63514, -0.752386, 4.17483], [0.983783, -0.144166, 0.106707, 7.58817], [-0.0406947, -0.758824, -0.650023, 1.20344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[0.200562, 0.609687, -0.76685, 3.924], [0.978901, -0.155951, 0.132033, 7.4858], [-0.0390921, -0.77715, -0.6281, 1.24513], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[0.187021, 0.555051, -0.81052, 3.71857], [0.980633, -0.154329, 0.120587, 7.43482], [-0.0581544, -0.817375, -0.573164, 1.31019], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[0.189443, 0.352986, -0.91625, 3.63365], [0.980992, -0.107982, 0.161229, 7.44825], [-0.0420266, -0.929377, -0.366732, 1.38276], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[0.178367, 0.244871, -0.953008, 3.78766], [0.983608, -0.0704382, 0.165995, 7.40725], [-0.0264806, -0.966994, -0.253421, 1.41935], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.111465, 0.171224, -0.978907, 3.89653], [0.993605, -0.0370444, 0.106659, 7.46869], [-0.0180003, -0.984535, -0.174258, 1.46722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[0.0866409, 0.08138, -0.99291, 3.9289], [0.995359, -0.0489611, 0.0828418, 7.64788], [-0.0418723, -0.99548, -0.0852443, 1.51812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.191145, 0.0624621, -0.979573, 3.98387], [0.98093, -0.0479553, 0.188352, 7.65582], [-0.0352108, -0.996895, -0.0704373, 1.51941], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.289675, -0.00703716, -0.9571, 4.09802], [0.955213, -0.0610504, 0.289553, 7.47367], [-0.0604689, -0.99811, -0.0109627, 1.52425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[0.318126, -0.0741949, -0.945141, 4.2289], [0.946736, -0.0275739, 0.320828, 7.39519], [-0.0498649, -0.996862, 0.061471, 1.58388], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[0.39063, -0.00951526, -0.920499, 4.25946], [0.919502, -0.043619, 0.390658, 7.36244], [-0.0438685, -0.999003, -0.00828955, 1.58269], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[0.476006, 0.0891266, -0.874914, 4.14815], [0.875606, -0.140847, 0.462034, 7.3051], [-0.0820495, -0.986011, -0.145084, 1.47043], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[0.524449, 0.18308, -0.831526, 4.04844], [0.84624, -0.219872, 0.485319, 7.33125], [-0.0939771, -0.958195, -0.270241, 1.36737], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.611514, 0.235471, -0.755383, 3.87938], [0.788908, -0.254596, 0.55929, 7.43811], [-0.0606207, -0.937942, -0.341453, 1.3367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.732982, 0.177456, -0.656695, 3.62274], [0.677753, -0.273124, 0.682681, 7.46871], [-0.0582131, -0.94547, -0.320466, 1.36613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.781001, 0.106869, -0.615319, 3.32534], [0.618467, -0.2693, 0.738224, 7.53743], [-0.0868127, -0.957108, -0.276418, 1.40461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[0.862728, 0.0320281, -0.504653, 3.00421], [0.5003, -0.199093, 0.842651, 7.57682], [-0.0734845, -0.979457, -0.187787, 1.43975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.946111, -0.0433016, -0.320935, 2.71551], [0.318351, -0.0573845, 0.946235, 7.66144], [-0.0593901, -0.997413, -0.040507, 1.51258], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[0.984289, -0.0725683, -0.160963, 2.52343], [0.162039, 0.00914943, 0.986742, 7.72713], [-0.0701334, -0.997321, 0.0207646, 1.57725], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[0.994783, -0.0951053, -0.0368989, 2.40405], [0.0206056, -0.166921, 0.985755, 7.71954], [-0.0999097, -0.981373, -0.16409, 1.48906], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[0.996016, -0.0683627, -0.0572638, 2.43281], [0.035749, -0.282195, 0.958691, 7.8111], [-0.0816983, -0.956918, -0.278627, 1.40197], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[0.999239, -0.0338966, -0.0193041, 2.28089], [0.00734162, -0.322608, 0.946504, 8.04428], [-0.0383109, -0.945926, -0.322114, 1.3706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[0.997143, -0.07265, 0.0207047, 2.18818], [-0.0449012, -0.349575, 0.935832, 8.31653], [-0.0607503, -0.934087, -0.351838, 1.36976], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[0.969779, -0.145412, 0.195919, 1.95767], [-0.233015, -0.313911, 0.920415, 8.41118], [-0.0723381, -0.938251, -0.338308, 1.3711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[0.944295, -0.159186, 0.288042, 1.6543], [-0.326544, -0.344299, 0.880242, 8.35587], [-0.0409493, -0.925266, -0.377101, 1.40839], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[0.953534, -0.141448, 0.266017, 1.62688], [-0.292661, -0.225104, 0.929343, 8.24856], [-0.0715724, -0.964013, -0.25604, 1.45762], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[0.936986, -0.145149, 0.31779, 1.58342], [-0.346014, -0.259788, 0.901546, 8.1258], [-0.0483008, -0.954695, -0.293641, 1.45018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[0.890272, -0.258781, 0.374765, 1.55222], [-0.449354, -0.365148, 0.815321, 8.17999], [-0.0741446, -0.894259, -0.441365, 1.39116], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[0.789194, -0.346519, 0.507048, 1.5945], [-0.613363, -0.403103, 0.679186, 8.24072], [-0.0309579, -0.847014, -0.530668, 1.3557], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[0.724616, -0.339654, 0.599639, 1.79945], [-0.686774, -0.283666, 0.669235, 8.2874], [-0.0572109, -0.896755, -0.438814, 1.38307], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[0.647355, -0.3271, 0.688431, 1.95256], [-0.759687, -0.203785, 0.617533, 8.35734], [-0.0617031, -0.922755, -0.380415, 1.42335], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[0.637044, -0.247115, 0.730144, 2.07294], [-0.767237, -0.111944, 0.631519, 8.44399], [-0.0743227, -0.962498, -0.260908, 1.48344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[0.695265, -0.200553, 0.690206, 2.30873], [-0.715703, -0.104803, 0.690496, 8.33123], [-0.0661458, -0.974061, -0.216402, 1.48922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[0.660281, -0.321247, 0.678845, 2.47457], [-0.748075, -0.201373, 0.632323, 8.21922], [-0.0664311, -0.925337, -0.373279, 1.4084], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[0.7342, -0.351899, 0.580619, 2.6256], [-0.678302, -0.343328, 0.64964, 8.1413], [-0.0292648, -0.8708, -0.490765, 1.36642], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[0.712344, -0.334396, 0.617045, 2.83351], [-0.701732, -0.324597, 0.6342, 7.84593], [-0.0117831, -0.884769, -0.465881, 1.39202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[0.662898, -0.273459, 0.696984, 2.91086], [-0.742536, -0.120816, 0.65882, 7.75432], [-0.0959533, -0.954266, -0.283142, 1.47982], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[0.340068, -0.313552, 0.886589, 2.8912], [-0.938244, -0.0493113, 0.342442, 7.89067], [-0.0636546, -0.94829, -0.310958, 1.43781], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[0.112652, -0.313925, 0.942741, 2.95636], [-0.99324, -0.00883455, 0.115745, 8.03573], [-0.0280065, -0.949407, -0.312798, 1.39887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[-0.043932, -0.332676, 0.942018, 3.10861], [-0.99878, 0.035912, -0.0338969, 8.11771], [-0.0225531, -0.942357, -0.333848, 1.39725], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[-0.144881, -0.292245, 0.945306, 3.26899], [-0.988507, 0.0844417, -0.125396, 8.1601], [-0.0431767, -0.952608, -0.30112, 1.40825], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[-0.28715, -0.348508, 0.892238, 3.43592], [-0.956625, 0.15211, -0.248457, 8.01526], [-0.0491293, -0.924881, -0.37707, 1.40185], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[-0.55031, -0.283279, 0.785438, 3.47476], [-0.831591, 0.270379, -0.485131, 8.19305], [-0.0749384, -0.920135, -0.384364, 1.39239], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[-0.76215, -0.239574, 0.601442, 3.36865], [-0.644955, 0.361643, -0.673237, 8.27909], [-0.0562171, -0.90101, -0.43014, 1.39176], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[-0.909181, -0.129543, 0.395739, 3.20895], [-0.411109, 0.430307, -0.803633, 8.21177], [-0.0661838, -0.893339, -0.444483, 1.39514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[-0.968641, -0.0278949, 0.246896, 3.14455], [-0.231317, 0.464011, -0.855094, 8.05265], [-0.0907098, -0.88539, -0.455913, 1.38548], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[-0.971597, -0.0352728, 0.234, 2.9636], [-0.22676, 0.42155, -0.877995, 7.75259], [-0.0676732, -0.906119, -0.417575, 1.42551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[-0.969191, -0.0638946, 0.237878, 2.90522], [-0.242823, 0.409777, -0.879272, 7.35739], [-0.0412962, -0.909945, -0.412668, 1.45063], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[-0.913182, -0.110113, 0.392394, 2.8243], [-0.405701, 0.33723, -0.849519, 6.99644], [-0.0387844, -0.93496, -0.352625, 1.50139], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[-0.90697, -0.0485744, 0.418385, 2.84867], [-0.415255, 0.269357, -0.868913, 6.83976], [-0.0704878, -0.961815, -0.264469, 1.57353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[-0.870954, -0.0315091, 0.490353, 2.77924], [-0.488071, 0.170827, -0.855924, 6.64027], [-0.0567964, -0.984797, -0.164161, 1.63475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[-0.862335, -0.0117846, 0.506202, 2.74802], [-0.499763, 0.18041, -0.847166, 6.47659], [-0.0813401, -0.983521, -0.161463, 1.63373], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3460", "pose": [[-0.843049, 0.00722839, 0.537788, 2.79366], [-0.532046, 0.135117, -0.835865, 6.2566], [-0.0787063, -0.990803, -0.110064, 1.63552], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3480", "pose": [[-0.757374, -0.0516949, 0.650932, 2.69132], [-0.652573, 0.0951648, -0.751726, 5.99858], [-0.0230855, -0.994118, -0.10581, 1.63596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3500", "pose": [[-0.697901, -0.0468375, 0.714661, 2.61514], [-0.713629, 0.129854, -0.688383, 5.7525], [-0.0605594, -0.990426, -0.12405, 1.58736], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3520", "pose": [[-0.576788, -0.118381, 0.808271, 2.56647], [-0.811894, 0.192373, -0.551199, 5.57971], [-0.090238, -0.974155, -0.207072, 1.53236], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3540", "pose": [[-0.442876, -0.150583, 0.883848, 2.38096], [-0.89465, 0.138914, -0.424622, 5.36404], [-0.0588381, -0.978789, -0.196241, 1.53937], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3560", "pose": [[-0.35359, -0.283899, 0.891278, 2.36163], [-0.933882, 0.161414, -0.319077, 5.24611], [-0.0532786, -0.94517, -0.322203, 1.44335], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3580", "pose": [[-0.133458, -0.426032, 0.894811, 2.21222], [-0.990393, 0.0903227, -0.10471, 5.12248], [-0.0362117, -0.900188, -0.433993, 1.40503], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3600", "pose": [[-0.104783, -0.547606, 0.830149, 2.13019], [-0.991516, 0.122085, -0.0446186, 5.10838], [-0.0769154, -0.827782, -0.555753, 1.33492], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3620", "pose": [[-0.24886, -0.545795, 0.800111, 2.07516], [-0.966826, 0.189111, -0.171712, 5.11788], [-0.05759, -0.8163, -0.57475, 1.34989], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3640", "pose": [[-0.161271, -0.353716, 0.921345, 2.11802], [-0.985262, 0.111636, -0.1296, 5.00128], [-0.0570132, -0.928667, -0.366507, 1.43725], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3660", "pose": [[-0.100726, -0.224936, 0.969153, 2.15761], [-0.99178, 0.0999608, -0.0798769, 4.87822], [-0.0789102, -0.969232, -0.233156, 1.52522], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3680", "pose": [[-0.149302, -0.136455, 0.979331, 2.21678], [-0.986571, 0.0868955, -0.138298, 4.781], [-0.066228, -0.986828, -0.147596, 1.58127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3700", "pose": [[-0.137801, 0.0309832, 0.989975, 2.26629], [-0.98438, 0.106288, -0.140349, 4.60619], [-0.109571, -0.993852, 0.0158526, 1.65719], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3720", "pose": [[-0.0418186, -0.0144198, 0.999021, 2.27298], [-0.99475, 0.0940708, -0.0402821, 4.39556], [-0.0933979, -0.995461, -0.018278, 1.65155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3740", "pose": [[0.012439, 0.00227132, 0.99992, 2.32723], [-0.994025, 0.108476, 0.0121191, 4.34105], [-0.108439, -0.994097, 0.00360706, 1.65389], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3760", "pose": [[0.0806884, 0.0408164, 0.995904, 2.39546], [-0.990999, 0.110367, 0.0757676, 4.24101], [-0.106823, -0.993052, 0.0493544, 1.64313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3780", "pose": [[0.144469, 0.0278787, 0.989117, 2.46973], [-0.980459, 0.138919, 0.139289, 4.1406], [-0.133524, -0.989911, 0.0474034, 1.62343], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3800", "pose": [[0.0921552, -0.0358517, 0.995099, 2.60375], [-0.985569, 0.139224, 0.0962884, 4.09409], [-0.141994, -0.989612, -0.0225041, 1.57751], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3820", "pose": [[0.318619, 0.0131691, 0.947792, 2.63365], [-0.945275, 0.0785288, 0.316682, 3.93431], [-0.0702586, -0.996825, 0.0374691, 1.59843], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3840", "pose": [[0.412565, -0.0139459, 0.910821, 2.6334], [-0.907279, 0.0831112, 0.412234, 3.74415], [-0.0814486, -0.996443, 0.0216359, 1.61389], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3860", "pose": [[0.414092, 0.00330099, 0.910229, 2.6386], [-0.90972, 0.0351186, 0.413733, 3.7183], [-0.0306004, -0.999378, 0.0175453, 1.62741], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3880", "pose": [[0.419532, -0.235368, 0.876695, 2.63088], [-0.901644, 0.00369099, 0.432462, 3.75476], [-0.105024, -0.971899, -0.21067, 1.48707], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3900", "pose": [[0.449315, -0.288057, 0.845659, 2.60222], [-0.887671, -0.0371702, 0.458975, 3.76542], [-0.100778, -0.956892, -0.272401, 1.42822], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3920", "pose": [[0.370805, -0.391535, 0.842143, 2.5957], [-0.927026, -0.101446, 0.361015, 3.88845], [-0.0559185, -0.914554, -0.40058, 1.37644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3940", "pose": [[0.0452131, -0.540134, 0.840364, 2.61294], [-0.997988, 0.0130069, 0.0620534, 4.17453], [-0.0444477, -0.841479, -0.538459, 1.34684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3960", "pose": [[-0.161212, -0.567716, 0.807285, 2.65752], [-0.986607, 0.113312, -0.117336, 4.4049], [-0.0248618, -0.815389, -0.57838, 1.31552], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3980", "pose": [[-0.469832, -0.460273, 0.753265, 2.63946], [-0.882171, 0.275884, -0.381659, 4.7234], [-0.0321464, -0.843823, -0.535658, 1.35571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4000", "pose": [[-0.710032, -0.354873, 0.608212, 2.56247], [-0.703243, 0.401651, -0.586622, 4.88936], [-0.0361121, -0.844241, -0.534746, 1.34969], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4020", "pose": [[-0.765831, -0.268164, 0.584458, 2.44992], [-0.636796, 0.442637, -0.631318, 4.98923], [-0.0894062, -0.855664, -0.509751, 1.3626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4040", "pose": [[-0.826721, -0.173102, 0.535321, 2.51065], [-0.561087, 0.323685, -0.761846, 5.08768], [-0.0413979, -0.930196, -0.364722, 1.43782], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4060", "pose": [[-0.886051, -0.0664297, 0.458805, 2.62919], [-0.461934, 0.210045, -0.861683, 5.18738], [-0.0391284, -0.975432, -0.216797, 1.50869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4080", "pose": [[-0.880761, -0.033391, 0.472383, 2.60143], [-0.473298, 0.0953616, -0.875725, 5.19932], [-0.0158059, -0.994882, -0.0997947, 1.52236], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4100", "pose": [[-0.912613, -0.0146795, 0.408561, 2.54151], [-0.408817, 0.0269259, -0.912219, 5.19084], [0.00239001, -0.99953, -0.0305742, 1.54961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4120", "pose": [[-0.952791, -0.0319639, 0.30194, 2.43884], [-0.300641, 0.238432, -0.923453, 5.13912], [-0.0424748, -0.970633, -0.236785, 1.50324], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4140", "pose": [[-0.983476, -0.0461166, 0.175066, 2.43494], [-0.179766, 0.363205, -0.914203, 5.13703], [-0.0214248, -0.930567, -0.365494, 1.41845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4160", "pose": [[-0.999149, 0.00777827, 0.0405105, 2.60543], [-0.0345365, 0.379283, -0.924636, 5.1943], [-0.022557, -0.925248, -0.378691, 1.41206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4180", "pose": [[-0.998467, 0.0219027, -0.0508371, 2.51671], [0.0553387, 0.372825, -0.926251, 4.99726], [-0.00133404, -0.927643, -0.373465, 1.40948], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4200", "pose": [[-0.97864, 0.0904287, -0.184627, 2.56296], [0.205045, 0.364386, -0.908394, 4.79639], [-0.0148692, -0.926847, -0.375145, 1.39123], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4220", "pose": [[-0.976173, 0.0233268, -0.215739, 2.87953], [0.202383, 0.456549, -0.866374, 4.66103], [0.0782859, -0.889392, -0.450392, 1.32646], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4240", "pose": [[-0.943108, 0.11597, -0.311606, 2.99478], [0.331331, 0.405878, -0.851753, 4.45616], [0.0276957, -0.90654, -0.421211, 1.30147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4260", "pose": [[-0.869624, 0.188863, -0.456163, 3.20032], [0.492444, 0.39805, -0.773987, 4.3189], [0.0353985, -0.897712, -0.439159, 1.26081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4280", "pose": [[-0.904259, 0.179586, -0.387381, 3.22349], [0.426824, 0.405027, -0.808563, 4.30872], [0.0116925, -0.896494, -0.442901, 1.26638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4300", "pose": [[-0.97376, 0.148879, -0.172124, 2.89654], [0.218879, 0.405564, -0.887474, 4.43649], [-0.0623189, -0.901861, -0.427508, 1.32075], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4320", "pose": [[-0.997932, -0.0103634, 0.0634388, 2.64182], [-0.0609202, 0.46736, -0.881966, 4.41458], [-0.0205086, -0.884006, -0.467025, 1.32833], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4340", "pose": [[-0.913593, -0.12018, 0.388465, 2.37203], [-0.4037, 0.38255, -0.831072, 4.29338], [-0.0487291, -0.916085, -0.398012, 1.43973], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4360", "pose": [[-0.888019, -0.158842, 0.4315, 2.23834], [-0.459202, 0.354485, -0.814539, 4.11546], [-0.0235771, -0.921471, -0.38773, 1.48], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4380", "pose": [[-0.951611, -0.0687093, 0.299524, 2.28911], [-0.305174, 0.32585, -0.894813, 3.97839], [-0.0361181, -0.942921, -0.331051, 1.50586], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4400", "pose": [[-0.940439, -0.0666173, 0.333371, 2.19474], [-0.338284, 0.280688, -0.898208, 3.89429], [-0.0337372, -0.957484, -0.286506, 1.55385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4420", "pose": [[-0.920536, -0.0267792, 0.389739, 2.16857], [-0.388884, 0.157785, -0.907675, 3.85068], [-0.0371881, -0.98711, -0.15566, 1.62715], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4440", "pose": [[-0.901503, 0.0190084, 0.432356, 2.17649], [-0.42947, 0.0839046, -0.899175, 3.84086], [-0.0533685, -0.996292, -0.0674766, 1.71107], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4460", "pose": [[-0.918985, 0.0330303, 0.392907, 2.15886], [-0.394173, -0.0524738, -0.917537, 3.86629], [-0.00968924, -0.998076, 0.0612423, 1.73963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4480", "pose": [[-0.928687, 0.0439727, 0.368249, 2.13506], [-0.370843, -0.0992389, -0.923378, 3.88432], [-0.00405881, -0.994092, 0.108469, 1.75879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4500", "pose": [[-0.966975, 0.020933, 0.254009, 2.11974], [-0.254242, -0.00929972, -0.967096, 3.86606], [-0.0178821, -0.999738, 0.0143146, 1.726], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4520", "pose": [[-0.991568, 0.0386043, 0.123705, 2.29009], [-0.118034, 0.124978, -0.985113, 3.94575], [-0.0534901, -0.991408, -0.119368, 1.60567], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4540", "pose": [[-0.99849, 0.0363165, -0.0412191, 2.43593], [0.0489818, 0.248814, -0.967312, 3.9531], [-0.0248735, -0.96787, -0.250217, 1.5276], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4560", "pose": [[-0.959125, 0.069406, -0.274339, 2.56182], [0.282965, 0.246061, -0.92703, 3.82601], [0.0031629, -0.966766, -0.255643, 1.51014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4580", "pose": [[-0.868975, 0.173263, -0.463533, 2.8314], [0.494427, 0.264962, -0.827851, 3.82631], [-0.0206173, -0.948565, -0.315911, 1.44733], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4600", "pose": [[-0.849479, 0.108597, -0.516327, 2.93704], [0.527028, 0.128158, -0.840129, 3.86876], [-0.0250638, -0.98579, -0.166102, 1.53428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4620", "pose": [[-0.831086, 0.0502193, -0.553873, 2.95449], [0.556124, 0.0664305, -0.82844, 3.97232], [-0.00480964, -0.996526, -0.0831375, 1.53911], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4640", "pose": [[-0.793519, 0.0115176, -0.608437, 3.01434], [0.608488, 0.0288571, -0.793039, 3.99706], [0.00842381, -0.999517, -0.029907, 1.54519], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4660", "pose": [[-0.697628, 0.0297892, -0.715841, 2.96906], [0.716268, 0.0521981, -0.695871, 3.97385], [0.0166361, -0.998192, -0.0577519, 1.52184], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4680", "pose": [[-0.609417, -0.0137746, -0.792731, 2.94606], [0.792538, 0.0174868, -0.609573, 3.90154], [0.0222589, -0.999752, 0.00026013, 1.57599], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4700", "pose": [[-0.520275, 0.0242881, -0.853654, 3.01291], [0.853627, -0.0147008, -0.520677, 3.67353], [-0.0251956, -0.999597, -0.0130845, 1.60175], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4720", "pose": [[-0.48634, -0.00494051, -0.873756, 2.95859], [0.87335, -0.0337443, -0.485923, 3.63629], [-0.0270836, -0.999418, 0.020726, 1.61842], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4740", "pose": [[-0.444854, -0.00154723, -0.895601, 2.88625], [0.895546, -0.0119695, -0.444806, 3.56911], [-0.0100316, -0.999927, 0.0067102, 1.59884], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4760", "pose": [[-0.36034, 0.00163965, -0.93282, 2.87493], [0.931078, -0.0604739, -0.359773, 3.3909], [-0.0570011, -0.998168, 0.0202645, 1.62916], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4780", "pose": [[-0.298572, -0.0394252, -0.953573, 2.87257], [0.95356, -0.0539205, -0.296338, 3.34444], [-0.0397338, -0.997767, 0.0536934, 1.65811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4800", "pose": [[-0.247288, 0.0189398, -0.968757, 2.86992], [0.9688, 0.0219242, -0.24687, 3.43241], [0.0165636, -0.99958, -0.0237706, 1.62546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4820", "pose": [[-0.367267, -0.0387841, -0.929307, 3.00475], [0.929953, 0.00339362, -0.367664, 3.66722], [0.0174132, -0.999242, 0.034821, 1.60555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4840", "pose": [[-0.334024, -0.199627, -0.921183, 3.15631], [0.942562, -0.0729459, -0.325968, 3.66125], [-0.00212432, -0.977153, 0.212526, 1.64596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4860", "pose": [[-0.270134, -0.0880938, -0.958785, 3.21555], [0.962599, -0.0462087, -0.266962, 3.62856], [-0.0207864, -0.99504, 0.0972815, 1.62309], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4880", "pose": [[-0.132819, 0.0490024, -0.989928, 3.13168], [0.991139, 0.00835413, -0.132567, 3.62022], [0.00177389, -0.998764, -0.0496778, 1.51738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4900", "pose": [[0.0305182, 0.117904, -0.992556, 3.09684], [0.999376, 0.0140876, 0.0324014, 3.49745], [0.017803, -0.992925, -0.117401, 1.47049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4920", "pose": [[0.197835, 0.310619, -0.929719, 3.12477], [0.980221, -0.0678226, 0.185921, 3.3507], [-0.00530523, -0.948112, -0.317893, 1.3645], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4940", "pose": [[0.145217, 0.44583, -0.88326, 3.15084], [0.98821, -0.0215966, 0.151571, 3.33216], [0.0484993, -0.894857, -0.44371, 1.26832], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4960", "pose": [[0.0355824, 0.476335, -0.878544, 3.25365], [0.998663, 0.0160371, 0.0491426, 3.63653], [0.0374976, -0.879118, -0.475127, 1.28898], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4980", "pose": [[-0.139005, 0.39728, -0.907109, 3.20922], [0.986554, -0.0239518, -0.161669, 3.85138], [-0.0859548, -0.917385, -0.388608, 1.32593], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5000", "pose": [[-0.232886, 0.403678, -0.884765, 3.01319], [0.970419, 0.036918, -0.238588, 4.06942], [-0.0636487, -0.914156, -0.400334, 1.33992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5020", "pose": [[-0.504642, 0.367609, -0.781153, 2.84566], [0.863013, 0.190333, -0.467955, 4.3864], [-0.0233453, -0.910295, -0.413301, 1.36189], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5040", "pose": [[-0.665045, 0.315244, -0.677006, 2.77457], [0.746393, 0.310623, -0.588567, 4.5824], [0.0247514, -0.896736, -0.441874, 1.31445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5060", "pose": [[-0.67652, 0.310201, -0.667905, 2.78017], [0.734652, 0.347168, -0.58289, 4.75678], [0.0510621, -0.885014, -0.462755, 1.35651], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5080", "pose": [[-0.785223, 0.194856, -0.587756, 2.8743], [0.618169, 0.301779, -0.725807, 4.78494], [0.0359448, -0.933253, -0.357418, 1.41193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5100", "pose": [[-0.865427, 0.167578, -0.472181, 2.86162], [0.500137, 0.232499, -0.834151, 4.77566], [-0.0300042, -0.958051, -0.285023, 1.46179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5120", "pose": [[-0.891971, 0.105459, -0.43962, 2.74319], [0.451171, 0.145596, -0.880481, 4.9351], [-0.0288476, -0.983707, -0.177448, 1.51867], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5140", "pose": [[-0.866861, 0.0107995, -0.498433, 2.75047], [0.498249, -0.0159914, -0.866887, 4.97041], [-0.0173326, -0.999814, 0.00848143, 1.58886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5160", "pose": [[-0.905224, -0.0215629, -0.424388, 2.78309], [0.42493, -0.0409252, -0.904301, 4.94128], [0.00213127, -0.99893, 0.0462091, 1.58836], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5180", "pose": [[-0.730678, -0.00915526, -0.682661, 2.76975], [0.682544, 0.0130337, -0.730728, 4.87069], [0.0155876, -0.999873, -0.00327455, 1.55298], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5200", "pose": [[-0.601812, 0.031249, -0.798026, 2.86594], [0.7982, 0.0566266, -0.599725, 4.77652], [0.0264487, -0.997906, -0.0590215, 1.53754], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5220", "pose": [[-0.535533, 0.0267897, -0.844089, 2.92097], [0.843784, 0.0585403, -0.533481, 4.85931], [0.0351215, -0.997925, -0.053955, 1.52672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5240", "pose": [[-0.468659, 0.172444, -0.866385, 2.97502], [0.883363, 0.0974478, -0.458447, 5.05889], [0.00537072, -0.980187, -0.198001, 1.44311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5260", "pose": [[-0.266117, 0.345027, -0.900077, 2.95294], [0.963799, 0.0792564, -0.254576, 5.14569], [-0.0164988, -0.935241, -0.353628, 1.40328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5280", "pose": [[-0.15792, 0.462773, -0.872298, 2.93107], [0.987372, 0.062738, -0.145469, 5.16598], [-0.0125926, -0.884254, -0.466836, 1.36762], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5300", "pose": [[-0.319505, 0.521994, -0.790847, 2.92924], [0.947464, 0.162695, -0.275393, 5.16324], [-0.0150865, -0.837289, -0.546553, 1.33517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5320", "pose": [[-0.44146, 0.45753, -0.771867, 2.78709], [0.895294, 0.28181, -0.345008, 5.2043], [0.0596689, -0.843356, -0.534032, 1.34148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5340", "pose": [[-0.544131, 0.446877, -0.710087, 2.63684], [0.838949, 0.299187, -0.45459, 5.49673], [0.0093023, -0.843083, -0.537704, 1.36776], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5360", "pose": [[-0.764971, 0.337395, -0.54862, 2.72891], [0.643776, 0.426023, -0.635654, 5.89985], [0.0192584, -0.839445, -0.543103, 1.38506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5380", "pose": [[-0.900103, 0.243223, -0.361465, 2.75704], [0.435674, 0.499012, -0.749116, 6.17444], [-0.0018271, -0.831763, -0.555128, 1.39596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5400", "pose": [[-0.968762, 0.134828, -0.208136, 2.68658], [0.24793, 0.545196, -0.800807, 6.31408], [0.00550356, -0.827395, -0.561593, 1.39549], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5420", "pose": [[-0.997697, -0.00230865, -0.0677807, 2.76617], [0.0550451, 0.556261, -0.829182, 6.4274], [0.039618, -0.831004, -0.554853, 1.39267], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5440", "pose": [[-0.991458, -0.0826248, 0.100925, 2.8041], [-0.127809, 0.46098, -0.878159, 6.26241], [0.026033, -0.883556, -0.467602, 1.41833], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5460", "pose": [[-0.949725, -0.13131, 0.28422, 2.81917], [-0.312787, 0.437676, -0.842973, 5.79473], [-0.0137051, -0.889493, -0.456743, 1.40102], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5480", "pose": [[-0.920584, -0.131542, 0.367728, 2.88052], [-0.38891, 0.394884, -0.832356, 5.28246], [-0.0357201, -0.909266, -0.414681, 1.40769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5500", "pose": [[-0.887934, -0.157158, 0.43229, 2.91893], [-0.458026, 0.388444, -0.799577, 4.83696], [-0.0422607, -0.907972, -0.416895, 1.40163], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5520", "pose": [[-0.881915, -0.193691, 0.429779, 3.03308], [-0.470928, 0.403161, -0.784658, 4.43145], [-0.0212887, -0.894397, -0.446768, 1.39329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5540", "pose": [[-0.891219, -0.234497, 0.388253, 3.18201], [-0.451056, 0.368125, -0.813039, 4.09759], [0.0477294, -0.89972, -0.433851, 1.375], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5560", "pose": [[-0.94518, -0.165743, 0.281363, 3.45423], [-0.326273, 0.443746, -0.834647, 3.79254], [0.013483, -0.880692, -0.473497, 1.37517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5580", "pose": [[-0.984921, -0.115784, 0.128548, 3.61998], [-0.172278, 0.588349, -0.790041, 3.61164], [0.0158431, -0.800275, -0.599424, 1.3018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5600", "pose": [[-0.995559, -0.0362957, -0.0868675, 3.79123], [0.0405523, 0.667385, -0.743608, 3.57567], [0.0849638, -0.743828, -0.662949, 1.28049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5620", "pose": [[-0.970102, 0.0505688, -0.237373, 3.79767], [0.227666, 0.528488, -0.817844, 3.53108], [0.0840913, -0.847433, -0.5242, 1.35136], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5640", "pose": [[-0.938575, 0.125553, -0.321424, 3.73638], [0.338767, 0.512544, -0.789009, 3.57072], [0.0656811, -0.849432, -0.523594, 1.35641], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5660", "pose": [[-0.861609, 0.198621, -0.467097, 3.81311], [0.504094, 0.442403, -0.741733, 3.61311], [0.0593217, -0.874545, -0.481302, 1.36542], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5680", "pose": [[-0.839942, 0.278387, -0.46583, 3.7527], [0.542346, 0.46056, -0.70267, 3.73974], [0.0189293, -0.842843, -0.537826, 1.34527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5700", "pose": [[-0.834933, 0.254616, -0.487911, 3.70113], [0.550198, 0.365189, -0.750946, 3.85661], [-0.0130235, -0.895437, -0.444997, 1.38365], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5720", "pose": [[-0.827366, 0.202059, -0.52406, 3.70155], [0.560546, 0.23821, -0.793123, 3.84907], [-0.0354215, -0.949962, -0.31035, 1.45218], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5740", "pose": [[-0.826561, 0.158432, -0.540089, 3.69066], [0.561156, 0.157643, -0.812559, 3.83314], [-0.043594, -0.974704, -0.219207, 1.50222], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5760", "pose": [[-0.841353, 0.0802939, -0.53449, 3.70702], [0.537938, 0.0284742, -0.842503, 3.83022], [-0.0524286, -0.996364, -0.0671499, 1.57987], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5780", "pose": [[-0.838674, 0.0345973, -0.543535, 3.70577], [0.541688, -0.0506899, -0.83905, 3.84879], [-0.0565805, -0.998115, 0.0237714, 1.62632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5800", "pose": [[-0.866508, 0.030518, -0.49823, 3.71502], [0.49417, -0.0883917, -0.86486, 3.86072], [-0.0704332, -0.995618, 0.061511, 1.62758], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5820", "pose": [[-0.847779, 0.196223, -0.492714, 3.66215], [0.526769, 0.203772, -0.825222, 3.83022], [-0.0615266, -0.959152, -0.276118, 1.47696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5840", "pose": [[-0.922719, 0.203765, -0.327216, 3.69721], [0.383251, 0.393911, -0.835436, 3.81121], [-0.0413388, -0.896278, -0.441562, 1.3887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5860", "pose": [[-0.943676, 0.153783, -0.292961, 3.79178], [0.330265, 0.384242, -0.862139, 3.70887], [-0.0200146, -0.910335, -0.413389, 1.37183], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5880", "pose": [[-0.973727, 0.102131, -0.203533, 3.84801], [0.227715, 0.430457, -0.873414, 3.55321], [-0.00159033, -0.896814, -0.442404, 1.38134], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5900", "pose": [[-0.997411, 0.0292585, -0.0656916, 3.7383], [0.0717427, 0.467656, -0.880994, 3.3108], [0.00494447, -0.883426, -0.468544, 1.40206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5920", "pose": [[-0.985218, -0.108071, 0.132917, 3.75462], [-0.170686, 0.553267, -0.81533, 3.10761], [0.0145749, -0.825964, -0.563534, 1.33199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5940", "pose": [[-0.934388, -0.182512, 0.305956, 3.76874], [-0.355077, 0.546953, -0.758131, 2.96818], [-0.0289757, -0.817026, -0.575872, 1.35276], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5960", "pose": [[-0.91096, -0.167881, 0.376787, 3.76021], [-0.40887, 0.48832, -0.770953, 2.80759], [-0.0545641, -0.856364, -0.513481, 1.38059], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5980", "pose": [[-0.89824, -0.128312, 0.420358, 3.82941], [-0.433895, 0.411214, -0.801647, 2.70333], [-0.0699965, -0.902463, -0.425042, 1.4292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6000", "pose": [[-0.887531, -0.123835, 0.443795, 3.85957], [-0.453835, 0.401186, -0.795665, 2.59126], [-0.0795131, -0.907587, -0.412266, 1.42619], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6020", "pose": [[-0.827442, -0.121624, 0.548223, 3.85625], [-0.558846, 0.274083, -0.782669, 2.37493], [-0.055067, -0.953984, -0.294757, 1.47049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6040", "pose": [[-0.830024, -0.0462805, 0.555805, 3.86545], [-0.55499, 0.167162, -0.814888, 2.36764], [-0.0551961, -0.984843, -0.164434, 1.53569], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6060", "pose": [[-0.805561, 0.0486986, 0.590508, 3.84468], [-0.590884, 0.00781378, -0.806718, 2.40362], [-0.0439002, -0.998783, 0.0224807, 1.6097], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6080", "pose": [[-0.773753, 0.154748, 0.614296, 3.82371], [-0.63061, -0.0958442, -0.770159, 2.41278], [-0.0603038, -0.983294, 0.171745, 1.66691], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6100", "pose": [[-0.759367, 0.230695, 0.608393, 3.80239], [-0.648833, -0.198412, -0.734607, 2.42925], [-0.0487578, -0.952582, 0.30035, 1.70421], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6120", "pose": [[-0.77736, 0.262555, 0.571644, 3.7863], [-0.626014, -0.233613, -0.743998, 2.42248], [-0.0617971, -0.93621, 0.345965, 1.7322], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6140", "pose": [[-0.750183, 0.197657, 0.630998, 3.788], [-0.658218, -0.132233, -0.741123, 2.3962], [-0.0630495, -0.971312, 0.2293, 1.70571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6160", "pose": [[-0.7305, 0.113574, 0.673403, 3.80248], [-0.675642, 0.0233116, -0.736861, 2.38607], [-0.0993865, -0.993256, 0.0597063, 1.62173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6180", "pose": [[-0.729838, -0.0300433, 0.68296, 3.83173], [-0.676619, 0.174361, -0.715392, 2.3949], [-0.0975887, -0.984223, -0.147583, 1.54227], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6200", "pose": [[-0.698012, -0.17208, 0.695103, 3.86672], [-0.711493, 0.276423, -0.64604, 2.34908], [-0.0809717, -0.945504, -0.31538, 1.46503], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6220", "pose": [[-0.611221, -0.328507, 0.720065, 3.89956], [-0.789043, 0.323974, -0.52197, 2.24088], [-0.0618114, -0.8872, -0.457225, 1.39301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6240", "pose": [[-0.622617, -0.453721, 0.637562, 3.89057], [-0.780537, 0.418147, -0.464667, 2.24484], [-0.0557656, -0.78695, -0.614491, 1.32534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6260", "pose": [[-0.58153, -0.497467, 0.6437, 3.88187], [-0.812067, 0.402317, -0.422716, 2.22919], [-0.048684, -0.768549, -0.637936, 1.30093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6280", "pose": [[-0.319248, -0.616821, 0.719454, 3.86718], [-0.947083, 0.234411, -0.219284, 2.07277], [-0.0333888, -0.751388, -0.659015, 1.29511], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6300", "pose": [[-0.0988564, -0.673356, 0.73268, 3.8404], [-0.993924, 0.102628, -0.0397863, 2.06382], [-0.0484033, -0.732161, -0.67941, 1.29019], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6320", "pose": [[-0.0858285, -0.655222, 0.750546, 3.82626], [-0.994277, 0.10443, -0.0225338, 2.12853], [-0.0636149, -0.748184, -0.660435, 1.30161], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6340", "pose": [[0.187597, -0.667385, 0.720698, 3.79518], [-0.982074, -0.113715, 0.150329, 2.00042], [-0.0183729, -0.73598, -0.676754, 1.29411], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6360", "pose": [[0.24087, -0.621746, 0.745261, 3.77095], [-0.970336, -0.137857, 0.198605, 1.9246], [-0.0207426, -0.770991, -0.636508, 1.3318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6380", "pose": [[0.325898, -0.669057, 0.667947, 3.72866], [-0.944553, -0.200435, 0.260087, 1.97178], [-0.0401328, -0.715673, -0.697281, 1.31751], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6400", "pose": [[0.352319, -0.653131, 0.670292, 3.72324], [-0.934815, -0.211445, 0.285326, 1.99579], [-0.0446254, -0.727125, -0.685053, 1.32591], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6420", "pose": [[0.331817, -0.617769, 0.712923, 3.73238], [-0.94134, -0.167609, 0.292892, 1.99136], [-0.0614473, -0.76829, -0.637146, 1.35166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6440", "pose": [[0.305925, -0.528784, 0.791705, 3.72586], [-0.950105, -0.116362, 0.289414, 1.99242], [-0.0609132, -0.840742, -0.537999, 1.39306], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6460", "pose": [[0.337926, -0.440715, 0.831611, 3.70959], [-0.938387, -0.0898424, 0.333703, 2.00912], [-0.0723538, -0.89314, -0.443922, 1.4266], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6480", "pose": [[0.255405, -0.381485, 0.88839, 3.71371], [-0.964434, -0.0358237, 0.261884, 1.99718], [-0.0680795, -0.92368, -0.377067, 1.4561], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6500", "pose": [[0.224054, -0.318384, 0.921104, 3.71047], [-0.973296, -0.0246699, 0.228222, 1.99653], [-0.0499385, -0.947641, -0.315409, 1.47162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6520", "pose": [[0.187175, -0.299104, 0.935683, 3.74057], [-0.981146, -0.0102304, 0.192999, 1.96436], [-0.0481543, -0.954166, -0.29538, 1.49384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6540", "pose": [[0.145351, -0.155507, 0.977083, 3.75057], [-0.987845, 0.0321881, 0.152075, 1.95567], [-0.0550992, -0.98731, -0.148939, 1.56165], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6560", "pose": [[0.183691, -0.00785474, 0.982953, 3.72927], [-0.980576, 0.0684831, 0.183794, 1.95417], [-0.0687595, -0.997621, 0.00487749, 1.61731], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6580", "pose": [[0.221354, 0.101161, 0.969933, 3.71214], [-0.973703, 0.0778937, 0.21409, 1.95733], [-0.0538942, -0.991816, 0.115743, 1.67008], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6600", "pose": [[0.325595, 0.155945, 0.932561, 3.681], [-0.94435, 0.102466, 0.312576, 1.97117], [-0.0468114, -0.982437, 0.180629, 1.68223], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6620", "pose": [[0.376312, 0.0931373, 0.9218, 3.67691], [-0.924776, 0.0983021, 0.367594, 1.97684], [-0.0563782, -0.990789, 0.123123, 1.64976], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6640", "pose": [[0.255272, -0.15962, 0.953603, 3.74082], [-0.965537, 0.00967692, 0.260086, 1.97133], [-0.0507429, -0.987131, -0.151649, 1.58556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6660", "pose": [[0.140315, -0.372383, 0.917411, 3.80131], [-0.989029, -0.00948925, 0.147417, 1.95548], [-0.0461902, -0.92803, -0.369629, 1.45742], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6680", "pose": [[0.0427315, -0.535441, 0.843491, 3.83997], [-0.999086, -0.022319, 0.0364458, 2.01718], [-0.000688687, -0.844278, -0.535905, 1.37346], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6700", "pose": [[-0.273611, -0.593261, 0.757086, 3.88929], [-0.961129, 0.138369, -0.238925, 2.18267], [0.036988, -0.793029, -0.60806, 1.33166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6720", "pose": [[-0.642779, -0.50422, 0.576713, 3.9601], [-0.765928, 0.436554, -0.471992, 2.24697], [-0.0137788, -0.745107, -0.666803, 1.29475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6740", "pose": [[-0.920193, -0.244618, 0.305627, 4.00925], [-0.390273, 0.634163, -0.667476, 2.40593], [-0.0305404, -0.733484, -0.67902, 1.3139], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6760", "pose": [[-0.986617, -0.0869519, 0.137937, 3.99573], [-0.161935, 0.62152, -0.766479, 2.54719], [-0.019084, -0.778558, -0.627283, 1.33511], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6780", "pose": [[-0.989437, 0.117362, -0.0850919, 3.94065], [0.139004, 0.601524, -0.786668, 2.72478], [-0.0411402, -0.790187, -0.611483, 1.34707], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6800", "pose": [[-0.958896, 0.134847, -0.24967, 3.95268], [0.281848, 0.554545, -0.78297, 2.76389], [0.0328722, -0.821155, -0.569757, 1.36123], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6820", "pose": [[-0.919428, 0.255548, -0.298914, 3.88123], [0.388842, 0.477118, -0.788138, 2.79399], [-0.0587897, -0.840865, -0.538043, 1.39404], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6840", "pose": [[-0.919013, 0.262469, -0.294155, 3.83368], [0.38059, 0.39612, -0.835608, 2.79946], [-0.102801, -0.879886, -0.463932, 1.4278], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6860", "pose": [[-0.9024, 0.2187, -0.371275, 3.85341], [0.423532, 0.291522, -0.857692, 2.80894], [-0.0793423, -0.931228, -0.355695, 1.46573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6880", "pose": [[-0.910499, 0.198407, -0.362806, 3.83051], [0.398135, 0.183569, -0.898772, 2.82306], [-0.111723, -0.962776, -0.246132, 1.51481], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6900", "pose": [[-0.908708, 0.133834, -0.395397, 3.82697], [0.409996, 0.108137, -0.905654, 2.8322], [-0.0784502, -0.985086, -0.153137, 1.55635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6920", "pose": [[-0.909422, 0.0911034, -0.405775, 3.82521], [0.410126, 0.0347814, -0.911365, 2.84323], [-0.068915, -0.995234, -0.0689949, 1.61205], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6940", "pose": [[-0.909517, 0.0711254, -0.409537, 3.81881], [0.407786, -0.0382812, -0.912275, 2.86523], [-0.0805635, -0.996733, 0.00581351, 1.66567], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6960", "pose": [[-0.905304, 0.0236445, -0.424107, 3.82611], [0.420074, -0.09816, -0.902166, 2.8797], [-0.0629616, -0.99489, 0.0789322, 1.67617], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "6980", "pose": [[-0.900296, -0.00521872, -0.435248, 3.82138], [0.429496, -0.173106, -0.886323, 2.89798], [-0.0707184, -0.984889, 0.158088, 1.67074], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7000", "pose": [[-0.881902, -0.0438885, -0.469386, 3.81905], [0.467112, -0.215845, -0.857448, 2.90706], [-0.0636827, -0.975441, 0.210855, 1.65459], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7020", "pose": [[-0.868232, 0.102936, -0.485364, 3.78931], [0.493012, 0.0689893, -0.867283, 2.88316], [-0.05579, -0.992293, -0.110648, 1.55733], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7040", "pose": [[-0.876501, 0.213774, -0.431331, 3.82041], [0.476972, 0.264402, -0.838206, 2.92122], [-0.0651419, -0.940421, -0.333713, 1.49126], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7060", "pose": [[-0.923649, 0.196722, -0.328896, 3.77435], [0.375904, 0.297949, -0.877452, 3.14566], [-0.0746202, -0.934091, -0.349149, 1.45066], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7080", "pose": [[-0.932388, 0.220932, -0.28608, 3.77829], [0.345883, 0.315505, -0.883641, 3.26194], [-0.104965, -0.922847, -0.370589, 1.4195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7100", "pose": [[-0.969726, 0.18989, -0.153535, 3.74143], [0.208254, 0.314754, -0.926045, 3.39362], [-0.127521, -0.929985, -0.344771, 1.42047], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7120", "pose": [[-0.981311, 0.150115, -0.120396, 3.65648], [0.16534, 0.337649, -0.926637, 3.64721], [-0.0984507, -0.929225, -0.356158, 1.42307], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7140", "pose": [[-0.94957, 0.209158, -0.233602, 3.65472], [0.303137, 0.421914, -0.854457, 3.71679], [-0.0801572, -0.88218, -0.46404, 1.37959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7160", "pose": [[-0.928209, 0.2506, -0.275006, 3.61072], [0.358946, 0.408644, -0.839148, 3.80328], [-0.0979108, -0.877616, -0.469259, 1.37408], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7180", "pose": [[-0.905185, 0.278554, -0.321013, 3.49176], [0.416728, 0.43321, -0.799167, 3.91093], [-0.0835453, -0.857168, -0.508216, 1.34071], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7200", "pose": [[-0.799098, 0.37438, -0.470406, 3.3885], [0.594232, 0.373061, -0.71254, 3.89884], [-0.0912705, -0.84892, -0.520581, 1.32056], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7220", "pose": [[-0.713334, 0.423962, -0.558042, 3.30787], [0.699384, 0.379612, -0.605605, 3.77727], [-0.0449136, -0.822284, -0.567302, 1.30503], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7240", "pose": [[-0.613712, 0.381087, -0.69147, 3.36143], [0.788262, 0.246134, -0.563969, 3.81516], [-0.0447271, -0.891174, -0.451451, 1.35012], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7260", "pose": [[-0.445454, 0.31399, -0.83844, 3.47725], [0.893945, 0.104391, -0.435849, 3.84339], [-0.0493264, -0.94367, -0.327191, 1.4012], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7280", "pose": [[-0.286823, 0.211935, -0.934246, 3.50032], [0.953798, -0.0278862, -0.299152, 3.73558], [-0.0894533, -0.976886, -0.194145, 1.47902], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7300", "pose": [[-0.168451, 0.148678, -0.974433, 3.50725], [0.983574, -0.0396888, -0.176087, 3.75076], [-0.0648541, -0.988089, -0.13955, 1.5117], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7320", "pose": [[-0.108663, 0.0455845, -0.993033, 3.52414], [0.993226, -0.0364026, -0.110355, 3.86966], [-0.0411795, -0.998297, -0.0413201, 1.5793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7340", "pose": [[0.0203519, -0.0412265, -0.998942, 3.52175], [0.998691, -0.0460612, 0.0222479, 3.93315], [-0.0469296, -0.998088, 0.040235, 1.62241], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7360", "pose": [[0.215159, -0.0539432, -0.975088, 3.50523], [0.974599, -0.0516957, 0.21791, 4.05609], [-0.0621625, -0.997205, 0.0414502, 1.56865], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7380", "pose": [[0.277531, 0.100598, -0.955436, 3.47792], [0.957698, -0.107747, 0.266844, 4.15025], [-0.0761013, -0.989076, -0.126246, 1.47311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7400", "pose": [[0.403475, 0.209958, -0.890576, 3.40939], [0.91365, -0.145122, 0.379715, 4.18242], [-0.0495183, -0.96688, -0.250381, 1.42107], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7420", "pose": [[0.623412, 0.230126, -0.747262, 3.21102], [0.781262, -0.221737, 0.583491, 4.1695], [-0.031419, -0.947562, -0.318022, 1.40392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7440", "pose": [[0.647197, 0.21989, -0.729921, 3.02245], [0.760844, -0.245946, 0.600523, 4.19156], [-0.0474719, -0.944012, -0.326477, 1.40107], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7460", "pose": [[0.602167, 0.216713, -0.768395, 2.8803], [0.797383, -0.211088, 0.565351, 4.10862], [-0.03968, -0.953141, -0.299913, 1.43242], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7480", "pose": [[0.542059, 0.163751, -0.824232, 2.89361], [0.840332, -0.110101, 0.530774, 3.76061], [-0.00383405, -0.980338, -0.197286, 1.47357], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7500", "pose": [[0.582768, 0.145117, -0.799577, 2.99997], [0.812218, -0.135688, 0.567355, 3.76488], [-0.02616, -0.980066, -0.196941, 1.47965], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7520", "pose": [[0.686846, 0.110217, -0.718397, 3.07766], [0.714886, -0.280705, 0.640424, 4.02375], [-0.131072, -0.953445, -0.271593, 1.43071], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7540", "pose": [[0.744405, 0.112202, -0.658235, 2.93289], [0.649216, -0.352132, 0.674182, 4.3547], [-0.156141, -0.929201, -0.334972, 1.39909], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7560", "pose": [[0.783726, 0.17425, -0.596164, 2.79774], [0.607427, -0.41537, 0.677126, 4.66876], [-0.129639, -0.892807, -0.43138, 1.37223], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7580", "pose": [[0.712585, 0.341746, -0.612726, 2.72587], [0.700518, -0.394747, 0.594516, 4.98692], [-0.0386985, -0.852868, -0.52069, 1.3416], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7600", "pose": [[0.539576, 0.43212, -0.722586, 2.77236], [0.838037, -0.358166, 0.411597, 5.33182], [-0.0809469, -0.827641, -0.55539, 1.33326], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7620", "pose": [[0.361316, 0.537138, -0.762191, 2.73759], [0.926859, -0.29622, 0.230622, 5.67301], [-0.1019, -0.78977, -0.60488, 1.31506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7640", "pose": [[-0.0549658, 0.544451, -0.83699, 2.86695], [0.997186, -0.0128649, -0.0738544, 6.01169], [-0.0509779, -0.838694, -0.542212, 1.34927], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7660", "pose": [[-0.191778, 0.396773, -0.897659, 3.00014], [0.980722, 0.0425278, -0.190726, 6.19434], [-0.0374994, -0.916931, -0.39728, 1.42449], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7680", "pose": [[-0.284736, 0.171335, -0.94317, 3.12923], [0.956552, -0.0135864, -0.291244, 6.33844], [-0.0627145, -0.985119, -0.160023, 1.54554], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7700", "pose": [[-0.400013, 0.015053, -0.916386, 3.16946], [0.91614, -0.021816, -0.400264, 6.56636], [-0.026017, -0.999649, -0.0050641, 1.59248], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7720", "pose": [[-0.363615, 0.195944, -0.910709, 3.21199], [0.931423, 0.060399, -0.358891, 6.60329], [-0.0153165, -0.978753, -0.204469, 1.48605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7740", "pose": [[-0.251025, 0.451128, -0.856428, 3.33695], [0.967773, 0.0986424, -0.231701, 6.57392], [-0.0200467, -0.886991, -0.461351, 1.33746], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7760", "pose": [[-0.0797094, 0.434288, -0.897241, 3.31367], [0.99544, 0.0819984, -0.0487436, 6.42318], [0.0524035, -0.897034, -0.438843, 1.31346], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7780", "pose": [[0.12402, 0.451594, -0.883562, 3.23591], [0.989562, 0.00956402, 0.143787, 6.11813], [0.0733839, -0.892172, -0.445694, 1.34247], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7800", "pose": [[0.431871, 0.434765, -0.790233, 3.16382], [0.899553, -0.14398, 0.412401, 5.89784], [0.06552, -0.88896, -0.453274, 1.3491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7820", "pose": [[0.480669, 0.369158, -0.795412, 3.1247], [0.875848, -0.157639, 0.456115, 5.85759], [0.0429911, -0.9159, -0.399098, 1.3696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7840", "pose": [[0.615827, 0.376723, -0.69198, 3.16932], [0.78785, -0.286686, 0.545071, 6.04019], [0.00696008, -0.880847, -0.473351, 1.33952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7860", "pose": [[0.845914, 0.285007, -0.450778, 3.27202], [0.526026, -0.585184, 0.617135, 6.1884], [-0.0879002, -0.759164, -0.644936, 1.24671], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7880", "pose": [[0.894353, 0.244644, -0.374544, 3.30255], [0.438146, -0.648081, 0.622912, 6.248], [-0.0903433, -0.721208, -0.686802, 1.23296], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7900", "pose": [[0.755691, 0.377768, -0.534997, 3.31093], [0.649812, -0.534386, 0.540532, 6.33148], [-0.0816991, -0.756123, -0.64931, 1.24376], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7920", "pose": [[0.438053, 0.589331, -0.678822, 3.34421], [0.897859, -0.324003, 0.298112, 6.2956], [-0.0442538, -0.740075, -0.671066, 1.23763], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7940", "pose": [[0.162387, 0.633343, -0.756642, 3.26723], [0.986601, -0.116447, 0.114268, 6.41177], [-0.0157382, -0.76506, -0.643767, 1.27785], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7960", "pose": [[0.223608, 0.533559, -0.815668, 3.30124], [0.971638, -0.188077, 0.143338, 6.71194], [-0.0769286, -0.824586, -0.560482, 1.33593], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "7980", "pose": [[0.369465, 0.402459, -0.83757, 3.37059], [0.922251, -0.269189, 0.277472, 6.94647], [-0.113794, -0.874965, -0.470624, 1.37318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8000", "pose": [[0.434291, 0.389375, -0.812268, 3.37446], [0.893221, -0.30268, 0.332478, 7.13082], [-0.116398, -0.869926, -0.479249, 1.32274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8020", "pose": [[0.312533, 0.409803, -0.856963, 3.41564], [0.946897, -0.206164, 0.246743, 7.45674], [-0.0755586, -0.888571, -0.452474, 1.33762], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8040", "pose": [[0.103556, 0.525195, -0.844658, 3.48896], [0.993325, -0.0979855, 0.0608575, 7.77285], [-0.0508021, -0.845322, -0.531836, 1.28781], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8060", "pose": [[-0.111627, 0.530912, -0.840043, 3.39495], [0.993734, 0.054776, -0.0974311, 8.01112], [-0.00571324, -0.845655, -0.5337, 1.30637], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8080", "pose": [[-0.0545018, 0.394662, -0.917209, 3.37888], [0.998197, 0.0446603, -0.0400974, 8.09711], [0.025138, -0.917741, -0.396384, 1.391], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8100", "pose": [[0.300607, 0.316758, -0.899611, 3.46019], [0.952935, -0.0608137, 0.297012, 7.80851], [0.0393722, -0.946555, -0.320131, 1.39797], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8120", "pose": [[0.440123, 0.252868, -0.861597, 3.57992], [0.896999, -0.167659, 0.409002, 7.47], [-0.0410315, -0.952863, -0.300613, 1.4167], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8140", "pose": [[0.643881, 0.171905, -0.745564, 3.50112], [0.761521, -0.23845, 0.602683, 7.11895], [-0.074176, -0.955819, -0.284443, 1.44164], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8160", "pose": [[0.812447, -0.000343012, -0.583035, 3.29299], [0.567353, -0.229908, 0.79073, 7.04629], [-0.134315, -0.973212, -0.186593, 1.48787], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8180", "pose": [[0.907265, -0.00727034, -0.420497, 3.01107], [0.410719, -0.199709, 0.889621, 7.0057], [-0.0904449, -0.979828, -0.178203, 1.496], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8200", "pose": [[0.94086, -0.00333269, -0.338778, 2.80705], [0.336675, -0.102491, 0.936027, 7.158], [-0.0378412, -0.994728, -0.0953078, 1.5061], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8220", "pose": [[0.945068, -0.0390742, -0.324532, 2.63117], [0.322837, -0.0440045, 0.945431, 7.40885], [-0.0512228, -0.998267, -0.0289726, 1.55077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8240", "pose": [[0.960012, -0.0629827, -0.272781, 2.47776], [0.27213, -0.0188705, 0.962075, 7.64237], [-0.0657416, -0.997836, -0.000976413, 1.62933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8260", "pose": [[0.978869, -0.00993446, -0.204246, 2.4948], [0.201504, -0.123116, 0.971719, 7.68126], [-0.0347993, -0.992343, -0.118512, 1.54008], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8280", "pose": [[0.985022, -0.0065568, -0.172307, 2.57623], [0.166876, -0.215347, 0.962173, 7.6256], [-0.0434146, -0.976516, -0.211028, 1.47213], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8300", "pose": [[0.980339, 0.0487778, -0.191196, 2.73232], [0.196352, -0.337019, 0.920795, 7.44854], [-0.0195224, -0.940234, -0.33997, 1.39568], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "8320", "pose": [[0.963826, 0.0280866, -0.265048, 2.80381], [0.264359, -0.227459, 0.937217, 7.30991], [-0.0339644, -0.973382, -0.226656, 1.41182], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0757_00"}, {"annotation": [{"question_id": "test-scene0758-0", "question": "What kind of desk dominates the small office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-1", "question": "What color is the wood of the curved desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-2", "question": "Where is the wooden cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-3", "question": "The cabinet is topped with a selection of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-4", "question": "Where is the black desk chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-5", "question": "On what side of the desk is the desk leg located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-6", "question": "The desk leg is nearest the desk chair without what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-7", "question": "How many desk chairs are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-8", "question": "Where is the black desk chair from the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-9", "question": "What color cabinet is near the door ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-10", "question": "What color is the desk in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-11", "question": "In what part of the room is the brown desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-12", "question": "Where is the white file cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-13", "question": "How many chairs are at the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-14", "question": "How many blue doors are seen in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-15", "question": "What color is the cabinet on the far right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-16", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-17", "question": "Where is the brown desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-18", "question": "Where is the brown cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-19", "question": "Where is the file cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-20", "question": "What is in the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-21", "question": "What is to the left of the long desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-22", "question": "What is in between the two cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-23", "question": "What is the color of the blinds in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-24", "question": "What type of blinds do the windows have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-25", "question": "What is below the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-26", "question": "What is next to the black chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-27", "question": "Where is the black rolling office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-28", "question": "Where are the drawers located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-29", "question": "Where does the black trashcan sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-30", "question": "What color is the radiator on the wall with the outlet plugs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-31", "question": "Where is the white radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-32", "question": "What color is the radiator on the wall with the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-33", "question": "What color are the legs of the black chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-34", "question": "What is next to a table/shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-35", "question": "What is next to a computer chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-36", "question": "Where is a computer chair not tucked in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-37", "question": "What chair is tucked under the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-38", "question": "What is on top of the wooden cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-39", "question": "What is sitting behind the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-40", "question": "What is the black office chair facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-41", "question": "What type of blinds are on the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-42", "question": "What color is the door to the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-43", "question": "What is on the wooden cabinet further from the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-44", "question": "What are located over the windows above the radiators?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-45", "question": "Where is the black chair sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-46", "question": "In what part of the room is the wooden desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-47", "question": "What color is the filing cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-48", "question": "What is present on the right side of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-49", "question": "What is on the right side of the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-50", "question": "What color is the chair closest to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-51", "question": "Where is the table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-52", "question": "How many chairs are kept under the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0758-53", "question": "Where is the back of the chair?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.428122, -0.422279, 0.798994, 1.56988], [-0.903624, -0.187104, 0.385299, 0.696792], [-0.0132087, -0.886946, -0.461685, 1.5823], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.407936, -0.430591, 0.805096, 1.5694], [-0.912722, -0.170179, 0.371453, 0.687471], [-0.022934, -0.886358, -0.462432, 1.56993], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.521847, -0.443752, 0.728533, 1.52453], [-0.852643, -0.245303, 0.461331, 0.708445], [-0.026005, -0.861923, -0.506372, 1.5607], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.654946, -0.400809, 0.640623, 1.48046], [-0.755404, -0.324513, 0.569259, 0.740837], [-0.0202733, -0.856763, -0.515311, 1.56469], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.757981, -0.33209, 0.561409, 1.46598], [-0.651413, -0.341128, 0.677711, 0.766628], [-0.0335492, -0.879402, -0.474897, 1.59879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.809108, -0.226823, 0.542121, 1.49454], [-0.586441, -0.252269, 0.769706, 0.749136], [-0.0378269, -0.940698, -0.337131, 1.65741], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.867505, -0.151486, 0.4738, 1.5418], [-0.496857, -0.218262, 0.839937, 0.714873], [-0.0238265, -0.964061, -0.26461, 1.67435], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.969944, -0.0501344, 0.238109, 1.61165], [-0.243187, -0.233199, 0.94153, 0.785987], [0.00832373, -0.971136, -0.238382, 1.70482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.989983, -0.0329441, 0.137287, 1.7929], [-0.141184, -0.234632, 0.961777, 0.869056], [0.000527143, -0.971526, -0.236933, 1.68437], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.993306, 0.0344178, -0.110262, 1.97863], [0.115215, -0.22724, 0.966999, 0.845644], [0.00822613, -0.97323, -0.229684, 1.69905], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.929332, 0.0929857, -0.357346, 2.06798], [0.368524, -0.294051, 0.881887, 0.996126], [-0.0230751, -0.951256, -0.307539, 1.66268], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.81893, 0.194909, -0.539781, 2.19215], [0.570147, -0.383609, 0.726483, 1.03383], [-0.0654665, -0.902693, -0.425276, 1.63314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.679043, 0.326829, -0.657331, 2.42526], [0.730135, -0.393607, 0.558549, 0.932783], [-0.0761795, -0.859219, -0.505905, 1.59798], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.645465, 0.458722, -0.610695, 2.49246], [0.762096, -0.440015, 0.47497, 0.890757], [-0.0508359, -0.771985, -0.633605, 1.50822], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.480998, 0.553216, -0.680142, 2.46076], [0.874252, -0.360842, 0.324772, 0.806296], [-0.0657548, -0.75083, -0.657214, 1.5138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.368502, 0.460774, -0.807399, 2.42952], [0.926878, -0.248854, 0.281014, 0.759201], [-0.0714406, -0.851915, -0.518784, 1.6001], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.335365, 0.288355, -0.896873, 2.41535], [0.939024, -0.179033, 0.293566, 0.738554], [-0.0759186, -0.940637, -0.330814, 1.67436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.38105, 0.219767, -0.898055, 2.41327], [0.924185, -0.117995, 0.363262, 0.743007], [-0.0261334, -0.96839, -0.248067, 1.73575], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.433744, 0.151902, -0.888139, 2.41935], [0.901025, -0.0779655, 0.426703, 0.749638], [-0.00442708, -0.985316, -0.170685, 1.78065], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.670893, 0.158137, -0.724497, 2.34089], [0.741217, -0.11353, 0.661595, 0.805168], [0.0223704, -0.980869, -0.193381, 1.77318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.902939, 0.0817045, -0.42193, 2.13715], [0.429762, -0.166517, 0.887455, 0.854738], [0.00225073, -0.982648, -0.185468, 1.76401], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.977903, 0.0612593, -0.199882, 2.01029], [0.208053, -0.191535, 0.959181, 1.00942], [0.0204744, -0.979572, -0.200048, 1.74584], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.996521, 0.0311674, 0.0772979, 1.87309], [-0.0712596, -0.162389, 0.98415, 1.18203], [0.0432259, -0.986234, -0.159603, 1.72598], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.918821, -0.0858688, 0.38522, 1.66181], [-0.394428, -0.165249, 0.903946, 1.23628], [-0.0139636, -0.982507, -0.185703, 1.73314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.836206, -0.117958, 0.535579, 1.4817], [-0.548353, -0.194552, 0.813301, 1.39949], [0.00826256, -0.973774, -0.227368, 1.72257], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.682521, -0.221606, 0.69646, 1.31265], [-0.730461, -0.23854, 0.639941, 1.64582], [0.024319, -0.94551, -0.324683, 1.68757], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.482579, -0.354799, 0.800771, 1.18658], [-0.87585, -0.193484, 0.442097, 1.89487], [-0.00191945, -0.914703, -0.404122, 1.67688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.367067, -0.40814, 0.835873, 1.26705], [-0.929118, -0.117657, 0.350565, 2.22372], [-0.0447334, -0.905306, -0.422398, 1.65173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.0465538, -0.502134, 0.863536, 1.3095], [-0.998349, 0.00573148, 0.0571542, 2.54619], [-0.0336484, -0.864771, -0.501038, 1.61723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.24427, -0.507594, 0.826245, 1.38915], [-0.967614, 0.183538, -0.17331, 2.80825], [-0.0636766, -0.841821, -0.535988, 1.5352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.368131, -0.506798, 0.77951, 1.58763], [-0.929314, 0.226906, -0.291356, 2.98146], [-0.029217, -0.831667, -0.554506, 1.45094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.593322, -0.437157, 0.675916, 1.73908], [-0.804924, 0.330695, -0.492685, 3.1726], [-0.00814131, -0.836382, -0.548087, 1.38495], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.730168, -0.363649, 0.578459, 1.86901], [-0.683066, 0.409053, -0.605059, 3.18957], [-0.0165915, -0.83692, -0.547074, 1.3833], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.723296, -0.262515, 0.638693, 2.11483], [-0.689353, 0.328663, -0.64558, 3.0575], [-0.0404404, -0.90723, -0.418686, 1.47805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.769322, -0.215635, 0.60137, 2.34009], [-0.638838, 0.267621, -0.721293, 2.96884], [-0.00540322, -0.939085, -0.343643, 1.57229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.864657, -0.131729, 0.484784, 2.58312], [-0.50231, 0.21288, -0.838073, 2.90495], [0.00719818, -0.968158, -0.250237, 1.65631], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.921017, -0.0598675, 0.384895, 2.77928], [-0.389508, 0.132787, -0.911401, 2.75991], [0.00345442, -0.989335, -0.145618, 1.73262], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.990881, -0.0104171, 0.13434, 2.91445], [-0.134708, 0.099232, -0.985904, 2.76134], [-0.00306046, -0.99501, -0.0997303, 1.73256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.993769, 0.0224937, -0.109164, 2.94091], [0.111164, 0.128978, -0.985397, 2.81501], [-0.00808537, -0.991392, -0.130675, 1.72994], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.949269, 0.0984782, -0.298647, 2.88535], [0.313251, 0.212763, -0.92553, 2.85885], [-0.0276034, -0.972129, -0.232818, 1.64942], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.907162, 0.154332, -0.391458, 2.82819], [0.420591, 0.360631, -0.832495, 2.85903], [0.0126914, -0.919852, -0.392061, 1.58052], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.822401, 0.306019, -0.479593, 2.89278], [0.568638, 0.41619, -0.709533, 2.8978], [-0.0175285, -0.856235, -0.516289, 1.52596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.777686, 0.412084, -0.474753, 2.90543], [0.628005, 0.474974, -0.616449, 2.93514], [-0.0285331, -0.777552, -0.628171, 1.46078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.611267, 0.484954, -0.625438, 2.79832], [0.7913, 0.360489, -0.493853, 2.95104], [-0.0140326, -0.796785, -0.604099, 1.47087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.493459, 0.393824, -0.775501, 2.75431], [0.869221, 0.191644, -0.455771, 2.95084], [-0.0308736, -0.898986, -0.436888, 1.56409], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.474897, 0.207103, -0.855325, 2.77006], [0.879686, 0.084087, -0.468062, 2.93593], [-0.0250154, -0.974699, -0.222118, 1.68718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.535062, 0.0873815, -0.840282, 2.75895], [0.842793, 0.123953, -0.523771, 3.02783], [0.0583878, -0.988433, -0.139967, 1.73843], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.607881, 0.0811684, -0.789869, 3.01108], [0.792431, 0.125082, -0.596999, 2.99844], [0.0503407, -0.988821, -0.140355, 1.73668], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.629406, 0.124939, -0.766967, 3.25772], [0.774177, 0.185997, -0.605024, 2.9793], [0.0670626, -0.974575, -0.213793, 1.74347], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.501274, 0.120096, -0.856914, 3.30442], [0.861045, 0.167192, -0.480258, 2.89656], [0.0855917, -0.978583, -0.187217, 1.73012], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.350749, 0.166134, -0.921615, 3.51944], [0.935321, 0.110866, -0.33598, 2.7933], [0.0463583, -0.979851, -0.194275, 1.7206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.307279, 0.253819, -0.917145, 3.52596], [0.951614, 0.0788391, -0.297009, 2.635], [-0.0030797, -0.964033, -0.265764, 1.71877], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.0568658, 0.177822, -0.982418, 3.44746], [0.998294, 0.0231572, -0.053593, 2.46787], [0.0132201, -0.98379, -0.178836, 1.74706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.301868, 0.129479, -0.944516, 3.42673], [0.953305, -0.0314675, 0.300363, 2.42033], [0.00916913, -0.991083, -0.132932, 1.74821], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.576298, 0.0999571, -0.811103, 3.43074], [0.817222, -0.0639448, 0.572765, 2.49617], [0.00538608, -0.992935, -0.118538, 1.72529], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.716144, 0.114675, -0.688468, 3.43005], [0.697948, -0.121492, 0.705768, 2.58932], [-0.00270924, -0.985946, -0.167043, 1.70788], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.784108, 0.108969, -0.610983, 3.29291], [0.620438, -0.161755, 0.767393, 2.59818], [-0.0152079, -0.980796, -0.194442, 1.66104], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.855883, 0.180474, -0.484658, 2.91842], [0.517158, -0.305, 0.799702, 2.48821], [-0.00349534, -0.935096, -0.354378, 1.64259], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.788563, 0.299054, -0.53734, 2.74204], [0.614841, -0.366734, 0.698195, 2.55542], [0.0117371, -0.88095, -0.473064, 1.57074], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.719941, 0.331506, -0.609745, 2.36995], [0.693987, -0.333483, 0.638099, 2.6722], [0.00819442, -0.882549, -0.470149, 1.58414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.536461, 0.396279, -0.745099, 2.10554], [0.843846, -0.239859, 0.47999, 2.78582], [0.0114915, -0.886245, -0.463073, 1.58466], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.523646, 0.436675, -0.731512, 1.92738], [0.851788, -0.252362, 0.459097, 2.84261], [0.0158702, -0.863498, -0.504103, 1.56252], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.660001, 0.400524, -0.635593, 1.57596], [0.751051, -0.331591, 0.570938, 2.84685], [0.0179177, -0.854183, -0.519664, 1.56633], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.813498, 0.31989, -0.485686, 1.24933], [0.581496, -0.43435, 0.687897, 2.96228], [0.00909364, -0.842028, -0.539357, 1.5357], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.98316, 0.06238, -0.17177, 0.98751], [0.176109, -0.574415, 0.799396, 2.90129], [-0.0488006, -0.816184, -0.575727, 1.52171], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.994322, -0.0665301, 0.083054, 0.921101], [-0.106077, -0.55741, 0.823433, 2.71286], [-0.00848794, -0.827567, -0.561303, 1.52173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.963019, -0.123118, 0.23966, 0.947069], [-0.268501, -0.512479, 0.815642, 2.44469], [0.0224005, -0.849828, -0.526584, 1.524], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.888426, -0.202493, 0.411942, 0.91566], [-0.45901, -0.397845, 0.794373, 2.20286], [0.00303437, -0.894827, -0.446403, 1.57515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.892269, -0.183957, 0.41233, 0.989614], [-0.451166, -0.39861, 0.798473, 1.88473], [0.0174741, -0.898482, -0.438662, 1.57533], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.937908, -0.194754, 0.287054, 1.01692], [-0.346885, -0.526914, 0.775907, 1.54961], [0.000141978, -0.827304, -0.561754, 1.51402], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.892912, -0.287713, 0.346307, 1.0324], [-0.450109, -0.552584, 0.701465, 1.26983], [-0.0104569, -0.782222, -0.622912, 1.4721], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.867104, -0.255265, 0.42775, 1.1995], [-0.498092, -0.434164, 0.750603, 0.990112], [-0.00588886, -0.86391, -0.503611, 1.38933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.825543, -0.28748, 0.485627, 1.37248], [-0.564067, -0.393624, 0.725871, 0.880166], [-0.0175186, -0.873164, -0.487111, 1.16905], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.718439, -0.298863, 0.628113, 1.51943], [-0.695491, -0.293416, 0.655896, 0.833344], [-0.0117247, -0.908068, -0.418658, 0.9681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.606553, -0.285494, 0.742015, 1.64393], [-0.794714, -0.190873, 0.576192, 0.786736], [-0.0228683, -0.939181, -0.34266, 1.04752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.503462, -0.259538, 0.824115, 1.79289], [-0.863273, -0.11153, 0.49226, 0.718233], [-0.0358464, -0.959271, -0.280204, 1.25362], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.444199, -0.312648, 0.839606, 2.07465], [-0.895329, -0.120631, 0.42876, 0.736782], [-0.0327683, -0.942178, -0.333507, 1.41098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.599498, -0.319102, 0.734014, 2.39621], [-0.799547, -0.197034, 0.567364, 0.693604], [-0.0364212, -0.927012, -0.373258, 1.47907], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.618487, -0.316456, 0.719256, 2.78689], [-0.785408, -0.220199, 0.578487, 0.761559], [-0.0246861, -0.922696, -0.384737, 1.49214], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.746455, -0.318696, 0.584155, 3.17501], [-0.663605, -0.291439, 0.688978, 0.76861], [-0.0493291, -0.90194, -0.429035, 1.4621], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.874391, -0.186362, 0.448005, 3.52504], [-0.484709, -0.377889, 0.788832, 0.828468], [0.0222884, -0.906901, -0.420754, 1.48091], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.996691, -0.062976, 0.0513958, 3.72167], [-0.0693081, -0.328017, 0.942126, 0.838542], [-0.0424725, -0.94257, -0.331297, 1.53082], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.985011, -0.0371701, -0.168439, 3.81287], [0.157102, -0.209859, 0.965028, 0.783119], [-0.0712186, -0.977025, -0.200874, 1.62677], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.956434, -0.0182911, -0.291374, 3.82737], [0.28987, -0.059346, 0.955224, 0.767793], [-0.034764, -0.99807, -0.0514585, 1.67318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.882841, -0.0117613, -0.469525, 3.80498], [0.468854, -0.0369227, 0.882504, 0.788472], [-0.0277156, -0.999249, -0.0270826, 1.66031], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.712536, 0.018813, -0.701383, 3.78797], [0.70033, -0.0800214, 0.70932, 0.884651], [-0.0427812, -0.996616, -0.0701935, 1.6662], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.497038, 0.147548, -0.855093, 3.8924], [0.867151, -0.12043, 0.483266, 0.961465], [-0.0316737, -0.981696, -0.187804, 1.62212], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.282043, 0.281613, -0.91714, 3.93073], [0.958227, -0.12998, 0.254767, 0.983828], [-0.0474643, -0.950684, -0.306509, 1.54992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.153477, 0.439827, -0.884871, 3.93137], [0.988031, -0.0823079, 0.130458, 0.9572], [-0.0154528, -0.894303, -0.447195, 1.47582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.095637, 0.564637, -0.81978, 3.93868], [0.995346, -0.0640305, 0.072017, 0.94084], [-0.0118275, -0.822852, -0.568133, 1.40884], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.107257, 0.636219, -0.764017, 3.94948], [0.993518, -0.0976887, 0.0581272, 0.935832], [-0.0376542, -0.765299, -0.642573, 1.35966], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.0952223, 0.637499, -0.764545, 3.9595], [0.994076, -0.101325, 0.0393229, 0.935387], [-0.0523989, -0.76376, -0.64337, 1.35212], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0758_00"}, {"annotation": [{"question_id": "test-scene0759-0", "question": "What is placed in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-1", "question": "Where is a desk with nothing on it placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-2", "question": "Where is a file cabinet placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-3", "question": "Where is a computer monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-4", "question": "What color table is located beside the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-5", "question": "Where is the file cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-6", "question": "What color is the office chair that is pulled away from the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-7", "question": "What is in front of the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-8", "question": "How many metal legs does the black office chair sit on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-9", "question": "How many doors does the white cabinet have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-10", "question": "What is next to the desk closest to the empty wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-11", "question": "What is the desk closest to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-12", "question": "How many monitors are on the desk next to a window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-13", "question": "What is closest to the whiteboard on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-14", "question": "How many handles does the cabinet have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-15", "question": "How many doors does the white cabinet next to the blue door have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-16", "question": "What color is the chair that is closet to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-17", "question": "What is to the right of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-18", "question": "The wooden table is sitting in front of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-19", "question": "What color chair is pushed away from the file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-20", "question": "What are leaned against the file cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-21", "question": "What color is the door that leads to the office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-22", "question": "What color is the office desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-23", "question": "What color chair is in front of the white board and left of the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-24", "question": "How many monitors are on the desk on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-25", "question": "Where are the black monitors located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-26", "question": "Where is the black plastic chair with metal legs located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-27", "question": "What is next to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-28", "question": "What is on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-29", "question": "What is placed on a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-30", "question": "Where is a chair tucked?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-31", "question": "What is next to the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-32", "question": "What is next to the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-33", "question": "Where is a computer chair tucked?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-34", "question": "What is next to the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-35", "question": "Where is a table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-36", "question": "What is on top of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-37", "question": "Where is the computer monitor closest to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-38", "question": "What color is the file cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-39", "question": "The file cabinet is closest to what color chair by the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-40", "question": "What color is the carpet on the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-41", "question": "On what side of the room is the black computer tower located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-42", "question": "What color is the rolling chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-43", "question": "What is sitting at the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-44", "question": "What kind of chair is sitting at the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-45", "question": "What is in front of the tall light wood cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-46", "question": "What is pushed under the desk when you face the desk with the windows on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-47", "question": "How many blue chairs are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-48", "question": "What color stripe is on the side of the black computer tower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-49", "question": "What does the black desk chair have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-50", "question": "On what side of the computer monitor is the black chair pushed under it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-51", "question": "What color is the rolling chair in front of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-52", "question": "The square wooden table is sitting in front of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-53", "question": "Where is the cream and white colored file cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-54", "question": "Where is the monitor on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-55", "question": "How many sections does the cabinet on the wall have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-56", "question": "What color handle does the door have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-57", "question": "What is left of the wooden desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-58", "question": "How many monitors does the blue office chair face?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-59", "question": "What is in front of the blue and black office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-60", "question": "Where is the black plastic and metal monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-61", "question": "Where is the black chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-62", "question": "What type of monitor is located next to another monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-63", "question": "Where is the monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-64", "question": "What is the first thing you see lying on the floor when entering the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-65", "question": "Where is the computer tower located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-66", "question": "What is the tall wooden cabinet located next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-67", "question": "What is located on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-68", "question": "What shape is the desk on the left side?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-69", "question": "What color is the door that leads to the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-70", "question": "On what side of the room is the computer monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0759-71", "question": "How many monitors are on the desk?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.998145, 0.0145081, -0.0591298, 1.55381], [0.0599704, -0.401878, 0.913727, 0.503621], [-0.0105065, -0.915578, -0.402003, 1.55249], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.999667, 0.0158733, 0.020334, 1.55984], [-0.012211, -0.403164, 0.915047, 0.507015], [0.0227227, -0.91499, -0.402835, 1.55351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.990013, -0.0388989, 0.135505, 1.6137], [-0.140099, -0.378589, 0.914901, 0.551784], [0.015712, -0.924747, -0.380257, 1.55814], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.956897, -0.10052, 0.272477, 1.69785], [-0.290401, -0.343546, 0.893109, 0.590267], [0.00383309, -0.933741, -0.357929, 1.58101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.923746, -0.130332, 0.360149, 1.77875], [-0.381808, -0.23906, 0.892789, 0.586145], [-0.0302619, -0.962218, -0.270592, 1.61661], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.835872, -0.182239, 0.517791, 1.89039], [-0.548837, -0.260564, 0.794282, 0.588224], [-0.00983122, -0.948101, -0.317818, 1.58877], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.740284, -0.326177, 0.587867, 2.00593], [-0.670775, -0.299604, 0.678453, 0.629215], [-0.0451684, -0.896575, -0.440584, 1.52575], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.636714, -0.454867, 0.622649, 2.10393], [-0.770036, -0.332672, 0.544403, 0.640653], [-0.0404929, -0.826091, -0.562081, 1.44948], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.450256, -0.571038, 0.686429, 2.05495], [-0.891975, -0.252677, 0.37488, 0.614173], [-0.0406259, -0.78107, -0.623121, 1.42145], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.307837, -0.482427, 0.820062, 2.07973], [-0.951395, -0.147806, 0.270186, 0.541425], [-0.00913516, -0.863376, -0.504479, 1.48275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.300915, -0.291205, 0.908103, 2.08301], [-0.953596, -0.0816728, 0.2898, 0.537729], [-0.0102238, -0.953168, -0.302268, 1.56723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.312085, -0.135338, 0.940365, 2.0783], [-0.949802, -0.0216511, 0.312101, 0.549886], [-0.0218793, -0.990563, -0.135302, 1.65602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.40427, -0.0336347, 0.914021, 2.09034], [-0.914632, -0.0109299, 0.404139, 0.587133], [-0.00360304, -0.999374, -0.0351821, 1.69061], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.619164, -0.0704661, 0.782094, 2.27336], [-0.784605, -0.096269, 0.612477, 0.604921], [0.0321325, -0.992858, -0.114894, 1.6701], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.751526, -0.203342, 0.627584, 2.56297], [-0.65956, -0.251424, 0.708354, 0.710103], [0.0137517, -0.946276, -0.323068, 1.57607], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.826851, -0.19375, 0.527995, 2.93062], [-0.562421, -0.286442, 0.775651, 0.813938], [0.000957459, -0.938303, -0.345814, 1.55243], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.954224, -0.145613, 0.261255, 3.3322], [-0.297454, -0.37066, 0.879848, 0.83433], [-0.03128, -0.917283, -0.397005, 1.53115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.996566, -0.0571719, 0.0599069, 3.71085], [-0.0788006, -0.432349, 0.898257, 0.964398], [-0.0254543, -0.899892, -0.435369, 1.5203], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.948153, 0.131162, -0.289488, 4.06663], [0.317681, -0.417683, 0.851246, 0.940551], [-0.00926327, -0.899076, -0.437695, 1.50793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.826478, 0.221138, -0.517719, 4.25633], [0.561115, -0.398161, 0.725685, 1.0189], [-0.0456589, -0.890262, -0.453155, 1.4921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.603328, 0.27973, -0.746824, 4.37106], [0.794031, -0.297871, 0.529894, 1.09797], [-0.07423, -0.912701, -0.401829, 1.52147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.367845, 0.314692, -0.875019, 4.50838], [0.928382, -0.177795, 0.326336, 1.07961], [-0.0528784, -0.932394, -0.357555, 1.53779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.188062, 0.387451, -0.902505, 4.50804], [0.981539, -0.106749, 0.158702, 1.04225], [-0.0348521, -0.915689, -0.400373, 1.52304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.0113947, 0.464375, -0.885565, 4.33927], [0.998092, -0.0590341, -0.018114, 0.999439], [-0.0606903, -0.883669, -0.464162, 1.50476], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.0294094, 0.517371, -0.855256, 4.05765], [0.996847, -0.0479, -0.0632546, 1.13516], [-0.0736928, -0.85442, -0.514331, 1.49884], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.0708249, 0.494453, -0.866314, 3.7816], [0.996174, -0.00951713, -0.0868736, 1.41034], [-0.0511997, -0.869152, -0.491887, 1.513], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.0250466, 0.531148, -0.846909, 3.44201], [0.996851, -0.0770343, -0.018832, 1.69885], [-0.0752436, -0.84377, -0.531404, 1.50727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.0439488, 0.551054, -0.833312, 3.33461], [0.997428, -0.0230711, -0.0678609, 2.06185], [-0.0566204, -0.834151, -0.548622, 1.50616], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.105683, 0.517685, -0.849019, 3.18967], [0.99111, -0.0145544, -0.132244, 2.33821], [-0.0808178, -0.855448, -0.511545, 1.51785], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.22525, 0.534119, -0.814849, 3.03614], [0.971207, 0.0564931, -0.231442, 2.53122], [-0.0775843, -0.843519, -0.531466, 1.51028], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.384068, 0.503487, -0.773947, 2.89717], [0.921024, 0.15003, -0.359453, 2.72941], [-0.0648641, -0.850877, -0.521345, 1.52266], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.393589, 0.491553, -0.776829, 2.64657], [0.91328, 0.112637, -0.39145, 2.73423], [-0.104919, -0.863533, -0.493258, 1.53409], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.624477, 0.426291, -0.65445, 2.43167], [0.779591, 0.28913, -0.555556, 2.78895], [-0.0476072, -0.857135, -0.512887, 1.4927], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.791885, 0.321196, -0.519375, 2.23521], [0.606299, 0.311956, -0.731494, 2.90506], [-0.0729308, -0.894157, -0.441775, 1.48606], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.871614, 0.264023, -0.413015, 2.01277], [0.48365, 0.325985, -0.812291, 2.90036], [-0.0798264, -0.907759, -0.411828, 1.47995], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.944043, 0.218028, -0.247479, 1.80043], [0.309742, 0.328253, -0.892362, 2.98864], [-0.113324, -0.919083, -0.377418, 1.43695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.956252, 0.181146, -0.229716, 1.64372], [0.27723, 0.310364, -0.909296, 3.04184], [-0.0934198, -0.933199, -0.347005, 1.40302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.876868, 0.302937, -0.373273, 1.55282], [0.461839, 0.315302, -0.82903, 3.05226], [-0.13345, -0.899341, -0.416386, 1.35723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.679898, 0.470264, -0.562664, 1.50921], [0.722869, 0.30081, -0.622072, 3.07803], [-0.123283, -0.829678, -0.544459, 1.31926], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.599539, 0.585193, -0.545988, 1.51377], [0.7956, 0.361593, -0.486077, 3.11211], [-0.0870235, -0.72581, -0.682369, 1.2691], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.624345, 0.589634, -0.512373, 1.53148], [0.779496, 0.427629, -0.457734, 3.08543], [-0.0507899, -0.685176, -0.726605, 1.28558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.729393, 0.426548, -0.53483, 1.52408], [0.683931, 0.437524, -0.583791, 3.04014], [-0.0150135, -0.791599, -0.610856, 1.3719], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.797041, 0.325629, -0.508618, 1.4632], [0.603923, 0.432521, -0.66948, 3.01067], [0.00198583, -0.840768, -0.541391, 1.46793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.869107, 0.239672, -0.432678, 1.3418], [0.493204, 0.353684, -0.794769, 2.88745], [-0.0374528, -0.904138, -0.425596, 1.55186], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.985925, 0.0773988, -0.148195, 1.29029], [0.166116, 0.353209, -0.920679, 2.82385], [-0.0189156, -0.932337, -0.361095, 1.59798], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.986701, -0.0470012, 0.155605, 1.27254], [-0.162508, 0.306639, -0.937851, 2.84718], [-0.00363454, -0.950665, -0.310199, 1.63179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.888035, -0.108634, 0.446759, 1.30072], [-0.459414, 0.248251, -0.852825, 2.89144], [-0.0182622, -0.962585, -0.270363, 1.63363], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.747588, -0.194627, 0.635006, 1.36495], [-0.66318, 0.270741, -0.697776, 2.90198], [-0.0361161, -0.942772, -0.331475, 1.62624], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.566569, -0.286394, 0.772644, 1.50654], [-0.823051, 0.242011, -0.513826, 2.96684], [-0.0398321, -0.927043, -0.372833, 1.61779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.298512, -0.372416, 0.878747, 1.50312], [-0.952939, 0.167334, -0.252798, 3.04489], [-0.0528977, -0.912856, -0.404841, 1.59515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.129883, -0.533382, 0.835844, 1.37349], [-0.990541, 0.107433, -0.0853649, 3.07449], [-0.0442649, -0.839024, -0.54229, 1.51243], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.0216564, -0.656815, 0.753741, 1.30878], [-0.99837, 0.0540286, 0.0183959, 3.07576], [-0.0528063, -0.752114, -0.656914, 1.43534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.214153, -0.55803, 0.801712, 1.31753], [-0.973921, -0.0590095, 0.21908, 3.12758], [-0.0749446, -0.82772, -0.556114, 1.51588], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.260513, -0.396125, 0.880464, 1.34867], [-0.963799, -0.0530715, 0.261294, 3.13447], [-0.0567775, -0.916661, -0.395611, 1.59753], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.25784, -0.220711, 0.940641, 1.36416], [-0.965682, -0.0273818, 0.258279, 3.1146], [-0.0312486, -0.974955, -0.220196, 1.68776], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.195645, -0.0723998, 0.977999, 1.38073], [-0.980484, 0.00523546, 0.19653, 3.09187], [-0.0193491, -0.997362, -0.0699625, 1.77508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.146998, 0.102011, 0.983863, 1.45107], [-0.989051, 0.02826, 0.144843, 3.09889], [-0.0130282, -0.994382, 0.105049, 1.83692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.0651885, 0.153103, 0.986058, 1.63276], [-0.997871, -0.00773951, -0.0647676, 3.17281], [-0.00228444, -0.98818, 0.153282, 1.87247], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.21501, 0.0692318, 0.974155, 1.82435], [-0.975607, 0.030005, -0.217462, 3.13677], [-0.044285, -0.997149, 0.0610916, 1.79805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.265547, -0.0743748, 0.961225, 2.18211], [-0.963182, 0.0639265, -0.261141, 3.05078], [-0.0420255, -0.995179, -0.0886119, 1.71595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.441615, -0.240806, 0.864285, 2.52516], [-0.89424, 0.196387, -0.402203, 3.00713], [-0.0728819, -0.950497, -0.302065, 1.66335], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.558592, -0.385609, 0.734357, 2.7124], [-0.826598, 0.332065, -0.454389, 2.92224], [-0.0686385, -0.860836, -0.504232, 1.60109], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.72105, -0.345602, 0.600539, 2.66316], [-0.689072, 0.448453, -0.569271, 2.98753], [-0.0725726, -0.824287, -0.561502, 1.57546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.850813, -0.270737, 0.450355, 2.56466], [-0.519086, 0.56622, -0.640269, 2.99846], [-0.0816558, -0.778522, -0.622283, 1.53157], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.96778, -0.100395, 0.23092, 2.57601], [-0.244755, 0.590484, -0.769041, 2.89493], [-0.0591462, -0.80078, -0.596031, 1.54076], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.995821, -0.0196509, 0.0891855, 2.67201], [-0.0844304, 0.570339, -0.817059, 2.64801], [-0.03481, -0.821175, -0.569615, 1.56778], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.96803, 0.196302, -0.156152, 2.95337], [0.243694, 0.588531, -0.770873, 2.35456], [-0.059424, -0.784281, -0.617554, 1.60493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.819607, 0.350451, -0.453242, 3.09569], [0.572416, 0.467528, -0.673616, 2.0395], [-0.0241663, -0.811543, -0.583793, 1.56693], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.699365, 0.414451, -0.58234, 3.18153], [0.71473, 0.397438, -0.575503, 1.66299], [-0.00707358, -0.818702, -0.574175, 1.54731], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.382828, 0.516645, -0.765846, 3.25666], [0.922042, 0.162274, -0.351435, 1.3091], [-0.0572904, -0.840681, -0.538492, 1.58047], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.209002, 0.54015, -0.815203, 3.17799], [0.976416, 0.0691286, -0.204529, 0.986421], [-0.0541227, -0.838725, -0.541859, 1.56259], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.101781, 0.57638, -0.810819, 3.12867], [0.994481, -0.079798, 0.0681109, 0.668843], [-0.0254439, -0.813277, -0.581321, 1.52385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.479297, 0.486203, -0.730672, 2.95121], [0.87748, -0.248948, 0.409943, 0.457113], [0.0174167, -0.837634, -0.545954, 1.5038], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.669994, 0.385765, -0.634266, 2.61658], [0.741517, -0.306879, 0.596639, 0.377422], [0.0355196, -0.870063, -0.491659, 1.49654], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.908293, 0.241667, -0.341468, 2.29318], [0.410662, -0.359481, 0.837932, 0.375243], [0.0797489, -0.901316, -0.425758, 1.47404], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.955201, 0.173317, -0.239903, 1.99131], [0.285752, -0.329038, 0.900044, 0.450133], [0.0770557, -0.928275, -0.363823, 1.43979], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.977725, 0.135172, -0.16057, 1.69719], [0.199376, -0.359023, 0.911785, 0.484787], [0.0655993, -0.923489, -0.377976, 1.39616], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.988442, 0.120788, -0.0916159, 1.41137], [0.131357, -0.380661, 0.915338, 0.485401], [0.0756872, -0.916792, -0.392127, 1.39766], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.999828, 0.00420131, 0.0181, 1.38294], [-0.0157755, -0.322757, 0.946351, 0.554696], [0.00981788, -0.946473, -0.322635, 1.46128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.97409, -0.0674286, 0.215876, 1.47381], [-0.226162, -0.292203, 0.92923, 0.647692], [0.000422969, -0.953976, -0.299882, 1.49338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.892139, -0.130762, 0.432422, 1.64123], [-0.451754, -0.253075, 0.855495, 0.719433], [-0.00243077, -0.958569, -0.28485, 1.50038], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.801381, -0.223762, 0.554724, 1.84846], [-0.597752, -0.265625, 0.756396, 0.73729], [-0.0219044, -0.937749, -0.346621, 1.49589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.719158, -0.383263, 0.579587, 2.01866], [-0.694314, -0.363717, 0.620998, 0.699086], [-0.0271999, -0.849011, -0.527675, 1.42918], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.686635, -0.489853, 0.537193, 2.12144], [-0.726958, -0.470761, 0.499916, 0.617902], [0.00800458, -0.733777, -0.679343, 1.37916], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.590156, -0.492837, 0.639396, 2.22555], [-0.807127, -0.376099, 0.455078, 0.57943], [0.0161966, -0.784641, -0.619739, 1.43373], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.576559, -0.378666, 0.724011, 2.30605], [-0.817055, -0.267862, 0.510559, 0.578291], [0.000603259, -0.885924, -0.463829, 1.52567], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.459759, -0.135953, 0.877575, 2.22768], [-0.886414, -0.13009, 0.444236, 0.598426], [0.0537687, -0.982137, -0.180321, 1.63372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.418884, 0.00326421, 0.908034, 2.09154], [-0.907533, -0.0318969, 0.418768, 0.605621], [0.0303303, -0.999486, -0.0103987, 1.73384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.441079, -0.0405705, 0.896551, 2.08764], [-0.891306, -0.136664, 0.432315, 0.574481], [0.104987, -0.989786, -0.0964404, 1.69657], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0759_00"}, {"annotation": [{"question_id": "test-scene0760-0", "question": "What color is the door at the back of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-1", "question": "What is located beside a book shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-2", "question": "Where is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-3", "question": "What color is the chair that faces two monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-4", "question": "What color is the chair that is located at the end of a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-5", "question": "What type of window is it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-6", "question": "What type of cabinet is located in the corner adjacent to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-7", "question": "Where was the computer monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-8", "question": "What is located near the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-9", "question": "What was put to work with the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-10", "question": "Where does the radiator sit when you face the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-11", "question": "What is on the wall behind the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-12", "question": "What color is the door behind the desk with an office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-13", "question": "What is on the wall with the blue door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-14", "question": "Where is the trash can sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-15", "question": "Where is the whiteboard hanging?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-16", "question": "On the side of the desk is the green chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-17", "question": "What type of window does the blue door have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-18", "question": "What is the monitor on the l shaped desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-19", "question": "What color is on the display on the monitors on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-20", "question": "The trash can is on the side of what door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-21", "question": "What color is the rolling desk chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-22", "question": "What colors appear on the computer monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-23", "question": "What color office chair is facing the black computer monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-24", "question": "What is to either side of the dual monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-25", "question": "Which window has a sill beneath it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-26", "question": "What is the metal covering on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-27", "question": "What is the green chair tucked between?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-28", "question": "The leftmost of the monitors on the desk is facing what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-29", "question": "What is to the right of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-30", "question": "What is next to the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-31", "question": "What color is the chair in front of the computer monitor ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-32", "question": "What color is the radiator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-33", "question": "What color is the radiator under the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-34", "question": "Where is the black chair with armrests located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-35", "question": "What color is the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-36", "question": "What color is the door in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-37", "question": "What color is the door with a long rectangular window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-38", "question": "The door is located to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-39", "question": "What is the blue office chair sitting in front of under the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-40", "question": "What color office chair is positioned to the left of the green office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-41", "question": "What color is a flat-screen computer monitor positioned on top of a computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-42", "question": "What is on the wall right next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-43", "question": "What is the shape of the beige desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-44", "question": "What color is the padded office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-45", "question": "How many black metal legs does the office chair have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-46", "question": "What is the shape of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-47", "question": "What is the color of the cloth chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-48", "question": "What color is the trash container?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-49", "question": "How many panels does the window in the room have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-50", "question": "What color is the chair, that's facing the monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-51", "question": "Where is the lighter blue chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-52", "question": "What type of board is not far away from a computer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-53", "question": "What is on the wall next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-54", "question": "How many monitors are on top of the corner desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-55", "question": "What color is the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-56", "question": "Where does the desk sit in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-57", "question": "How many monitors are on top of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-58", "question": "Where is the white radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-59", "question": "What is the color of the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-60", "question": "What does the green office chair lack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-61", "question": "Where is the window pane located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-62", "question": "Where should the window pane be positioned when facing the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-63", "question": "Where is the black computer monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-64", "question": "What color chair has black legs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0760-65", "question": "Where is the office chair sitting?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.745692, -0.331915, 0.577734, 1.82918], [-0.665211, -0.32152, 0.673883, 1.06149], [-0.0379185, -0.886824, -0.460548, 1.54014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.697762, -0.361969, 0.618148, 1.85424], [-0.716234, -0.33849, 0.610273, 1.0426], [-0.0116627, -0.868564, -0.49544, 1.51211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.574653, -0.467891, 0.671455, 1.88893], [-0.818051, -0.304553, 0.487893, 1.00397], [-0.0237867, -0.829654, -0.557772, 1.47702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.463352, -0.539718, 0.702858, 1.92365], [-0.886173, -0.280725, 0.368635, 0.96136], [-0.00164892, -0.793661, -0.608358, 1.4602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.380056, -0.506433, 0.774005, 1.93106], [-0.924937, -0.201819, 0.322117, 0.925015], [-0.00692239, -0.838329, -0.545121, 1.49215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.537981, -0.363498, 0.760557, 1.89161], [-0.842379, -0.198407, 0.501032, 0.958364], [-0.0312244, -0.910222, -0.412942, 1.54605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.6859, -0.264514, 0.677919, 1.85876], [-0.726851, -0.204174, 0.655744, 1.01119], [-0.03504, -0.942521, -0.332305, 1.59146], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.783016, -0.18133, 0.594984, 1.85438], [-0.621607, -0.194052, 0.758913, 1.06637], [-0.0221555, -0.964087, -0.264662, 1.63047], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.875174, -0.148648, 0.460407, 1.90064], [-0.482299, -0.192928, 0.854498, 1.17145], [-0.0381943, -0.969888, -0.240538, 1.68337], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.931204, -0.0876456, 0.353804, 2.01908], [-0.363684, -0.158581, 0.917925, 1.36235], [-0.0243454, -0.983448, -0.179546, 1.71912], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.99671, -0.0616634, 0.0526115, 2.1095], [-0.0639023, -0.198443, 0.978027, 1.40541], [-0.049868, -0.978171, -0.20173, 1.69887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.949391, 0.0440352, -0.310996, 2.22], [0.310957, -0.271444, 0.910837, 1.30174], [-0.0443091, -0.961447, -0.271399, 1.66359], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.895238, 0.162964, -0.414718, 2.25903], [0.444257, -0.398315, 0.802484, 1.23602], [-0.0344123, -0.902656, -0.428985, 1.58582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.928586, 0.183504, -0.322574, 2.27809], [0.36844, -0.560057, 0.742016, 1.20158], [-0.0444965, -0.807875, -0.587672, 1.51388], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.941296, 0.198815, -0.272826, 2.22104], [0.332606, -0.684438, 0.648781, 1.13991], [-0.0577451, -0.701439, -0.710386, 1.4713], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.740906, 0.435269, -0.511469, 2.26858], [0.6693, -0.541623, 0.508607, 1.08643], [-0.0556427, -0.719156, -0.692617, 1.47348], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.493749, 0.572533, -0.654537, 2.29445], [0.866297, -0.389418, 0.312861, 1.06219], [-0.0757656, -0.721498, -0.688258, 1.48274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.328261, 0.535082, -0.778417, 2.29761], [0.940185, -0.264553, 0.214625, 1.05514], [-0.0910909, -0.802308, -0.589919, 1.52889], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.210023, 0.394046, -0.894773, 2.29291], [0.972959, -0.174219, 0.151651, 1.02828], [-0.0961291, -0.902428, -0.419981, 1.62133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.181936, 0.187556, -0.965258, 2.29627], [0.979665, -0.119028, 0.161523, 1.03378], [-0.0845976, -0.975015, -0.205398, 1.73413], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.196692, 0.0437963, -0.979487, 2.31012], [0.979505, -0.0529784, 0.194327, 1.06338], [-0.0433809, -0.997635, -0.0533191, 1.80478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.305808, -0.0223672, -0.951831, 2.29837], [0.951923, -0.0117206, 0.306113, 1.09578], [-0.018003, -0.999681, 0.0177076, 1.84695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.449263, 0.035494, -0.892694, 2.2537], [0.892466, -0.0634858, 0.446624, 1.15679], [-0.040821, -0.997351, -0.0601991, 1.7939], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.549977, 0.181352, -0.815253, 2.08476], [0.832282, -0.200253, 0.516919, 1.20083], [-0.0695126, -0.962814, -0.26107, 1.66292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.692117, 0.305296, -0.654041, 1.892], [0.719483, -0.36413, 0.5914, 1.22888], [-0.0576038, -0.879889, -0.471675, 1.56209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.790074, 0.314464, -0.526209, 1.72296], [0.610562, -0.480335, 0.629676, 1.35603], [-0.0547459, -0.818774, -0.5715, 1.49483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.931172, 0.182466, -0.315636, 1.44808], [0.360621, -0.588242, 0.723826, 1.4716], [-0.0535962, -0.787831, -0.613555, 1.46817], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.998536, 0.0165705, -0.0514911, 1.21903], [0.0500317, -0.644767, 0.76274, 1.6504], [-0.0205608, -0.764199, -0.644652, 1.45338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.982542, -0.145288, 0.1162, 1.1575], [-0.182658, -0.634798, 0.750778, 1.98492], [-0.0353157, -0.758895, -0.650254, 1.48005], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.885384, -0.320662, 0.336558, 1.13562], [-0.463024, -0.544034, 0.69974, 2.31936], [-0.0412805, -0.775373, -0.630153, 1.49967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.810241, -0.40317, 0.4254, 1.11826], [-0.582685, -0.4759, 0.658785, 2.67631], [-0.0631547, -0.781648, -0.620514, 1.50435], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.700266, -0.447169, 0.556478, 1.05519], [-0.713672, -0.419638, 0.560871, 3.04813], [-0.0172851, -0.789901, -0.61299, 1.49383], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.520888, -0.543554, 0.658199, 0.984955], [-0.853456, -0.316288, 0.414215, 3.43183], [-0.0169682, -0.777503, -0.62865, 1.49095], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.446139, -0.554463, 0.702518, 1.04959], [-0.894068, -0.240998, 0.377575, 3.80209], [-0.0400454, -0.796549, -0.603246, 1.50723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.36951, -0.442804, 0.816938, 0.990653], [-0.926174, -0.104297, 0.362387, 4.03003], [-0.0752624, -0.890532, -0.448653, 1.59539], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.309144, -0.281319, 0.908455, 0.909611], [-0.948878, -0.0272431, 0.314464, 4.1726], [-0.0637154, -0.959228, -0.275359, 1.68246], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.180144, -0.179753, 0.967077, 0.979031], [-0.98323, -0.00451197, 0.182315, 4.25697], [-0.0284082, -0.983702, -0.177551, 1.70252], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.0687661, -0.145015, 0.987037, 1.1244], [-0.996816, 0.0300269, 0.0738589, 4.3401], [-0.0403484, -0.988974, -0.142488, 1.70432], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.148675, -0.225045, 0.962939, 1.15842], [-0.987597, 0.0834835, -0.132971, 4.37089], [-0.050465, -0.970765, -0.234666, 1.68518], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.42519, -0.27043, 0.86376, 1.11994], [-0.901103, 0.216107, -0.375912, 4.42159], [-0.0850065, -0.938171, -0.335572, 1.6527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.632039, -0.282401, 0.721648, 1.06591], [-0.772048, 0.30979, -0.554952, 4.41992], [-0.0668404, -0.907899, -0.413827, 1.6089], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.80585, -0.238081, 0.542147, 1.07784], [-0.589041, 0.415581, -0.693053, 4.33978], [-0.0603034, -0.877844, -0.475136, 1.55372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.908623, -0.155092, 0.387751, 1.25897], [-0.414737, 0.443964, -0.794285, 4.20073], [-0.0489596, -0.882521, -0.467718, 1.52482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.949489, -0.101167, 0.297046, 1.42679], [-0.311967, 0.406503, -0.858738, 4.17473], [-0.0338738, -0.908031, -0.417531, 1.49672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.980446, -0.0458635, 0.191371, 1.73579], [-0.194737, 0.366206, -0.909929, 4.27655], [-0.0283484, -0.929403, -0.367976, 1.49743], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.956333, -0.115847, 0.268341, 2.01033], [-0.291111, 0.459533, -0.839097, 4.27435], [-0.0261045, -0.880573, -0.473191, 1.4385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.93163, -0.143449, 0.3339, 2.27862], [-0.360532, 0.480224, -0.799626, 4.17067], [-0.0456417, -0.865336, -0.499109, 1.41449], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.981404, -0.0605119, 0.18217, 2.55727], [-0.189677, 0.451544, -0.871855, 4.05702], [-0.0295001, -0.890195, -0.454624, 1.44312], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.999422, -0.00473788, 0.0336797, 2.83865], [-0.0329529, 0.380014, -0.924393, 3.93358], [-0.0084191, -0.924968, -0.379951, 1.49247], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.996617, 0.0223679, -0.0790906, 2.96586], [0.0821529, 0.301031, -0.950069, 3.74379], [0.00255774, -0.953352, -0.30185, 1.53072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.944927, 0.132186, -0.2994, 3.00072], [0.321774, 0.208101, -0.923664, 3.63271], [-0.0597896, -0.969134, -0.239174, 1.59246], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.866207, 0.117951, -0.485565, 2.89968], [0.497864, 0.120815, -0.858799, 3.61672], [-0.0426323, -0.985643, -0.163374, 1.65353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.735932, 0.0570014, -0.674652, 2.80221], [0.67704, 0.055346, -0.733862, 3.59699], [-0.00449182, -0.996839, -0.0793231, 1.75586], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.576237, -0.0460466, -0.815985, 2.75601], [0.817147, -0.0507075, -0.574195, 3.64693], [-0.0149368, -0.997652, 0.0668464, 1.76361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.465248, -0.110294, -0.878282, 2.7369], [0.88518, -0.0584025, -0.461568, 3.69035], [-0.000385925, -0.992182, 0.124801, 1.80813], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.415457, 0.105974, -0.903419, 2.68149], [0.909594, 0.0548525, -0.411862, 3.70435], [0.00590825, -0.992855, -0.119182, 1.66859], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.413865, 0.317336, -0.853238, 2.66504], [0.910305, 0.13624, -0.390875, 3.71812], [-0.00779325, -0.938475, -0.345258, 1.55233], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.448906, 0.517703, -0.728332, 2.6446], [0.893511, 0.270132, -0.358701, 3.72849], [0.0110452, -0.811796, -0.583837, 1.42789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.53721, 0.556357, -0.633934, 2.43532], [0.843172, 0.373475, -0.386752, 3.81587], [0.0215864, -0.742283, -0.669739, 1.37495], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.624146, 0.492455, -0.606573, 2.11577], [0.780436, 0.356288, -0.513789, 3.83936], [-0.0369036, -0.79407, -0.606705, 1.42474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.732834, 0.408339, -0.544256, 1.71487], [0.679928, 0.409444, -0.608321, 3.88748], [-0.0255589, -0.815853, -0.577695, 1.43929], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.879275, 0.259707, -0.399285, 1.36793], [0.476078, 0.452725, -0.753917, 3.91038], [-0.0150309, -0.85299, -0.52171, 1.47202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.952569, 0.177153, -0.247444, 1.06212], [0.302936, 0.474483, -0.826496, 3.69028], [-0.029008, -0.862255, -0.505644, 1.48371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.998262, -0.0372264, 0.0456897, 0.896077], [-0.0582004, 0.500657, -0.863687, 3.50061], [0.00927708, -0.864845, -0.501953, 1.50087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.982948, -0.0429064, 0.178808, 0.959485], [-0.17652, 0.492593, -0.852169, 3.14689], [-0.0515162, -0.869201, -0.491768, 1.52398], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.924208, -0.18673, 0.333124, 1.04165], [-0.381776, 0.473092, -0.793997, 2.82385], [-0.00933519, -0.860997, -0.508525, 1.53232], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.790003, -0.332956, 0.514817, 1.12959], [-0.613073, 0.437466, -0.657849, 2.54379], [-0.00618076, -0.835323, -0.549725, 1.52735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.598225, -0.44403, 0.667057, 1.29303], [-0.801105, 0.311722, -0.510941, 2.30801], [0.0189371, -0.84004, -0.542194, 1.51839], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.280304, -0.518524, 0.807814, 1.36363], [-0.959438, 0.177753, -0.218819, 2.01538], [-0.0301288, -0.836383, -0.547317, 1.49849], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.0876336, -0.510446, 0.855433, 1.51894], [-0.993279, 0.109951, -0.0361461, 1.76855], [-0.0756049, -0.852851, -0.516651, 1.50366], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.167367, -0.508597, 0.844581, 1.6789], [-0.983708, -0.0291321, 0.177395, 1.6036], [-0.0656181, -0.860512, -0.505187, 1.51279], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.385983, -0.460857, 0.799142, 1.73014], [-0.922153, -0.1688, 0.348052, 1.37822], [-0.0255071, -0.871274, -0.490134, 1.49269], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.471949, -0.398456, 0.786446, 1.95899], [-0.88141, -0.193512, 0.430893, 1.25824], [-0.0195053, -0.896541, -0.442531, 1.46351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.612163, -0.353504, 0.707313, 2.14433], [-0.790277, -0.24318, 0.562429, 1.16482], [-0.0268165, -0.903271, -0.428231, 1.48828], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.823682, -0.240175, 0.513678, 2.13229], [-0.566899, -0.327693, 0.755806, 1.13117], [-0.0131968, -0.913747, -0.406069, 1.50204], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.934297, -0.204546, 0.291977, 2.05037], [-0.351358, -0.38979, 0.851241, 1.15565], [-0.0603081, -0.8979, -0.436048, 1.4963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.963556, -0.169539, 0.206922, 1.89232], [-0.265192, -0.503843, 0.82208, 1.25072], [-0.0351187, -0.846994, -0.530441, 1.47581], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.990824, -0.0975049, 0.0935957, 1.78139], [-0.130627, -0.513077, 0.848345, 1.29881], [-0.0346961, -0.852787, -0.521106, 1.47659], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.993742, -0.0791492, 0.0788198, 1.77614], [-0.109243, -0.541435, 0.833615, 1.31478], [-0.0233042, -0.837009, -0.546693, 1.47014], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0760_00"}, {"annotation": [{"question_id": "test-scene0761-0", "question": "What is next to the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-1", "question": "What is on top of the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-2", "question": "What is on top of the cabinets next to the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-3", "question": "What is on the wall above the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-4", "question": "How many doors does the cabinet on the wall above the toilet have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-5", "question": "What color is the stove on the side of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-6", "question": "What is on the top of the white stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-7", "question": "What is on the end of the white kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-8", "question": "What color is the pillow on the floor at the foot of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-9", "question": "What is on the wall beside the pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-10", "question": "What is placed next to the oven?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-11", "question": "Where are the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-12", "question": "What type of bed is placed along the walls?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-13", "question": "Where is a single bed placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-14", "question": "What is placed next to the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-15", "question": "Where is a bathroom vanity placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-16", "question": "What is placed on the floor along the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-17", "question": "Where are the cabinets hung?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-18", "question": "What color couch is located in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-19", "question": "In what part of the room is the black couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-20", "question": "What is the window to the right of the shelf in front of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-21", "question": "What color is the shower curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-22", "question": "On what part of the desk is the laptop located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-23", "question": "What is located under a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-24", "question": "Where is the stool located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-25", "question": "What large object is located in the top left corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-26", "question": "In what part of the room is the couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-27", "question": "What is located beside the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-28", "question": "Where is the white shower curtain located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-29", "question": "Where is the refrigerator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-30", "question": "What is located beside the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-31", "question": "Where is the suitcase located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-32", "question": "What is the object mounted on the wall between two windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-33", "question": "What is the object located to the left of the kitchen sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-34", "question": "How many boxes are stacked on the floor in front of the kitchen sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-35", "question": "What object is located between a desk with a laptop on it and a dark brown sofa in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-36", "question": "The suitcase is located on the floor between the bed and what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-37", "question": "Where is the biggest suitcase located on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-38", "question": "Where is dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-39", "question": "What is large and flush to the wall behind the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-40", "question": "How many bar stools are seen at the bar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-41", "question": "What color is the table next to the doorway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-42", "question": "Where is the bed located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-43", "question": "What is above the bed and next to the shelves on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-44", "question": "What is on the wall next to the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-45", "question": "What color is the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-46", "question": "What kind of sink is on the white kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-47", "question": "What color are the stools ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-48", "question": "Where are the stools located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-49", "question": "What color is the kitchen counter next to the oven?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-50", "question": "What color are the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-51", "question": "What color is the vanity in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-52", "question": "Where is the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-53", "question": "What is next to the two piece kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-54", "question": "Where is a bathroom vanity located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-55", "question": "What is next to the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-56", "question": "Where is a breakfast bar located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-57", "question": "What is hung next to the shower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-58", "question": "Where is the toilet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-59", "question": "What is the current status of the bathroom door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-60", "question": "Where are kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-61", "question": "How is a computer chair placed next to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-62", "question": "What is the office chair facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-63", "question": "What is next to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-64", "question": "Where is a computer chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-65", "question": "What is next to the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-66", "question": "What is next to the wooden stool?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-67", "question": "What is on the wall beside the white bathroom cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-68", "question": "What color are the kitchen cabinets on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-69", "question": "What is on top of the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-70", "question": "On what part of the kitchen cabinets is a kitchen counter located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-71", "question": "What color are the walls?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-72", "question": "Where is a toilet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-73", "question": "Where is the bathroom vanity?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-74", "question": "What is opened when a curtain is opened?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-75", "question": "What is in front of the white bathtub?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-76", "question": "What color is the shower curtain in front of the bathtub?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-77", "question": "Where is the bathtub sitting on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-78", "question": "What is on one side of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-79", "question": "How many drawers does the wooden dresser have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-80", "question": "Where is the shower curtain located when you enter the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-81", "question": "Where does the wooden desk sit in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-82", "question": "What color is the laundry hamper?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-83", "question": "Where does the laundry hamper sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-84", "question": "What type of tile is on the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-85", "question": "On what side of the stove is the metal sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-86", "question": "What color is the book shelf on the right side wall near the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-87", "question": "Where is the brown wooden book shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-88", "question": "Where is a pastel brown shower curtain in the bath room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-89", "question": "What is on the left side of the kitchen to close off the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-90", "question": "What is to the left of the toilet and has a shower curtain hanging in front of it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-91", "question": "What is hanging in front of the tub?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-92", "question": "Where is the refridgerator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-93", "question": "What is the office chair in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-94", "question": "What color is the laptop?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-95", "question": "What part of the toilet is up?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-96", "question": "What is above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-97", "question": "Where is the bathroom cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-98", "question": "Where is the breakfast bar located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-99", "question": "What color bag is in the trashcan?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-100", "question": "What color are kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-101", "question": "What color is the wooden dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-102", "question": "What is the dresser on the right side of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-103", "question": "How many panes of glass does the window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-104", "question": "What is in the room behind the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-105", "question": "How many cusions does the couch have on the seat area?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-106", "question": "How many round stools are on the right of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-107", "question": "What color is the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-108", "question": "What is on top of the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-109", "question": "What is on the left of the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-110", "question": "What color is the blanket over the bed in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-111", "question": "The head of the bed is slightly covering what on its right side?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-112", "question": "What color is the laptop on the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-113", "question": "Where does the dresser sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-114", "question": "What is almost empty on the wall between the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-115", "question": "What is on top of the light wood table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-116", "question": "Where is the light wood table from the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-117", "question": "What kind of bedspread does the wooden bed have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-118", "question": "What is the door made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-119", "question": "Is the bathroom door open or closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-120", "question": "What color is the breakfast table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-121", "question": "Where is one side of the breakfast table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-122", "question": "What shape is the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-123", "question": "Where is the window closest to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-124", "question": "What type of handle is on the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-125", "question": "Where is the wooden stool located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-126", "question": "What is connected to the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-127", "question": "Where is the dresser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-128", "question": "What is beside the white door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-129", "question": "What color is the electric stove on the other side of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-130", "question": "What is next to two windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-131", "question": "How many windows is the shelf next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-132", "question": "What is the one on the left side if you face the wall with windows and a shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-133", "question": "What is black and next to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-134", "question": "Where is the wooden table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-135", "question": "Where is the laptop?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-136", "question": "What is sitting to the left of the refridgerator and right of a set of kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-137", "question": "Where is the stove sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-138", "question": "What is centered between the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-139", "question": "What are the kitchen cabinets called?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-140", "question": "Where do the cabinents extend across the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-141", "question": "Where is the vanity located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-142", "question": "What color is the bathroom vanity in the corner against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-143", "question": "What is above the white bathroom vanity?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-144", "question": "What is on the other side of the white stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-145", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-146", "question": "Where is the small dresser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-147", "question": "Where is the laundry hamper located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-148", "question": "Where is the little toilet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-149", "question": "What is to the left of the oven?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-150", "question": "What device is on the desk next to the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0761-151", "question": "Where is the laptop located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.753025, -0.309093, 0.580874, 2.50306], [-0.657979, 0.359245, -0.661821, 2.19628], [-0.00411148, -0.880571, -0.473897, 1.3644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.808335, -0.338161, 0.481915, 2.51995], [-0.58721, 0.404445, -0.701149, 2.26069], [0.0421927, -0.849748, -0.525498, 1.3457], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.723062, -0.314861, 0.614853, 2.26794], [-0.690724, 0.317899, -0.649492, 2.31304], [0.00903879, -0.894317, -0.447343, 1.38442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.70325, -0.189184, 0.685309, 2.14187], [-0.710942, 0.188135, -0.677618, 2.38464], [-0.000736034, -0.96375, -0.266805, 1.49016], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.704939, -0.0892408, 0.703632, 2.07612], [-0.708966, 0.0596972, -0.702711, 2.47034], [0.0207058, -0.994219, -0.105352, 1.58437], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.662877, 0.0580031, 0.746478, 1.98414], [-0.748707, -0.0588068, -0.660287, 2.52015], [0.00559933, -0.996583, 0.0824089, 1.58624], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.419752, -0.0700015, 0.904935, 1.90639], [-0.907598, 0.0229521, -0.419212, 2.61086], [0.00857548, -0.997283, -0.0731675, 1.629], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.575667, -0.220343, 0.787437, 1.89781], [-0.817587, 0.140244, -0.558465, 2.6432], [0.0126202, -0.965288, -0.260883, 1.5023], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.642349, -0.329627, 0.691906, 1.90583], [-0.764506, 0.211955, -0.608774, 2.6964], [0.0540157, -0.920012, -0.388151, 1.42195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.390805, -0.452428, 0.801611, 1.96186], [-0.918969, 0.142007, -0.367871, 2.78077], [0.0526006, -0.880422, -0.471264, 1.38507], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.0834789, -0.496363, 0.864092, 2.00546], [-0.995425, 0.00109577, -0.0955374, 2.75436], [0.0464744, -0.868114, -0.494184, 1.34749], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.129544, -0.563325, 0.816017, 2.11109], [-0.990796, -0.106132, 0.0840234, 2.69153], [0.0392731, -0.819391, -0.571888, 1.31881], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.227335, -0.549149, 0.80421, 2.4325], [-0.973232, -0.156741, 0.168084, 2.62183], [0.0337496, -0.820894, -0.570082, 1.32694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.367196, -0.442594, 0.818094, 2.72103], [-0.929508, -0.142095, 0.340329, 2.4644], [-0.0343805, -0.885392, -0.463572, 1.39666], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.385796, -0.324919, 0.863475, 3.01503], [-0.922481, -0.149825, 0.355782, 2.38361], [0.01377, -0.933799, -0.357533, 1.43881], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.611805, -0.309592, 0.727906, 3.19215], [-0.789846, -0.288978, 0.540958, 2.14979], [0.0428724, -0.905894, -0.421328, 1.42731], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.665694, -0.284465, 0.689878, 3.18982], [-0.746163, -0.26571, 0.610442, 1.89471], [0.00965768, -0.921129, -0.389139, 1.45956], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.793283, -0.148151, 0.590554, 3.16835], [-0.608826, -0.202258, 0.767088, 1.72412], [0.00579906, -0.968061, -0.250646, 1.64127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.903892, -0.0497901, 0.424854, 3.23378], [-0.427411, -0.0649137, 0.901724, 1.48521], [-0.0173182, -0.996648, -0.0799558, 1.74817], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.912367, 0.0100222, 0.409251, 3.16808], [-0.409372, 0.0255944, 0.912009, 1.4336], [-0.00133419, -0.999622, 0.0274542, 1.78666], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.971709, 0.0101554, 0.235961, 3.10202], [-0.236144, 0.0591712, 0.969915, 1.38907], [-0.00411224, -0.998196, 0.0598953, 1.73208], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.972294, -0.0421557, 0.229927, 3.08807], [-0.233705, -0.154065, 0.960024, 1.42554], [-0.00504676, -0.987161, -0.159648, 1.63033], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.989377, -0.0537575, 0.135065, 3.05195], [-0.145359, -0.354159, 0.923819, 1.44376], [-0.00182757, -0.933639, -0.358211, 1.5011], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.99409, -0.0629293, 0.0884562, 2.96727], [-0.108235, -0.511835, 0.852238, 1.41571], [-0.00835586, -0.856776, -0.515621, 1.38487], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.999342, 0.026614, -0.0246282, 2.90788], [0.0335291, -0.419583, 0.907097, 1.40278], [0.0138078, -0.907327, -0.4202, 1.42539], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.997015, 0.0311457, -0.0706557, 2.98122], [0.0758437, -0.223265, 0.971803, 1.41616], [0.0144925, -0.97426, -0.22496, 1.53659], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.997322, 0.0199257, -0.0703661, 2.99663], [0.0712815, -0.0497171, 0.996217, 1.41541], [0.0163519, -0.998564, -0.0510043, 1.60402], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.995298, 0.0204397, -0.0946755, 3.02625], [0.0927393, 0.0808678, 0.992401, 1.40044], [0.0279406, -0.996515, 0.078592, 1.65869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.989472, 0.00271076, -0.144698, 3.10004], [0.138344, 0.275868, 0.951187, 1.35843], [0.0424962, -0.961192, 0.272589, 1.68473], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.95809, -0.020786, -0.285712, 3.01954], [0.285489, 0.151653, 0.946307, 1.35395], [0.0236592, -0.988215, 0.151232, 1.66124], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.954573, 0.0749603, -0.288395, 2.9711], [0.297974, -0.23524, 0.925135, 1.46372], [0.00150611, -0.969042, -0.24689, 1.5088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.922182, 0.204024, -0.328564, 2.9307], [0.385691, -0.422129, 0.820396, 1.58089], [0.0286843, -0.883279, -0.46797, 1.37689], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.775089, 0.331804, -0.53772, 2.95318], [0.631811, -0.416668, 0.653608, 1.75179], [-0.007181, -0.846342, -0.532592, 1.33738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.573995, 0.498651, -0.649521, 2.96486], [0.818754, -0.36221, 0.445473, 1.85458], [-0.0131277, -0.787497, -0.616179, 1.30982], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.5246, 0.57568, -0.627206, 2.87387], [0.851321, -0.360733, 0.380952, 2.02952], [-0.00694771, -0.733801, -0.679329, 1.27403], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.00205144, 0.66446, -0.747321, 2.96723], [0.999983, -0.00274771, -0.00518826, 2.22002], [-0.00550079, -0.747319, -0.664443, 1.27353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.398199, 0.56252, -0.724575, 3.20728], [0.912619, 0.322636, -0.251064, 2.37575], [0.0925454, -0.761234, -0.641839, 1.29229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.533052, 0.542624, -0.649165, 3.41651], [0.843556, 0.400097, -0.35824, 2.41362], [0.0653394, -0.738567, -0.671006, 1.27609], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.741962, 0.439636, -0.506175, 3.51339], [0.670438, 0.48909, -0.557946, 2.51802], [0.00227234, -0.753334, -0.657634, 1.28685], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.874492, 0.302392, -0.37924, 3.55081], [0.485016, 0.53746, -0.689852, 2.62995], [-0.00477952, -0.787208, -0.616669, 1.31913], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.909567, 0.220369, -0.352313, 3.6123], [0.415557, 0.482981, -0.770741, 2.60308], [0.000313044, -0.847447, -0.53088, 1.36942], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.9361, 0.156071, -0.315211, 3.61046], [0.3516, 0.390536, -0.850799, 2.60607], [-0.00968364, -0.907261, -0.420456, 1.4319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.971001, 0.074095, -0.227303, 3.60473], [0.238754, 0.251278, -0.938006, 2.61044], [-0.0123851, -0.965075, -0.261682, 1.50328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.997699, -0.0358356, 0.057562, 3.50595], [-0.0654861, 0.289113, -0.955052, 2.59689], [0.017583, -0.956624, -0.290794, 1.44844], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.97028, -0.099632, 0.220521, 3.3203], [-0.241965, 0.388152, -0.889264, 2.52916], [0.00300349, -0.916194, -0.400724, 1.39709], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.97338, -0.137594, 0.1833, 3.16071], [-0.216051, 0.283882, -0.934202, 2.35928], [0.076505, -0.948936, -0.306052, 1.45438], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.96244, -0.0564163, 0.265568, 2.91221], [-0.270232, 0.104826, -0.957072, 2.34765], [0.026156, -0.992889, -0.116134, 1.5808], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.919064, 0.0182818, 0.393684, 2.8278], [-0.394046, -0.0605096, -0.917097, 2.41285], [0.00705546, -0.998, 0.062816, 1.59892], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.933278, 0.0445285, 0.356384, 2.78421], [-0.358248, -0.185892, -0.914933, 2.45362], [0.0255082, -0.981561, 0.189441, 1.65655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.976837, 0.0240586, 0.212628, 2.73777], [-0.211307, -0.265172, -0.940762, 2.46353], [0.0337497, -0.963901, 0.264114, 1.73521], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.992938, -0.0992381, -0.0650104, 2.74208], [0.0923396, -0.302435, -0.948687, 2.51154], [0.0744844, -0.94799, 0.309462, 1.77898], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.946266, -0.177721, -0.270179, 2.92061], [0.314483, -0.31097, -0.896882, 2.65523], [0.0753773, -0.933656, 0.35015, 1.79229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.934382, -0.0708985, -0.349147, 3.00028], [0.355375, -0.115929, -0.927507, 2.71251], [0.0252825, -0.990724, 0.133518, 1.76021], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.905262, 0.0365312, -0.42328, 3.10567], [0.424823, 0.0658078, -0.902882, 2.60435], [-0.00512815, -0.997163, -0.0750926, 1.55358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.850958, 0.168521, -0.497464, 3.2159], [0.525232, 0.270772, -0.806731, 2.49337], [-0.00125119, -0.947778, -0.318928, 1.43664], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.803033, 0.295405, -0.517565, 3.25901], [0.59592, 0.404085, -0.69397, 2.48007], [0.00413749, -0.865709, -0.500531, 1.3478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.729678, 0.403359, -0.552151, 3.27714], [0.68359, 0.410753, -0.603313, 2.53917], [-0.0165541, -0.81767, -0.575449, 1.32221], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.747373, 0.332899, -0.574989, 3.40271], [0.659748, 0.474133, -0.583036, 2.48301], [0.0785286, -0.815093, -0.573983, 1.27299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.792717, 0.209547, -0.572442, 3.54923], [0.589763, 0.501184, -0.63324, 2.41147], [0.154205, -0.839586, -0.52088, 1.22992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.786585, 0.24963, -0.564773, 3.41129], [0.609346, 0.461788, -0.644554, 2.45015], [0.0999054, -0.851139, -0.515346, 1.28943], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.74497, 0.369714, -0.555276, 3.20602], [0.666869, 0.434551, -0.605352, 2.62241], [0.0174888, -0.821266, -0.570278, 1.32955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.70627, 0.355386, -0.612278, 3.13209], [0.7068, 0.403103, -0.581327, 2.75516], [0.0402161, -0.843332, -0.535886, 1.3443], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.659265, 0.368636, -0.655345, 3.05119], [0.748801, 0.401067, -0.527677, 2.70618], [0.0683169, -0.838602, -0.540444, 1.33946], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.625089, 0.404825, -0.667369, 2.78461], [0.779604, 0.365954, -0.508227, 2.67679], [0.0384835, -0.837971, -0.544357, 1.33104], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.622747, 0.516254, -0.587935, 2.54224], [0.782068, 0.433342, -0.447866, 2.64234], [0.0235642, -0.738713, -0.673608, 1.28812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.812877, 0.392109, -0.430676, 2.32361], [0.582431, 0.550007, -0.598553, 2.65563], [0.00217694, -0.737389, -0.675464, 1.30789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.982597, 0.0692284, -0.172367, 2.06254], [0.176865, 0.63225, -0.754307, 2.90598], [0.0567596, -0.771665, -0.633491, 1.32836], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.991444, -0.129198, 0.0186303, 1.9283], [-0.0979566, 0.642056, -0.760374, 2.91382], [0.0862771, -0.755693, -0.649218, 1.31051], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.860064, -0.420131, 0.289447, 1.72443], [-0.493119, 0.539042, -0.682838, 2.82595], [0.130857, -0.730016, -0.670785, 1.31838], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.865039, -0.346871, 0.362475, 1.48953], [-0.499557, 0.528737, -0.686207, 2.67343], [0.0463711, -0.774673, -0.63066, 1.32689], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.853057, -0.329828, 0.40436, 1.30621], [-0.520062, 0.47387, -0.710621, 2.42712], [0.042769, -0.816493, -0.575769, 1.34837], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.724197, -0.386804, 0.570896, 1.07252], [-0.686206, 0.322256, -0.652129, 2.26892], [0.0682717, -0.864022, -0.498804, 1.40616], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.654795, -0.378071, 0.654451, 1.05086], [-0.75259, 0.246343, -0.610675, 2.18807], [0.0696595, -0.8924, -0.445837, 1.4274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.731617, -0.284111, 0.619691, 1.08097], [-0.677113, 0.197393, -0.708911, 2.11595], [0.0790869, -0.938252, -0.336791, 1.4833], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.73593, -0.19244, 0.649133, 1.06861], [-0.67528, 0.139202, -0.724306, 2.15817], [0.049025, -0.971385, -0.232394, 1.56336], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.765995, -0.0628818, 0.639764, 1.24472], [-0.642688, 0.0527834, -0.764308, 2.29311], [0.0142921, -0.996624, -0.0808452, 1.6099], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.742486, -0.0166091, 0.669655, 1.36315], [-0.668806, -0.0377215, -0.74248, 2.30248], [0.0375923, -0.99915, 0.0168994, 1.63617], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.893626, -0.0383597, 0.447171, 1.42019], [-0.437675, -0.146108, -0.887182, 2.29179], [0.0993672, -0.988524, 0.113777, 1.69556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.988166, -0.0957612, 0.11982, 1.56406], [-0.111745, -0.0856682, -0.990037, 2.41249], [0.105072, -0.991711, 0.0739535, 1.74142], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.995897, -0.0876508, 0.0225136, 1.5794], [-0.00354019, -0.210857, -0.97751, 2.60788], [0.0904266, -0.973579, 0.209681, 1.78711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.989336, -0.13298, -0.0594123, 1.66345], [0.0930948, -0.263644, -0.960117, 2.70102], [0.112013, -0.95541, 0.273212, 1.85211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.969131, -0.0384508, -0.243532, 1.82405], [0.244202, -0.0137607, -0.969627, 2.63249], [0.0339317, -0.999166, 0.0227257, 1.7347], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.929422, 0.00937483, -0.368901, 1.86113], [0.365189, 0.167041, -0.915825, 2.52902], [0.0530358, -0.985905, -0.158675, 1.52982], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.903987, 0.09298, -0.417327, 2.01483], [0.42147, 0.357923, -0.833219, 2.48952], [0.0718983, -0.92911, -0.362747, 1.39991], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.832045, 0.277113, -0.48053, 2.02754], [0.554296, 0.448757, -0.700981, 2.37957], [0.0213904, -0.849603, -0.526988, 1.32771], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.622825, 0.377767, -0.685114, 2.1308], [0.781229, 0.347387, -0.518655, 2.2638], [0.0420689, -0.858262, -0.511484, 1.32926], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.50236, 0.434623, -0.747488, 2.33168], [0.861688, 0.323246, -0.39116, 2.21981], [0.0716153, -0.840604, -0.536895, 1.33859], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.485555, 0.450932, -0.748931, 2.44663], [0.873969, 0.270353, -0.403841, 2.27615], [0.020371, -0.850629, -0.525371, 1.35926], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.419215, 0.403366, -0.81336, 2.62033], [0.906658, 0.232599, -0.35195, 2.1002], [0.0472224, -0.884982, -0.463224, 1.36219], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.191736, 0.365027, -0.911039, 2.67202], [0.979408, 0.130965, -0.153651, 1.80445], [0.0632279, -0.921739, -0.382621, 1.39327], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.0142555, 0.322923, -0.946318, 2.68705], [0.999697, 0.0236014, -0.00700593, 1.45201], [0.0200721, -0.946131, -0.323162, 1.43605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.100857, 0.298762, -0.948984, 2.69994], [0.993505, 0.0202789, 0.111973, 1.17814], [0.0526977, -0.954112, -0.294776, 1.4255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.217789, 0.311674, -0.924893, 2.60625], [0.975273, -0.0330375, 0.218519, 0.952526], [0.0375505, -0.949614, -0.311163, 1.42393], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.293126, 0.318207, -0.901566, 2.61771], [0.95603, -0.106613, 0.273204, 0.790172], [-0.00918308, -0.942007, -0.335467, 1.4441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.252352, 0.201504, -0.946422, 2.65053], [0.965687, -0.114479, 0.233115, 0.818501], [-0.0613718, -0.972775, -0.223479, 1.52242], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.101826, 0.161722, -0.981569, 2.75838], [0.993109, -0.0740632, 0.0908205, 1.06582], [-0.0580104, -0.984053, -0.168149, 1.58384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.059893, 0.292761, -0.954308, 2.76377], [0.997624, -0.0501531, 0.0472255, 1.29011], [-0.0340357, -0.954869, -0.295069, 1.46275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.123804, 0.349533, -0.928708, 2.72713], [0.991072, -0.00311491, -0.13329, 1.62888], [-0.0494823, -0.936919, -0.346027, 1.42933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.257327, 0.262475, -0.929995, 2.71492], [0.966163, 0.0522664, -0.252584, 2.0108], [-0.0176893, -0.963522, -0.267043, 1.4732], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.236618, 0.287517, -0.928087, 2.65134], [0.971267, 0.0448948, -0.233719, 2.47887], [-0.0255321, -0.956722, -0.289879, 1.50459], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.0559306, 0.403167, -0.913416, 2.69142], [0.997487, 0.0624107, -0.0335315, 2.29981], [0.0434882, -0.912996, -0.405644, 1.423], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.245757, 0.372436, -0.894927, 2.76332], [0.968918, -0.121333, 0.215581, 2.10691], [-0.0282937, -0.920092, -0.390678, 1.43301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.416783, 0.349585, -0.839096, 2.77084], [0.908804, -0.179703, 0.376539, 2.07375], [-0.0191559, -0.919509, -0.392601, 1.41573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.565462, 0.297255, -0.769345, 2.67485], [0.824689, -0.217219, 0.522211, 1.90113], [-0.011887, -0.929761, -0.367972, 1.41319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.62937, 0.164556, -0.759484, 2.6437], [0.777029, -0.147016, 0.612056, 1.91032], [-0.0109388, -0.97535, -0.220392, 1.47536], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.570498, 0.0624946, -0.818918, 2.66827], [0.820676, -0.0822211, 0.565448, 1.7774], [-0.0319949, -0.994653, -0.0981946, 1.52495], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.504663, 0.00122875, -0.863315, 2.84247], [0.863284, -0.00941917, 0.504631, 1.80744], [-0.00751165, -0.999955, -0.00581425, 1.56898], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.514331, -0.0760607, -0.854212, 2.94696], [0.857356, 0.0222588, 0.514242, 1.79436], [-0.0200999, -0.996855, 0.0766594, 1.60953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.630893, 0.0653284, -0.773115, 2.94005], [0.772954, -0.139242, 0.618995, 1.7531], [-0.0672119, -0.988101, -0.138342, 1.55321], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.640335, 0.203332, -0.740694, 2.83356], [0.76386, -0.269721, 0.586318, 1.89178], [-0.0805632, -0.941226, -0.328029, 1.41583], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.723818, 0.285733, -0.628048, 2.71895], [0.689114, -0.345238, 0.637128, 2.05909], [-0.0347776, -0.893961, -0.446792, 1.35791], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.818181, 0.285198, -0.499241, 2.64366], [0.574849, -0.422881, 0.700515, 2.10045], [-0.0113337, -0.860136, -0.509939, 1.34391], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.893813, 0.188266, -0.407006, 2.77687], [0.444637, -0.490011, 0.749792, 1.96733], [-0.0582772, -0.851144, -0.521688, 1.35233], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[0.980848, 0.0779503, -0.178495, 2.74023], [0.193298, -0.502141, 0.842905, 1.69454], [-0.0239248, -0.861265, -0.507592, 1.36248], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.996673, -0.0204719, -0.078888, 2.85691], [0.0597244, -0.475167, 0.877866, 1.53685], [-0.0554567, -0.879658, -0.472363, 1.39667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[0.997332, -0.0112771, -0.0721218, 2.95088], [0.0638423, -0.344322, 0.936679, 1.44241], [-0.0353962, -0.938784, -0.342683, 1.46783], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[0.985627, 0.0201056, -0.167734, 2.87414], [0.168317, -0.201688, 0.964879, 1.53918], [-0.0144305, -0.979243, -0.202174, 1.51397], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[0.961405, 0.0373868, -0.272585, 2.75925], [0.269487, -0.327699, 0.905533, 1.77406], [-0.0554709, -0.944042, -0.325127, 1.44582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[0.873133, 0.182588, -0.451996, 2.70367], [0.484845, -0.421588, 0.766282, 2.07176], [-0.0506422, -0.888214, -0.45663, 1.37024], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[0.773304, 0.311661, -0.552149, 2.54012], [0.633699, -0.351542, 0.68909, 2.30727], [0.0206584, -0.882772, -0.469348, 1.35291], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[0.636309, 0.303718, -0.709131, 2.38526], [0.769252, -0.318908, 0.553669, 2.60917], [-0.0579879, -0.897804, -0.43656, 1.34967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[0.641865, 0.388297, -0.661237, 2.17176], [0.766757, -0.314197, 0.559789, 2.80675], [0.0096057, -0.866317, -0.499402, 1.33335], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[0.50368, 0.371749, -0.779813, 2.11349], [0.863592, -0.192954, 0.465809, 2.99886], [0.0226958, -0.908059, -0.418227, 1.36708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[0.399105, 0.266077, -0.87745, 2.10806], [0.916835, -0.104004, 0.385481, 3.07388], [0.0113095, -0.958325, -0.285457, 1.45529], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.411765, 0.0879048, -0.90704, 2.13054], [0.911207, -0.0262411, 0.411114, 3.14442], [0.0123372, -0.995783, -0.0909046, 1.5712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[0.412191, -0.101524, -0.905424, 2.20617], [0.911068, 0.0539183, 0.408715, 3.22115], [0.00732443, -0.993371, 0.11472, 1.60566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.456083, -0.192675, -0.86883, 2.25713], [0.889899, 0.0896967, 0.447251, 3.24801], [-0.00824273, -0.977154, 0.21237, 1.69452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.563723, -0.146428, -0.812882, 2.24442], [0.824417, 0.0395363, 0.564601, 3.29221], [-0.0505351, -0.988431, 0.143006, 1.70729], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[0.731418, -0.100071, -0.674548, 2.20108], [0.681828, 0.124423, 0.720853, 3.27433], [0.0117933, -0.98717, 0.159236, 1.68534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[0.875599, -0.0667054, -0.47841, 2.04732], [0.482761, 0.154434, 0.862028, 3.07766], [0.0163806, -0.985749, 0.167425, 1.69262], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[0.927215, 0.0315704, -0.373198, 1.94837], [0.371708, 0.0445445, 0.927281, 2.99524], [0.0458985, -0.998508, 0.0295674, 1.69081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[0.908003, 0.0988918, -0.407125, 1.88903], [0.41778, -0.140718, 0.897585, 3.03649], [0.0314737, -0.985098, -0.169088, 1.56728], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.81485, 0.253929, -0.521095, 1.97022], [0.578489, -0.298805, 0.75899, 3.00376], [0.037024, -0.919911, -0.390377, 1.40236], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.731694, 0.262115, -0.629223, 2.04392], [0.68062, -0.331277, 0.653462, 3.05779], [-0.0371651, -0.906395, -0.420793, 1.35087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.756437, 0.243938, -0.606875, 1.81147], [0.653385, -0.324157, 0.684112, 3.34574], [-0.0298421, -0.914011, -0.40459, 1.35375], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[0.570377, 0.305256, -0.762554, 1.70339], [0.821145, -0.189551, 0.538323, 3.52805], [0.0197837, -0.933215, -0.358774, 1.37845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.388891, 0.3518, -0.85147, 1.58129], [0.921153, -0.132931, 0.365794, 3.74409], [0.0154993, -0.926588, -0.375757, 1.37879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[0.253393, 0.374396, -0.891975, 1.42061], [0.966151, -0.0518038, 0.252721, 3.90631], [0.0484101, -0.925821, -0.37485, 1.36001], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[0.0641524, 0.306994, -0.949547, 1.32616], [0.99792, -0.0257325, 0.059101, 4.08168], [-0.00629056, -0.951364, -0.308006, 1.45832], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[0.13955, 0.38389, -0.912773, 1.31308], [0.990055, -0.0374944, 0.135595, 4.13447], [0.0178298, -0.922617, -0.385304, 1.40848], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[0.533664, 0.433534, -0.726121, 1.34996], [0.844491, -0.227359, 0.484915, 4.06456], [0.0451375, -0.871984, -0.487449, 1.37345], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[0.716203, 0.386403, -0.58116, 1.43452], [0.697209, -0.359298, 0.620326, 4.02085], [0.0308861, -0.849469, -0.526734, 1.36209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[0.81018, 0.273811, -0.518302, 1.56404], [0.586055, -0.396728, 0.706503, 4.10641], [-0.0121764, -0.876148, -0.481889, 1.40614], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[0.846958, 0.263845, -0.461571, 1.56338], [0.53159, -0.406201, 0.743245, 4.16559], [0.00861035, -0.874864, -0.484292, 1.39914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[0.864299, 0.246118, -0.438648, 1.52395], [0.502977, -0.421265, 0.754685, 4.34131], [0.000954755, -0.872904, -0.487891, 1.39271], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[0.816997, 0.262556, -0.513401, 1.57543], [0.576547, -0.388141, 0.718986, 4.60145], [-0.0104975, -0.883409, -0.468486, 1.37268], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[0.799315, 0.306747, -0.516722, 1.56538], [0.60041, -0.372521, 0.707627, 4.79679], [0.0245728, -0.875862, -0.481936, 1.38723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[0.886529, 0.256615, -0.384987, 1.64495], [0.462482, -0.467592, 0.753305, 4.96096], [0.0132924, -0.845876, -0.533213, 1.38331], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[0.967981, 0.19815, -0.154111, 1.53338], [0.238207, -0.531396, 0.812943, 4.92277], [0.0791907, -0.823623, -0.561581, 1.3541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[0.989539, 0.134736, -0.0515672, 1.37221], [0.112409, -0.496036, 0.860995, 4.70172], [0.0904278, -0.857785, -0.505992, 1.39069], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[0.996227, 0.0867847, -0.00103775, 1.27697], [0.0280477, -0.310605, 0.950125, 4.52741], [0.0821339, -0.946569, -0.311867, 1.43558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[0.995782, 0.0370478, -0.0839419, 1.19192], [0.0861386, -0.0623281, 0.994331, 4.49888], [0.0316058, -0.997368, -0.0652565, 1.52427], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[0.997855, 0.0595165, -0.0272534, 1.26638], [0.0251678, 0.0355181, 0.999052, 4.42877], [0.0604281, -0.997595, 0.033944, 1.5985], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[0.99586, 0.0884177, 0.0210988, 1.26887], [-0.0325062, 0.129637, 0.991028, 4.36976], [0.0848893, -0.987611, 0.131975, 1.63041], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[0.99081, 0.128788, 0.0413308, 1.24628], [-0.0784333, 0.298123, 0.951299, 4.30651], [0.110194, -0.945799, 0.305485, 1.68808], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[0.984723, 0.119527, 0.126626, 1.21313], [-0.150746, 0.221194, 0.963509, 4.32214], [0.0871561, -0.967877, 0.235833, 1.71546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[0.96274, 0.0624824, 0.263111, 1.1623], [-0.264207, 0.00982893, 0.964416, 4.40984], [0.0576728, -0.997998, 0.025971, 1.62459], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[0.930253, 0.0103361, 0.366774, 1.13879], [-0.363099, -0.11794, 0.924256, 4.44114], [0.0528104, -0.992967, -0.105961, 1.55219], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[0.927536, -0.0273355, 0.372734, 1.11506], [-0.368542, -0.232578, 0.900047, 4.47635], [0.0620865, -0.972194, -0.225798, 1.43396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[0.848025, -0.19939, 0.491016, 1.11213], [-0.526729, -0.419203, 0.739476, 4.62264], [0.0583911, -0.885727, -0.46052, 1.34057], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[0.711035, -0.346775, 0.6117, 1.02692], [-0.701544, -0.408737, 0.583755, 4.61118], [0.0475927, -0.844205, -0.533904, 1.32746], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[0.687871, -0.37777, 0.619776, 1.06068], [-0.725145, -0.394846, 0.564147, 4.51624], [0.0315978, -0.837488, -0.545541, 1.33879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[0.665776, -0.268801, 0.696052, 1.08474], [-0.744448, -0.302304, 0.595324, 4.47029], [0.0503958, -0.914526, -0.401375, 1.42064], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[0.684381, -0.172208, 0.708496, 1.03758], [-0.728545, -0.200225, 0.655081, 4.44278], [0.0290482, -0.964497, -0.262492, 1.49244], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[0.749137, -0.0257063, 0.661916, 1.03025], [-0.662016, -0.0637053, 0.746777, 4.4092], [0.0229706, -0.997638, -0.0647421, 1.61215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[0.786553, -0.00655702, 0.617488, 1.01814], [-0.616851, -0.0549836, 0.785157, 4.41172], [0.0288034, -0.998466, -0.0472923, 1.62832], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[0.757475, -0.19953, 0.621627, 0.9727], [-0.650409, -0.313133, 0.692038, 4.57658], [0.0565694, -0.928513, -0.366966, 1.40639], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[0.695547, -0.341231, 0.632279, 1.05354], [-0.716575, -0.393523, 0.5759, 4.8295], [0.0523011, -0.85364, -0.518231, 1.31819], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[0.300084, -0.593935, 0.746452, 1.14341], [-0.953754, -0.201117, 0.223397, 5.07667], [0.0174403, -0.778969, -0.62682, 1.31864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[-0.0195119, -0.653322, 0.756828, 1.2968], [-0.999692, 0.00112642, -0.0248008, 5.18276], [0.0153503, -0.757079, -0.653143, 1.30191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[-0.526676, -0.586795, 0.615049, 1.42312], [-0.84944, 0.335514, -0.407287, 5.40097], [0.0326364, -0.736955, -0.675154, 1.29478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3460", "pose": [[-0.753226, -0.496578, 0.431348, 1.43413], [-0.650905, 0.468277, -0.597528, 5.66771], [0.0947293, -0.73084, -0.675943, 1.28556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3480", "pose": [[-0.926742, -0.281937, 0.248318, 1.43841], [-0.371828, 0.593648, -0.713671, 5.89664], [0.0537966, -0.75372, -0.65499, 1.3253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3500", "pose": [[-0.94657, -0.226933, 0.229142, 1.46229], [-0.32096, 0.593615, -0.737974, 6.12001], [0.0314487, -0.77209, -0.634735, 1.34931], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3520", "pose": [[-0.940511, -0.238566, 0.241919, 1.37445], [-0.337795, 0.580054, -0.741237, 6.20446], [0.036508, -0.77886, -0.626134, 1.36323], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3540", "pose": [[-0.905536, -0.280766, 0.318081, 1.4246], [-0.422937, 0.537978, -0.729181, 6.15846], [0.0336087, -0.794827, -0.605904, 1.36301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3560", "pose": [[-0.871085, -0.252355, 0.421342, 1.42973], [-0.490816, 0.478115, -0.728358, 5.9318], [-0.0176448, -0.841263, -0.540338, 1.36232], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3580", "pose": [[-0.865861, -0.271748, 0.420046, 1.37404], [-0.500213, 0.455904, -0.736165, 5.58927], [0.00855056, -0.847528, -0.530681, 1.38788], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3600", "pose": [[-0.935277, -0.211132, 0.284044, 1.44713], [-0.350473, 0.440812, -0.826349, 5.27164], [0.0492586, -0.872415, -0.486277, 1.40853], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3620", "pose": [[-0.8976, -0.19242, 0.396595, 1.43036], [-0.439984, 0.446124, -0.77935, 4.9956], [-0.0269679, -0.874041, -0.485103, 1.39584], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3640", "pose": [[-0.846593, -0.313513, 0.430104, 1.40538], [-0.532196, 0.488162, -0.691712, 4.83095], [0.00690003, -0.814498, -0.580125, 1.32163], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3660", "pose": [[-0.692285, -0.448168, 0.565586, 1.28062], [-0.721511, 0.415986, -0.553514, 4.62031], [0.012791, -0.791265, -0.611339, 1.30954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3680", "pose": [[-0.607497, -0.530677, 0.591041, 1.37801], [-0.791725, 0.34442, -0.504525, 4.40697], [0.0641735, -0.77444, -0.629385, 1.29245], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3700", "pose": [[-0.58003, -0.544108, 0.606227, 1.44051], [-0.811992, 0.326746, -0.483638, 4.1559], [0.0650687, -0.772776, -0.631334, 1.291], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3720", "pose": [[-0.722899, -0.423338, 0.546079, 1.64199], [-0.686545, 0.350947, -0.636782, 3.93318], [0.0779293, -0.835237, -0.544339, 1.32756], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3740", "pose": [[-0.653434, -0.466256, 0.596347, 1.69758], [-0.756686, 0.380231, -0.531837, 3.68357], [0.0212226, -0.798768, -0.601265, 1.30745], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3760", "pose": [[-0.606562, -0.413323, 0.679152, 1.83], [-0.793617, 0.263748, -0.548279, 3.35651], [0.0474912, -0.871551, -0.487999, 1.35867], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3780", "pose": [[-0.667389, -0.377046, 0.642205, 2.00076], [-0.741433, 0.25561, -0.620436, 3.06848], [0.0697787, -0.890224, -0.450146, 1.43887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3800", "pose": [[-0.671844, -0.349452, 0.653077, 1.93968], [-0.738953, 0.255827, -0.623299, 2.78274], [0.0507387, -0.901352, -0.430104, 1.42849], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3820", "pose": [[-0.698246, -0.42571, 0.57552, 1.87925], [-0.711338, 0.322415, -0.624537, 2.55461], [0.0803153, -0.84547, -0.527949, 1.3463], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3840", "pose": [[-0.41181, -0.571349, 0.709911, 1.60774], [-0.910893, 0.235697, -0.338704, 2.51192], [0.0261942, -0.786134, -0.6175, 1.32768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3860", "pose": [[-0.41339, -0.587993, 0.695251, 1.39671], [-0.909241, 0.225569, -0.349856, 2.54734], [0.0488857, -0.776777, -0.627875, 1.3249], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3880", "pose": [[-0.151566, -0.626325, 0.764686, 1.25573], [-0.986563, 0.0481073, -0.156141, 2.69187], [0.0610077, -0.778076, -0.6252, 1.33775], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3900", "pose": [[0.166216, -0.581508, 0.79638, 1.24159], [-0.984415, -0.144902, 0.099656, 2.6306], [0.0574467, -0.800532, -0.59653, 1.345], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3920", "pose": [[0.412109, -0.532168, 0.73957, 1.27368], [-0.911016, -0.253739, 0.325063, 2.63748], [0.0146695, -0.807721, -0.589382, 1.35633], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3940", "pose": [[0.674024, -0.421266, 0.606817, 1.33656], [-0.738267, -0.412575, 0.533613, 2.7974], [0.0255648, -0.807661, -0.589092, 1.35332], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3960", "pose": [[0.904179, -0.249929, 0.346405, 1.44934], [-0.427137, -0.536471, 0.727841, 2.85649], [0.00392792, -0.806061, -0.59182, 1.34004], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3980", "pose": [[0.943973, -0.146418, 0.295765, 1.49065], [-0.326668, -0.542011, 0.774282, 3.05837], [0.0469387, -0.827518, -0.559474, 1.34161], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4000", "pose": [[0.961331, -0.0984901, 0.257182, 1.53302], [-0.268904, -0.537271, 0.799393, 3.3461], [0.0594444, -0.837639, -0.54298, 1.35548], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4020", "pose": [[0.960825, -0.118702, 0.250449, 1.62433], [-0.274793, -0.52572, 0.805051, 3.63488], [0.0361054, -0.842335, -0.537744, 1.36327], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4040", "pose": [[0.890351, -0.194687, 0.411549, 1.60032], [-0.453008, -0.46895, 0.758201, 3.91882], [0.0453839, -0.8615, -0.505725, 1.36888], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4060", "pose": [[0.757145, -0.322623, 0.568019, 1.64889], [-0.651465, -0.437095, 0.620114, 4.25227], [0.0482149, -0.839561, -0.541122, 1.35171], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4080", "pose": [[0.53506, -0.414743, 0.736002, 1.57331], [-0.842547, -0.325759, 0.428947, 4.58018], [0.0618564, -0.849629, -0.523741, 1.38287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4100", "pose": [[0.373277, -0.436551, 0.818589, 1.66064], [-0.927104, -0.207676, 0.312007, 4.7058], [0.0337938, -0.875382, -0.482249, 1.3949], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4120", "pose": [[0.309729, -0.452362, 0.836323, 1.86809], [-0.950312, -0.118397, 0.287904, 4.74399], [-0.0312184, -0.88394, -0.466556, 1.40904], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4140", "pose": [[0.221085, -0.493687, 0.841068, 2.11329], [-0.975155, -0.124225, 0.183414, 4.87451], [0.0139323, -0.860721, -0.508886, 1.40636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4160", "pose": [[0.43907, -0.461543, 0.770841, 2.26265], [-0.897943, -0.196535, 0.393792, 4.92623], [-0.0302552, -0.865073, -0.500732, 1.37786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4180", "pose": [[0.553363, -0.434371, 0.710712, 2.47142], [-0.832768, -0.271153, 0.482674, 4.89286], [-0.0169482, -0.858952, -0.511776, 1.37681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4200", "pose": [[0.65501, -0.359721, 0.664502, 2.62506], [-0.75533, -0.336081, 0.562607, 4.95522], [0.020945, -0.870431, -0.491844, 1.37041], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4220", "pose": [[0.905817, -0.262544, 0.332515, 2.62931], [-0.415101, -0.392931, 0.820547, 4.87461], [-0.0847744, -0.881292, -0.464906, 1.34923], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4240", "pose": [[0.953848, -0.137819, 0.266795, 2.56455], [-0.297622, -0.315744, 0.900959, 4.84778], [-0.0399306, -0.938782, -0.34219, 1.3928], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4260", "pose": [[0.951722, -0.109239, 0.286865, 2.58214], [-0.305068, -0.232994, 0.923389, 4.84909], [-0.0340327, -0.966323, -0.255071, 1.44539], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4280", "pose": [[0.96575, -0.00478578, 0.259431, 2.58755], [-0.25824, -0.115183, 0.95919, 4.83673], [0.0252915, -0.993333, -0.112474, 1.54156], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4300", "pose": [[0.96417, 0.0658202, 0.256991, 2.60452], [-0.259359, 0.03024, 0.965307, 4.80295], [0.0557653, -0.997373, 0.0462275, 1.54634], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4320", "pose": [[0.958659, 0.0877941, 0.270676, 2.62976], [-0.279176, 0.106052, 0.954366, 4.77585], [0.0550817, -0.990477, 0.126178, 1.58508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4340", "pose": [[0.888563, -0.0287926, 0.45785, 2.62197], [-0.458329, -0.0986594, 0.883289, 4.83872], [0.019739, -0.994705, -0.100862, 1.17678], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4360", "pose": [[0.874049, -0.221616, 0.432348, 2.59012], [-0.485813, -0.407744, 0.773131, 4.90372], [0.00494856, -0.885794, -0.464052, 1.36654], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4380", "pose": [[0.816045, -0.365526, 0.447729, 2.5956], [-0.577954, -0.524612, 0.625102, 4.93071], [0.00639305, -0.768878, -0.639364, 1.30335], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4400", "pose": [[0.597894, -0.482381, 0.640181, 2.7438], [-0.800873, -0.392911, 0.451911, 5.01943], [0.0335403, -0.782898, -0.621245, 1.30225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4420", "pose": [[0.322282, -0.553676, 0.76784, 2.91694], [-0.946542, -0.200391, 0.252789, 5.18195], [0.0139048, -0.808262, -0.588659, 1.34195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4440", "pose": [[0.0115251, -0.506171, 0.862356, 3.00915], [-0.998599, -0.0503601, -0.0162134, 5.42066], [0.0516351, -0.860962, -0.506042, 1.36321], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4460", "pose": [[-0.163334, -0.38225, 0.909509, 3.15205], [-0.985794, 0.0266516, -0.165832, 5.54061], [0.0391494, -0.923674, -0.381173, 1.38805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4480", "pose": [[-0.481551, -0.289046, 0.827382, 3.19164], [-0.876279, 0.141978, -0.46041, 5.67998], [0.0156098, -0.946728, -0.321654, 1.44256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4500", "pose": [[-0.461997, -0.155641, 0.873118, 3.15688], [-0.886709, 0.0616141, -0.458205, 5.73698], [0.0175193, -0.98589, -0.166474, 1.49799], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4520", "pose": [[-0.440103, -0.0553565, 0.896239, 3.13024], [-0.89793, 0.0333291, -0.438874, 5.7076], [-0.0055761, -0.99791, -0.0643745, 1.57191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4540", "pose": [[-0.38252, 0.0975661, 0.918782, 3.10022], [-0.922498, 0.0153511, -0.385697, 5.7217], [-0.0517351, -0.995111, 0.0841324, 1.63275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4560", "pose": [[-0.432635, 0.197562, 0.879657, 3.0687], [-0.899068, -0.0219065, -0.437261, 5.70576], [-0.0671158, -0.980045, 0.187099, 1.69237], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4580", "pose": [[-0.629374, -0.0539107, 0.77523, 3.13103], [-0.774316, 0.127907, -0.619737, 5.65688], [-0.0657468, -0.99032, -0.122245, 1.56424], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4600", "pose": [[-0.67935, -0.264428, 0.684516, 3.20409], [-0.733158, 0.284032, -0.617904, 5.65098], [-0.0310335, -0.921631, -0.386825, 1.4256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4620", "pose": [[-0.714762, -0.399685, 0.573905, 3.27006], [-0.698955, 0.380036, -0.605834, 5.64957], [0.0240384, -0.834161, -0.550997, 1.32192], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4640", "pose": [[-0.788596, -0.451393, 0.417565, 3.39552], [-0.611752, 0.507163, -0.607079, 5.6169], [0.0622578, -0.734186, -0.676088, 1.29098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4660", "pose": [[-0.965005, -0.171416, 0.198448, 3.54292], [-0.261464, 0.571133, -0.778103, 5.59925], [0.0200392, -0.80276, -0.595965, 1.341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4680", "pose": [[-0.98109, -0.161876, 0.106103, 3.66139], [-0.169918, 0.457856, -0.872637, 5.54542], [0.0926795, -0.874164, -0.476704, 1.39566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4700", "pose": [[-0.998086, -0.054645, -0.0289367, 3.78886], [0.00230545, 0.434763, -0.900542, 5.45729], [0.0617907, -0.898885, -0.433805, 1.42645], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4720", "pose": [[-0.955906, 0.0786194, -0.282953, 3.92519], [0.288948, 0.423916, -0.858373, 5.44962], [0.0524638, -0.902282, -0.427941, 1.45626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4740", "pose": [[-0.927274, 0.131213, -0.350637, 3.90642], [0.371899, 0.430536, -0.822393, 5.479], [0.0430532, -0.892985, -0.448023, 1.47567], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4760", "pose": [[-0.849163, 0.211023, -0.48414, 3.81674], [0.527764, 0.373194, -0.763014, 5.48276], [0.0196645, -0.903435, -0.428273, 1.51537], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4780", "pose": [[-0.778665, 0.348901, -0.521487, 3.76563], [0.627436, 0.430238, -0.649014, 5.49158], [-0.00207838, -0.832564, -0.553924, 1.44864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4800", "pose": [[-0.660803, 0.492402, -0.566463, 3.74536], [0.750097, 0.459749, -0.475379, 5.4944], [0.0263533, -0.739034, -0.673153, 1.39079], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4820", "pose": [[-0.444033, 0.482522, -0.754988, 3.68625], [0.894235, 0.291665, -0.339523, 5.52931], [0.0563764, -0.825896, -0.560996, 1.44624], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4840", "pose": [[-0.438214, 0.317582, -0.840899, 3.69252], [0.89695, 0.215625, -0.385989, 5.51897], [0.0587354, -0.923389, -0.379345, 1.50893], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4860", "pose": [[-0.471146, 0.213667, -0.855785, 3.65003], [0.881802, 0.137351, -0.451176, 5.46147], [0.0211413, -0.967203, -0.253124, 1.54777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4880", "pose": [[-0.527405, 0.00906673, -0.849566, 3.47103], [0.848272, 0.0617971, -0.525943, 5.3778], [0.0477322, -0.998047, -0.0402831, 1.59619], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4900", "pose": [[-0.501085, -0.0519458, -0.863838, 3.57819], [0.863825, 0.0301355, -0.50289, 5.40493], [0.0521552, -0.998195, 0.0297716, 1.64498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4920", "pose": [[-0.534427, -0.182533, -0.82527, 3.69997], [0.843409, -0.0513823, -0.534809, 5.46402], [0.0552159, -0.981856, 0.18141, 1.59822], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4940", "pose": [[-0.566415, 0.0437413, -0.822959, 3.47955], [0.823507, 0.0685607, -0.563149, 5.392], [0.0317897, -0.996688, -0.074855, 1.52161], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4960", "pose": [[-0.583435, 0.21062, -0.784374, 3.25748], [0.810797, 0.206972, -0.547513, 5.22434], [0.0470262, -0.955406, -0.291525, 1.47173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4980", "pose": [[-0.527378, 0.300614, -0.794672, 3.04353], [0.84947, 0.204778, -0.486279, 5.05602], [0.0165493, -0.931502, -0.363358, 1.4063], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5000", "pose": [[-0.542064, 0.348751, -0.764552, 2.81518], [0.839362, 0.268525, -0.472616, 4.94534], [0.040476, -0.897924, -0.438286, 1.3723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5020", "pose": [[-0.215587, 0.384946, -0.897407, 2.58555], [0.976069, 0.111767, -0.186541, 4.76984], [0.0284917, -0.916147, -0.39983, 1.36146], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5040", "pose": [[-0.0177141, 0.3914, -0.92005, 2.27304], [0.99936, 0.0355444, -0.00412028, 4.77552], [0.03109, -0.919534, -0.391779, 1.38235], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5060", "pose": [[0.299317, 0.403994, -0.864406, 1.9852], [0.954108, -0.117795, 0.275324, 4.77871], [0.00940646, -0.907146, -0.420712, 1.40026], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5080", "pose": [[0.312022, 0.408365, -0.857834, 1.80929], [0.94996, -0.120044, 0.288385, 4.72994], [0.0147886, -0.904891, -0.425387, 1.37248], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5100", "pose": [[-0.402422, 0.471212, -0.784867, 1.63783], [0.914026, 0.254685, -0.31574, 4.57558], [0.0511131, -0.84445, -0.533191, 1.32119], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5120", "pose": [[-0.912097, 0.190506, -0.363025, 1.66611], [0.40757, 0.517128, -0.752639, 4.35308], [0.044348, -0.834438, -0.549315, 1.2884], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5140", "pose": [[-0.999719, -0.0231199, 0.00520581, 1.65192], [-0.0166391, 0.528344, -0.848867, 4.14581], [0.0168753, -0.848715, -0.52858, 1.32672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5160", "pose": [[-0.942294, -0.146256, 0.301149, 1.65263], [-0.334664, 0.435741, -0.835541, 3.89331], [-0.00901963, -0.88811, -0.459543, 1.38842], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "5180", "pose": [[-0.912956, -0.194395, 0.358779, 1.79851], [-0.407084, 0.373148, -0.833693, 3.61362], [0.0281882, -0.907177, -0.419803, 1.41181], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0761_00"}, {"annotation": [{"question_id": "test-scene0762-0", "question": "Where is the black chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-1", "question": "What is located on top of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-2", "question": "Where is the pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-3", "question": "What color is the desk on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-4", "question": "Where is the brown desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-5", "question": "Where is the desk on the left located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-6", "question": "Where is the desk on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-7", "question": "What is hanging on the wood door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-8", "question": "What is hanging on the wall to the right of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-9", "question": "What color is the monitor on a wooden desk in an office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-10", "question": "What color is the chair in the corner of the office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-11", "question": "What is on the cushy brown chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-12", "question": "The oversized brown desk with drawers sits against what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-13", "question": "What is sitting on top of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-14", "question": "Is the computer chair pulled into the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-15", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-16", "question": "What color is the monitor in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-17", "question": "What part of the black mat is touching?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-18", "question": "What is hanging over the chair against the wall closest to the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-19", "question": "What is on top of a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-20", "question": "In what part of the room is a comfy chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-21", "question": "What is on top of the taller brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-22", "question": "What type of desk has an imac on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-23", "question": "What is the color of the chair with a pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-24", "question": "What is sitting on the desk that is perpendicular to the door and to the right of a printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-25", "question": "The monitor is sitting on a desk that is what direction to the door and to the right of a printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-26", "question": "What color is the chair in the corner of the room to the right of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-27", "question": "What is on top of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-28", "question": "What type of chair is in front of a cushioned chair with the pillow on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-29", "question": "What kind of desk is near the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-30", "question": "The pillow sits on which chair closest to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-31", "question": "What type of print is the pillow on the brown chair next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-32", "question": "What color is the chair closest to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-33", "question": "What is on the side of the brown chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-34", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-35", "question": "Where is the large desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-36", "question": "What is by the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-37", "question": "Where is the office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0762-38", "question": "Where is the fluffy pillow located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.995739, 0.0513638, -0.0765922, 1.48117], [0.090348, -0.37682, 0.92187, 2.44297], [0.0184893, -0.924861, -0.379855, 1.45198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.992953, 0.0718556, -0.0942405, 1.47969], [0.1161, -0.430264, 0.895206, 2.45986], [0.0237772, -0.899839, -0.435574, 1.35899], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.993865, 0.0871806, -0.0680533, 1.40315], [0.103998, -0.527323, 0.843276, 2.39584], [0.0376313, -0.845181, -0.533154, 1.2986], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.989448, -0.0785726, 0.121737, 1.31373], [-0.144521, -0.595211, 0.790466, 2.24656], [0.0103504, -0.799719, -0.600286, 1.26834], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.982791, -0.124135, 0.136793, 1.32017], [-0.184472, -0.621166, 0.761658, 2.13245], [-0.00957768, -0.773785, -0.633376, 1.246], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.914487, -0.232872, 0.330884, 1.23166], [-0.403572, -0.583638, 0.704624, 2.06907], [0.0290294, -0.777906, -0.62771, 1.2543], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.882928, -0.24041, 0.403287, 1.21414], [-0.469325, -0.475908, 0.743805, 2.12342], [0.0131097, -0.845999, -0.533023, 1.30627], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.929823, -0.15687, 0.332897, 1.31247], [-0.367756, -0.429472, 0.824808, 2.3053], [0.0135826, -0.889351, -0.457023, 1.36552], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.920326, -0.126094, 0.370272, 1.36227], [-0.391146, -0.302263, 0.869277, 2.40505], [0.00230864, -0.944848, -0.327501, 1.4367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.924722, -0.0524551, 0.377012, 1.33224], [-0.379814, -0.192506, 0.904811, 2.29316], [0.025115, -0.979893, -0.197938, 1.51384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.953263, -0.0397256, 0.299518, 1.23395], [-0.302124, -0.114909, 0.946318, 2.04108], [-0.00317572, -0.992581, -0.121541, 1.59864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.955468, -0.0137176, 0.294774, 1.12082], [-0.295083, -0.0525262, 0.954027, 1.91477], [0.00239637, -0.998525, -0.0542351, 1.63877], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.96453, 0.0167725, 0.26344, 1.1692], [-0.263973, 0.0625783, 0.962498, 1.79983], [-0.000342287, -0.997899, 0.0647861, 1.69296], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.980228, 0.0198319, 0.196875, 1.18963], [-0.196438, 0.217086, 0.956183, 1.72876], [-0.023776, -0.975951, 0.216689, 1.73174], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.924251, 0.0498361, 0.378519, 1.21134], [-0.38029, 0.20786, 0.901207, 1.68685], [-0.0337665, -0.976888, 0.211067, 1.80198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.902967, -0.00644581, 0.42966, 1.1995], [-0.428553, 0.0597693, 0.901537, 1.80397], [-0.0314919, -0.998191, 0.0512073, 1.69552], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.87273, -0.0549512, 0.485101, 1.20269], [-0.488146, -0.113462, 0.865355, 1.93787], [0.00748818, -0.992022, -0.125846, 1.5637], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.846359, -0.0329399, 0.531593, 1.28804], [-0.529568, -0.158601, 0.833308, 2.08807], [0.0568618, -0.986793, -0.151677, 1.5115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.83737, -0.0477914, 0.544544, 1.35521], [-0.539879, -0.228466, 0.810144, 2.27028], [0.085692, -0.972378, -0.217112, 1.48644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.777752, -0.0480588, 0.626732, 1.44277], [-0.621409, -0.208874, 0.75513, 2.48648], [0.0946171, -0.976761, -0.192316, 1.47839], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.867818, -0.0800496, 0.490392, 1.51371], [-0.485004, -0.350973, 0.800992, 2.73522], [0.107995, -0.932958, -0.343405, 1.41542], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.85639, -0.0767014, 0.5106, 1.50497], [-0.500317, -0.367633, 0.783919, 3.01056], [0.127585, -0.926803, -0.353212, 1.39981], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.840005, -0.136007, 0.525256, 1.51239], [-0.530955, -0.405357, 0.744159, 3.25573], [0.111706, -0.903984, -0.412715, 1.39215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.536667, -0.303236, 0.787424, 1.41988], [-0.842437, -0.24545, 0.479639, 3.44497], [0.0478298, -0.920762, -0.387182, 1.41353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.414064, -0.335129, 0.846309, 1.30916], [-0.909301, -0.194684, 0.36779, 3.40585], [0.041506, -0.921838, -0.385345, 1.42767], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.200063, -0.334614, 0.920874, 1.27339], [-0.978208, -0.121492, 0.168373, 3.40207], [0.0555391, -0.934491, -0.351628, 1.43317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.0106607, -0.224767, 0.974354, 1.29615], [-0.999917, -0.00465949, -0.0120153, 3.52141], [0.00724068, -0.974401, -0.224699, 1.512], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.0985388, -0.138845, 0.9854, 1.29792], [-0.994769, 0.0405221, -0.0937662, 3.37554], [-0.0269116, -0.989485, -0.142111, 1.54729], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.0501802, -0.137454, 0.989236, 1.3379], [-0.99779, 0.0500893, -0.0436542, 3.17359], [-0.0435497, -0.989241, -0.139664, 1.53445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.0630349, -0.215862, 0.974387, 1.34918], [-0.995841, 0.0779578, -0.0471523, 3.16202], [-0.0657827, -0.973307, -0.219878, 1.50091], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.0348147, -0.23769, 0.970717, 1.29175], [-0.999125, 0.0308006, -0.0282917, 3.42937], [-0.023174, -0.970853, -0.238554, 1.47068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.0404584, -0.287995, 0.956777, 1.27189], [-0.998998, -0.00666026, -0.0442486, 3.74872], [0.0191157, -0.957609, -0.287437, 1.42462], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.141494, -0.333507, 0.932069, 1.25728], [-0.989317, -0.0810093, 0.121198, 3.86679], [0.0350858, -0.939261, -0.341406, 1.37098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.102803, -0.343854, 0.933379, 1.26311], [-0.994447, -0.0567436, 0.0886248, 3.84201], [0.0224893, -0.937307, -0.347778, 1.3682], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.0513021, -0.395572, 0.917001, 1.27417], [-0.998234, -0.00721012, -0.058957, 3.74756], [0.0299335, -0.918407, -0.394504, 1.36544], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.24619, -0.351152, 0.903373, 1.28387], [-0.969159, 0.0785787, -0.233574, 3.6197], [0.011034, -0.933015, -0.359667, 1.41113], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.461732, -0.320954, 0.826917, 1.28326], [-0.886933, 0.180089, -0.425345, 3.51332], [-0.0124023, -0.929815, -0.367818, 1.42968], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.564473, -0.38045, 0.732549, 1.28482], [-0.824499, 0.302484, -0.478231, 3.45578], [-0.039641, -0.873934, -0.484425, 1.38919], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.599564, -0.382401, 0.703059, 1.2819], [-0.79992, 0.31431, -0.51121, 3.40466], [-0.0254911, -0.868895, -0.49434, 1.37537], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.439964, -0.332535, 0.834177, 1.33307], [-0.897921, 0.176322, -0.403296, 3.2173], [-0.0129738, -0.926462, -0.376165, 1.47662], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.28293, -0.18392, 0.941342, 1.30996], [-0.957537, 0.110889, -0.266132, 3.09911], [-0.0554372, -0.976666, -0.207484, 1.56251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.348428, -0.0872189, 0.933269, 1.2471], [-0.937302, 0.0407959, -0.346121, 3.13984], [-0.00788519, -0.995353, -0.095965, 1.6017], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.442398, 0.0265318, 0.896426, 1.19243], [-0.896772, -0.00283384, -0.442485, 3.15152], [-0.00919953, -0.999644, 0.0250467, 1.65337], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.520519, 0.00869612, 0.853806, 1.20842], [-0.853829, -0.0123454, -0.520407, 3.14251], [0.006015, -0.999886, 0.013851, 1.65096], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.596432, -0.129683, 0.792118, 1.25349], [-0.80251, 0.115683, -0.585317, 3.16241], [-0.0157292, -0.984784, -0.173069, 1.56007], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.630255, -0.342077, 0.696966, 1.25398], [-0.775672, 0.238903, -0.584172, 3.18412], [0.0333244, -0.908795, -0.41591, 1.44251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.657479, -0.442963, 0.609512, 1.26591], [-0.752136, 0.337669, -0.565925, 3.2204], [0.0448708, -0.83052, -0.555178, 1.35562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.777414, -0.379639, 0.501499, 1.32349], [-0.627948, 0.422606, -0.653518, 3.11373], [0.0361647, -0.822969, -0.566934, 1.33921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.861851, -0.272767, 0.427565, 1.42884], [-0.505941, 0.403955, -0.762131, 3.04854], [0.0351672, -0.873166, -0.486153, 1.3811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.910228, -0.175591, 0.375038, 1.48951], [-0.412841, 0.313964, -0.854979, 3.18816], [0.0323788, -0.933057, -0.35827, 1.45418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.885188, -0.0714714, 0.459711, 1.43292], [-0.464788, 0.179072, -0.867125, 3.21566], [-0.0203467, -0.981236, -0.191731, 1.55889], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.910533, -0.0368048, 0.411795, 1.32559], [-0.411649, -0.011808, -0.911266, 3.20149], [0.0384014, -0.999253, -0.00439909, 1.67374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.91815, 0.0306116, 0.395048, 1.32359], [-0.390808, -0.234367, -0.890135, 3.24466], [0.065338, -0.971666, 0.227148, 1.79544], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.956773, 0.0482061, 0.286811, 1.30944], [-0.289478, -0.252964, -0.923153, 3.26094], [0.0280513, -0.966274, 0.255984, 1.86407], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.992116, 0.00908629, 0.124993, 1.34921], [-0.125298, -0.0519111, -0.99076, 3.14315], [-0.0025138, -0.99861, 0.0526404, 1.73692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.999068, -0.029098, 0.0318711, 1.43769], [-0.0354376, 0.131664, -0.990661, 2.87926], [0.02463, -0.990867, -0.132572, 1.58718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.994922, -0.0567482, -0.0831224, 1.57943], [0.0643604, 0.276227, -0.958935, 2.66214], [0.0773785, -0.959416, -0.271172, 1.47162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.949387, 0.0424321, -0.311231, 1.75454], [0.305298, 0.357694, -0.882524, 2.40763], [0.0738779, -0.932874, -0.352544, 1.42826], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.932368, 0.0642226, -0.355761, 1.74478], [0.349269, 0.413956, -0.840626, 2.14675], [0.0932824, -0.908029, -0.40839, 1.35919], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.847956, 0.191367, -0.494317, 1.81459], [0.52028, 0.478849, -0.707115, 1.86326], [0.101384, -0.856786, -0.505607, 1.29684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.629294, 0.409313, -0.660645, 1.90568], [0.771166, 0.434307, -0.465489, 1.58196], [0.0963922, -0.802396, -0.588955, 1.28119], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.303413, 0.628573, -0.716126, 1.99664], [0.950811, 0.248974, -0.184311, 1.48163], [0.062444, -0.736822, -0.673196, 1.27316], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.188009, 0.669912, -0.718242, 2.1078], [0.980218, 0.174028, -0.0942671, 1.52079], [0.0618436, -0.721757, -0.689378, 1.2654], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.0447854, 0.648782, -0.759655, 2.19343], [0.998495, 0.0531714, -0.0134553, 1.64274], [0.0316623, -0.759114, -0.650187, 1.2993], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.138059, 0.497297, -0.856525, 2.15961], [0.990327, -0.081409, 0.11236, 1.53687], [-0.0138525, -0.863752, -0.503726, 1.37279], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.321251, 0.404116, -0.856439, 2.11537], [0.94689, -0.150502, 0.284164, 1.50539], [-0.0140606, -0.902241, -0.431002, 1.44038], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.4107, 0.259579, -0.874039, 2.16859], [0.909733, -0.180708, 0.373804, 1.68792], [-0.060914, -0.948664, -0.310364, 1.50907], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.348517, 0.101733, -0.931765, 2.18658], [0.93231, -0.140092, 0.333425, 1.72561], [-0.0966124, -0.984898, -0.143671, 1.59524], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.345176, -0.00753897, -0.938508, 2.19921], [0.930119, -0.130888, 0.343142, 1.62249], [-0.125426, -0.991368, -0.0381673, 1.6428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.270366, -0.0878214, -0.958744, 2.23498], [0.958967, -0.0637169, 0.276266, 1.62042], [-0.0853501, -0.994096, 0.0669909, 1.66788], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.200069, -0.166744, -0.965489, 2.28745], [0.977351, -0.0354098, 0.208643, 1.61123], [-0.0689778, -0.985364, 0.155883, 1.69226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.339634, -0.140498, -0.930005, 2.25529], [0.936633, -0.0397149, 0.348054, 1.51334], [-0.0858359, -0.989284, 0.118106, 1.68384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.525964, 0.132191, -0.840171, 2.11225], [0.844551, -0.197874, 0.497573, 1.45715], [-0.100474, -0.971273, -0.215717, 1.53611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.68084, 0.372485, -0.630644, 1.94024], [0.732429, -0.348601, 0.584829, 1.52409], [-0.00200306, -0.860077, -0.51016, 1.37194], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.888632, 0.255684, -0.380734, 1.81715], [0.455838, -0.401102, 0.794562, 1.51335], [0.0504438, -0.879626, -0.472983, 1.38031], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.904359, 0.0850538, -0.41821, 1.74518], [0.425724, -0.24841, 0.870087, 1.4869], [-0.0298833, -0.964914, -0.260861, 1.49025], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.969939, 0.0694838, -0.233216, 1.82708], [0.241847, -0.168998, 0.955484, 1.56644], [0.0269778, -0.983164, -0.180722, 1.54317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.994206, 0.0708854, -0.0808027, 1.80786], [0.0921649, -0.175345, 0.980184, 1.70336], [0.0553123, -0.981952, -0.180862, 1.53747], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.998935, 0.044941, 0.0104818, 1.5532], [0.00358777, -0.302085, 0.953274, 1.91817], [0.0460074, -0.952221, -0.301924, 1.48011], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.998938, 0.0273226, 0.037096, 1.483], [-0.0241364, -0.375486, 0.926514, 2.1253], [0.0392438, -0.926425, -0.374428, 1.41755], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.983137, -0.00908692, 0.182645, 1.41211], [-0.171547, -0.391835, 0.903901, 2.25972], [0.0633532, -0.919991, -0.386786, 1.38376], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.935604, -0.0974583, 0.339333, 1.22776], [-0.350234, -0.37739, 0.85727, 2.33943], [0.0445131, -0.920912, -0.387221, 1.39018], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0762_00"}, {"annotation": [{"question_id": "test-scene0763-0", "question": "Where is the laundry hamper located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-1", "question": "What is the item in the hamper?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-2", "question": "What is hanging up on either side of the closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-3", "question": "Where are the drawers located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-4", "question": "What is to the left when entering?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-5", "question": "What is on the right side of the laundry hamper?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-6", "question": "What color is the storage bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-7", "question": "What type of drawer is located in the back left side of a walk-in closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-8", "question": "Where is the built in cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-9", "question": "What color the is the drawer with three panels?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-10", "question": "What is the color of the trash can on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-11", "question": "How many comparments does the dresser have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-12", "question": "The storage bin is located to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-13", "question": "What is in the back of the closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-14", "question": "The laundry hamper is placed to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-15", "question": "Where is the mesh laundry hamper placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-16", "question": "What is placed in the back of a closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-17", "question": "What is on the left of the room before entering the closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-18", "question": "What is on the left side of the room before entering the closet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-19", "question": "What is on the tile to the left of the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-20", "question": "What color is the hamper to the right of the storage bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0763-21", "question": "What is on the left of the storage bin?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.979822, -0.142198, 0.140455, 1.07999], [-0.198604, 0.771642, -0.604255, 2.65425], [-0.0224571, -0.619958, -0.784314, 1.38025], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.976088, -0.156524, 0.150838, 1.09965], [-0.217316, 0.686524, -0.693872, 2.63077], [0.00505334, -0.71006, -0.704123, 1.44887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.963857, -0.165641, 0.208669, 1.11821], [-0.266243, 0.570371, -0.77704, 2.62603], [0.00969082, -0.804512, -0.593857, 1.51078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.95764, -0.164356, 0.23646, 1.13587], [-0.284362, 0.41017, -0.866544, 2.62218], [0.0454326, -0.897077, -0.439532, 1.59353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.953991, -0.129535, 0.270411, 1.16634], [-0.297413, 0.294381, -0.908232, 2.58176], [0.0380444, -0.946869, -0.319362, 1.65145], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.929227, -0.0853521, 0.359517, 1.13904], [-0.367839, 0.121261, -0.921949, 2.40736], [0.0350951, -0.988944, -0.144075, 1.73221], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.912411, -0.00391806, 0.409257, 1.16175], [-0.409213, 0.0262457, -0.912061, 2.30085], [-0.00716764, -0.999648, -0.0255501, 1.82788], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.859558, 0.058028, 0.507732, 1.12295], [-0.509633, -0.0237388, -0.860064, 2.25606], [-0.0378547, -0.998033, 0.049978, 1.90254], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.762137, 0.0952194, 0.640374, 1.07], [-0.646548, -0.0607689, -0.760449, 2.25402], [-0.0334945, -0.9936, 0.107878, 1.94106], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.769634, 0.0625526, 0.635414, 1.09774], [-0.637914, -0.0332602, -0.769388, 2.24319], [-0.0269931, -0.997487, 0.0655015, 1.93391], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.876095, 0.0143897, 0.481924, 1.2282], [-0.480698, 0.0511419, -0.875393, 2.24134], [-0.037243, -0.998588, -0.037888, 1.90287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.904041, -0.039974, 0.425572, 1.29807], [-0.426511, 0.150136, -0.891934, 2.1863], [-0.0282394, -0.987857, -0.152779, 1.80872], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.848097, -0.0690953, 0.525316, 1.28153], [-0.528311, 0.0350032, -0.848328, 2.0287], [0.0402278, -0.996996, -0.06619, 1.83741], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.778445, -0.016986, 0.627483, 1.2924], [-0.627325, -0.0140621, -0.77863, 1.86279], [0.0220497, -0.999757, 0.000290841, 1.88238], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.71818, 0.0431976, 0.694515, 1.34729], [-0.695844, -0.038628, -0.717152, 1.69287], [-0.00415149, -0.99832, 0.0578008, 1.95245], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.8025, -0.0443242, 0.595003, 1.35453], [-0.596626, 0.0503286, -0.800939, 1.63959], [0.00555538, -0.997749, -0.0668337, 1.87919], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.845116, -0.1081, 0.523539, 1.38177], [-0.533989, 0.21684, -0.817212, 1.6152], [-0.0251836, -0.970203, -0.240979, 1.79593], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.856331, -0.163557, 0.489843, 1.35601], [-0.514372, 0.354664, -0.780791, 1.59197], [-0.0460259, -0.920577, -0.387838, 1.67498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.872979, -0.202099, 0.443919, 1.35188], [-0.48422, 0.468505, -0.73894, 1.62892], [-0.058639, -0.860034, -0.506856, 1.56562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.910199, -0.201937, 0.361607, 1.34858], [-0.408261, 0.58442, -0.701267, 1.68407], [-0.0697182, -0.785923, -0.614381, 1.47569], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.939754, -0.214107, 0.266495, 1.35222], [-0.33988, 0.668766, -0.661236, 1.73025], [-0.0366474, -0.711976, -0.701247, 1.40474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.991208, -0.0661981, 0.114564, 1.37886], [-0.125068, 0.751363, -0.647929, 1.76724], [-0.0431878, -0.65656, -0.753036, 1.37631], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.999654, -0.0249926, 0.00819971, 1.40249], [-0.0214955, 0.596564, -0.802277, 1.82926], [0.0151593, -0.802176, -0.596895, 1.46062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.998994, -0.0352834, 0.0276716, 1.37632], [-0.0398907, 0.417479, -0.90781, 1.78564], [0.0204783, -0.908001, -0.418466, 1.57752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.995556, -0.0874349, 0.0349617, 1.33441], [-0.0533103, 0.217281, -0.974652, 1.67442], [0.077622, -0.972185, -0.220977, 1.69122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.994835, -0.082697, -0.0588659, 1.40475], [0.0512807, 0.0910306, -0.994526, 1.69552], [0.0876029, -0.992408, -0.0863196, 1.77743], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.974154, -0.0993511, -0.202863, 1.41998], [0.201466, 0.024004, -0.979201, 1.79], [0.102154, -0.994763, -0.0033676, 1.82993], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.951255, -0.133447, -0.278038, 1.42461], [0.285992, -0.0443033, -0.957207, 1.96738], [0.115418, -0.990065, 0.0803086, 1.89911], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.850154, -0.17008, -0.498308, 1.37976], [0.51155, -0.0426311, -0.858195, 2.04493], [0.124719, -0.984508, 0.123248, 1.8954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.775902, -0.086798, -0.624854, 1.31298], [0.622703, 0.0533282, -0.780638, 2.035], [0.10108, -0.994798, 0.0126719, 1.85914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.775076, 0.0769976, -0.627159, 1.28854], [0.626328, 0.224766, -0.746453, 2.00725], [0.083489, -0.971366, -0.222437, 1.75489], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.75738, 0.172534, -0.629768, 1.31978], [0.643056, 0.364546, -0.673487, 1.9618], [0.11338, -0.915062, -0.387049, 1.61486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.761897, 0.238432, -0.602215, 1.31206], [0.634375, 0.462314, -0.619543, 1.97686], [0.130694, -0.854058, -0.503492, 1.4777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.856813, 0.257731, -0.446594, 1.28539], [0.501131, 0.620158, -0.603549, 2.05886], [0.121406, -0.740931, -0.660517, 1.36003], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.794919, 0.339384, -0.502913, 1.27878], [0.591345, 0.618794, -0.517111, 1.98417], [0.135701, -0.708457, -0.692585, 1.21576], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.702391, 0.356345, -0.616169, 1.27537], [0.686465, 0.567991, -0.45404, 1.83567], [0.188183, -0.741892, -0.64357, 1.09554], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.749987, 0.312798, -0.582817, 1.29158], [0.64951, 0.514934, -0.559445, 1.78673], [0.125119, -0.798123, -0.58936, 1.2602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.799129, 0.254124, -0.544805, 1.25606], [0.59044, 0.502159, -0.631835, 1.75143], [0.113014, -0.826594, -0.551335, 1.37531], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.748028, 0.261419, -0.610011, 1.27909], [0.657915, 0.412843, -0.629848, 1.60814], [0.087184, -0.87248, -0.48081, 1.46005], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.730897, 0.200218, -0.652458, 1.25079], [0.680539, 0.285987, -0.674594, 1.47438], [0.0515285, -0.937083, -0.345284, 1.5692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.734875, 0.0670653, -0.674878, 1.23119], [0.672704, 0.198528, -0.71278, 1.4077], [0.0861792, -0.977798, -0.191008, 1.66274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.631643, -0.0843284, -0.770659, 1.26923], [0.767447, 0.0727502, -0.636971, 1.2588], [0.10978, -0.993779, 0.0187654, 1.76905], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.603074, -0.168198, -0.77975, 1.29635], [0.790505, 0.00483539, -0.612436, 1.24216], [0.106781, -0.985742, 0.130045, 1.86018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.470629, -0.262867, -0.842264, 1.28679], [0.873794, -0.00639124, -0.486253, 1.3037], [0.122437, -0.964811, 0.2327, 1.92226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.260597, -0.295876, -0.918992, 1.25677], [0.96271, -0.00800704, -0.270416, 1.36295], [0.0726512, -0.955193, 0.28693, 1.93147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.132561, -0.263503, -0.955507, 1.21661], [0.986131, 0.0620624, -0.153924, 1.51713], [0.0998606, -0.96266, 0.251622, 1.93612], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.18949, -0.171176, -0.966847, 1.17743], [0.977158, 0.0636023, -0.202771, 1.58329], [0.0962033, -0.983185, 0.155214, 1.86099], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.161359, -0.0215546, -0.98666, 1.14946], [0.985266, 0.0539065, -0.162308, 1.58973], [0.0566859, -0.998313, 0.0125388, 1.76988], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.16993, 0.052595, -0.984052, 1.09706], [0.983254, 0.0757648, -0.165743, 1.72492], [0.0658391, -0.995738, -0.0645889, 1.72823], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.447137, 0.178202, -0.876534, 1.12514], [0.889644, 0.190203, -0.415156, 1.82999], [0.0927372, -0.965436, -0.243584, 1.65287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.810198, 0.210145, -0.547191, 1.19087], [0.576629, 0.45337, -0.679672, 1.90351], [0.105251, -0.866195, -0.488495, 1.4868], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.907772, 0.153404, -0.390405, 1.28806], [0.414405, 0.472086, -0.778077, 1.99951], [0.0649442, -0.868103, -0.492118, 1.51206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.963411, 0.0526176, -0.262812, 1.32993], [0.252151, 0.510386, -0.822147, 2.13387], [0.090876, -0.858334, -0.504979, 1.50383], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.990834, -0.132011, 0.0286643, 1.21324], [-0.0930185, 0.512861, -0.853417, 2.26532], [0.0979598, -0.848261, -0.52044, 1.50754], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.966938, -0.145628, 0.209338, 1.19044], [-0.25218, 0.424116, -0.869787, 2.35215], [0.0378816, -0.893822, -0.446819, 1.55832], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0763_00"}, {"annotation": [{"question_id": "test-scene0764-0", "question": "What type of door is open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-1", "question": "Is the wooden door open or closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-2", "question": "Where is a standard towel placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-3", "question": "What is hung on a railing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-4", "question": "How is a white towel hung?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-5", "question": "What is hung next to the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-6", "question": "Where is a standard white towel hung?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-7", "question": "Where is a standard white towel placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-8", "question": "What type of door does the bathroom have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-9", "question": "How many panes is the window on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-10", "question": "Where is the double pane glass window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-11", "question": "What color knob does the bathroom door have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-12", "question": "What color is the door knob ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-13", "question": "What is hanging off the door ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-14", "question": "What is located in the shower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-15", "question": "How is the window positioned in the shower of a bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-16", "question": "Where is the hanging white, towel?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0764-17", "question": "What is the size of window?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.969761, -0.126509, 0.208708, 1.87037], [-0.242462, 0.59699, -0.764732, 2.83204], [-0.027851, -0.792211, -0.609612, 1.39677], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.95397, -0.13155, 0.269512, 1.87175], [-0.298569, 0.501275, -0.812145, 2.79659], [-0.0282621, -0.85523, -0.517478, 1.44171], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.922334, -0.147829, 0.356996, 1.8622], [-0.386167, 0.384246, -0.838588, 2.69595], [-0.013207, -0.911319, -0.41149, 1.49042], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.886788, -0.113708, 0.447971, 1.87721], [-0.461513, 0.165942, -0.871475, 2.5959], [0.0247563, -0.979558, -0.199633, 1.59005], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.92885, -0.0141897, 0.370185, 2.00597], [-0.370352, 0.0118615, -0.928816, 2.50295], [0.00878877, -0.999829, -0.0162729, 1.68595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.905435, 0.0879238, 0.41528, 2.08689], [-0.422864, -0.101406, -0.900501, 2.50317], [-0.0370633, -0.990952, 0.128997, 1.78629], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.883904, 0.136493, 0.447308, 2.10244], [-0.467138, -0.212068, -0.858376, 2.52772], [-0.0223025, -0.967676, 0.251208, 1.87191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.845773, 0.182635, 0.50131, 2.10592], [-0.532957, -0.245185, -0.80984, 2.58957], [-0.0249916, -0.952118, 0.304707, 1.94036], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.849252, 0.133589, 0.510808, 2.05993], [-0.526105, -0.132499, -0.840034, 2.59], [-0.0445374, -0.98214, 0.182807, 1.89773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.84137, 0.0296745, 0.539644, 1.96371], [-0.538879, 0.0302449, -0.84184, 2.64133], [-0.0413025, -0.999102, -0.00945619, 1.81233], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.849516, -0.0718547, 0.522647, 1.95104], [-0.526654, 0.173661, -0.832152, 2.68466], [-0.0309695, -0.982181, -0.185371, 1.70171], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.896635, -0.183562, 0.402927, 1.96136], [-0.440678, 0.281619, -0.852346, 2.66669], [0.0429863, -0.941805, -0.333401, 1.57298], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.906684, -0.241247, 0.346012, 1.9708], [-0.415774, 0.372857, -0.829524, 2.69003], [0.0711073, -0.895979, -0.438368, 1.46951], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.897733, -0.303533, 0.319286, 1.98636], [-0.42904, 0.437869, -0.790061, 2.71043], [0.100004, -0.84625, -0.523317, 1.39445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.911337, -0.324919, 0.252769, 1.96465], [-0.397214, 0.532823, -0.747209, 2.68956], [0.108101, -0.781362, -0.614644, 1.34622], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.968509, -0.155311, 0.194598, 1.92823], [-0.247926, 0.529826, -0.811059, 2.59336], [0.0228636, -0.833764, -0.551647, 1.41072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.982743, -0.077147, 0.168123, 1.985], [-0.184576, 0.468859, -0.863773, 2.45382], [-0.0121886, -0.879897, -0.475007, 1.51072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.984265, -0.0216849, 0.175364, 2.03887], [-0.171031, 0.366285, -0.91465, 2.35494], [-0.0443992, -0.93025, -0.36423, 1.5765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.963707, 0.0051727, 0.266913, 1.98145], [-0.261221, 0.187964, -0.946802, 2.22179], [-0.0550674, -0.982162, -0.179791, 1.66508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.952463, 0.0294822, 0.303225, 1.98203], [-0.301716, 0.0466346, -0.952257, 2.14882], [-0.0422154, -0.998477, -0.0355225, 1.77074], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.934401, 0.100031, 0.34189, 2.07157], [-0.351538, -0.103788, -0.930403, 2.02052], [-0.0575855, -0.989556, 0.132144, 1.85362], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.882495, 0.192262, 0.42923, 2.08898], [-0.465953, -0.233298, -0.853499, 1.90858], [-0.0639566, -0.953209, 0.295469, 1.93308], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.859367, 0.275945, 0.430514, 2.07641], [-0.504059, -0.315375, -0.80403, 1.86443], [-0.0860944, -0.907961, 0.410115, 1.975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.975526, 0.153336, 0.157597, 2.10698], [-0.201129, -0.33262, -0.921364, 1.75544], [-0.088858, -0.930512, 0.355319, 1.97438], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.998239, 0.0572614, -0.015488, 2.07959], [-0.00502567, -0.341798, -0.93976, 1.72261], [-0.0591058, -0.938028, 0.341484, 1.9752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.999568, 0.0227401, -0.0185994, 2.11401], [0.00629606, -0.452579, -0.891702, 1.72768], [-0.0286951, -0.891434, 0.452241, 2.01545], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.999032, 0.0158907, -0.0410095, 2.15163], [0.0298401, -0.440079, -0.897463, 1.6646], [-0.0323088, -0.897818, 0.439179, 2.06367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.982189, 0.0208391, -0.186739, 2.1154], [0.169126, -0.334957, -0.926931, 1.60781], [-0.0818657, -0.942003, 0.325466, 2.03384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.978615, -0.0378602, -0.202185, 2.10834], [0.205699, -0.182602, -0.961429, 1.61012], [-0.000519603, -0.982458, 0.186485, 1.89431], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.95628, 0.0308063, -0.290825, 2.08157], [0.290586, -0.0120512, -0.956773, 1.57665], [-0.0329795, -0.999453, 0.0025723, 1.82588], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.948332, 0.0648045, -0.310592, 2.05194], [0.316799, 0.139466, -0.938183, 1.5408], [-0.0174814, -0.988104, -0.152791, 1.74684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.977403, 0.0548675, -0.204139, 2.07924], [0.210648, 0.333359, -0.918966, 1.52996], [0.0176303, -0.941202, -0.337384, 1.63144], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.995619, 0.037743, -0.0855467, 2.09824], [0.092834, 0.508236, -0.8562, 1.54336], [0.0111623, -0.860391, -0.509513, 1.5117], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.998609, -0.000119563, -0.0527157, 2.12096], [0.0385612, 0.680191, -0.73202, 1.5556], [0.0359444, -0.733035, -0.679241, 1.36936], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.996241, -0.0277674, -0.0820529, 2.19201], [0.0269265, 0.801039, -0.598006, 1.46944], [0.0823328, -0.597968, -0.79728, 1.24811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.99768, -0.0679658, -0.00397675, 2.24066], [-0.0479528, 0.742967, -0.667608, 1.4331], [0.0483292, -0.665868, -0.744503, 1.09129], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.999091, 0.0295404, -0.0307351, 2.20501], [0.0424629, 0.625914, -0.778735, 1.42604], [-0.00376652, -0.779332, -0.6266, 0.88086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.995481, 0.00438839, -0.0948596, 2.27434], [0.0790024, 0.592538, -0.801659, 1.43329], [0.05269, -0.805531, -0.590207, 0.772875], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.998273, 0.0259017, -0.0527246, 2.34089], [0.0581035, 0.567486, -0.82133, 1.48041], [0.00864668, -0.822975, -0.568011, 0.654274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.997459, -0.0691614, -0.0171073, 2.35121], [-0.0305818, 0.632498, -0.773958, 1.47859], [0.0643483, -0.771468, -0.633006, 0.643471], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.997923, 0.0501199, -0.0404666, 2.26682], [0.0632581, 0.643851, -0.762531, 1.45592], [-0.0121635, -0.763507, -0.645685, 0.659087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.967253, 0.217073, -0.13153, 2.12467], [0.246472, 0.679588, -0.690949, 1.41955], [-0.0606007, -0.700742, -0.710837, 0.666538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.975725, 0.194365, -0.100917, 2.05415], [0.217919, 0.815918, -0.535527, 1.37581], [-0.021748, -0.544519, -0.838467, 0.848517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.997598, 0.0654223, -0.0227681, 2.02118], [0.0684313, 0.879733, -0.470517, 1.35233], [-0.0107524, -0.470945, -0.882097, 1.03533], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.999831, -0.0148858, -0.0108145, 1.87616], [-0.00685045, 0.84667, -0.532075, 1.37189], [0.0170768, -0.531911, -0.846628, 1.00755], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.983919, -0.1751, 0.0352546, 1.75219], [-0.15395, 0.731287, -0.664469, 1.39754], [0.0905672, -0.659211, -0.746484, 0.854336], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.991623, -0.104057, -0.0765235, 1.70043], [-0.0321133, 0.772456, -0.634256, 1.44202], [0.12511, -0.626485, -0.769327, 0.835376], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.986972, -0.152932, -0.0499907, 1.75133], [-0.108442, 0.861819, -0.495488, 1.34094], [0.118859, -0.483611, -0.867175, 0.963422], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.992562, 0.0982373, -0.0718989, 1.82273], [0.11676, 0.935361, -0.333866, 1.20324], [0.0344535, -0.339777, -0.939875, 1.11032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.91964, 0.387218, -0.065756, 1.73844], [0.392165, 0.896053, -0.208078, 1.04932], [-0.0216505, -0.217144, -0.975899, 1.18007], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.977308, 0.209324, -0.0324301, 1.75362], [0.211499, 0.955875, -0.203889, 0.928464], [-0.0116796, -0.206121, -0.978457, 1.17217], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.997457, 0.0692403, -0.0169221, 1.76821], [0.0711653, 0.980758, -0.181793, 0.825521], [0.00400916, -0.182535, -0.983191, 1.15229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.993162, 0.0891809, -0.0753356, 1.81498], [0.107696, 0.948969, -0.296409, 0.921839], [0.0450572, -0.302496, -0.952085, 1.23264], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.99832, 0.0414348, -0.040497, 1.96379], [0.055491, 0.884793, -0.462668, 1.11163], [0.016661, -0.464138, -0.885607, 1.39792], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.998764, -0.0438895, 0.023314, 2.03022], [-0.0496914, 0.874611, -0.482272, 1.03815], [0.000776045, -0.482835, -0.875711, 1.5382], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.998428, -0.0442458, 0.0344218, 2.07856], [-0.055721, 0.850574, -0.522895, 0.927221], [-0.00614233, -0.523991, -0.851702, 1.68565], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.997268, 0.032159, 0.0665064, 2.13931], [-0.00396142, 0.875698, -0.482843, 0.835618], [-0.0737672, -0.481787, -0.873178, 1.80498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.99504, 0.0035747, 0.0994113, 2.21732], [-0.0443068, 0.878825, -0.475082, 0.793077], [-0.0890634, -0.47713, -0.874308, 1.85577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.996873, 0.0602827, 0.0510816, 2.09883], [0.0252279, 0.855472, -0.517234, 0.828588], [-0.074879, -0.514328, -0.854318, 1.83628], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.997614, 0.0685036, 0.00857424, 1.97719], [0.0521008, 0.828523, -0.557526, 0.896976], [-0.0452964, -0.555749, -0.830115, 1.78173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.99948, 0.0320532, -0.00347715, 1.99437], [0.0281516, 0.815043, -0.578716, 0.968761], [-0.0157155, -0.578513, -0.815522, 1.68133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.99804, 0.042686, 0.0457596, 2.10928], [0.00885341, 0.820199, -0.572009, 1.04015], [-0.0619487, -0.570483, -0.81897, 1.60127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.980012, 0.198896, -0.00425263, 2.16464], [0.171428, 0.833438, -0.525351, 1.11608], [-0.100946, -0.515579, -0.850875, 1.54387], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.92158, 0.367847, -0.124013, 2.03976], [0.379503, 0.786541, -0.487167, 1.24808], [-0.0816614, -0.496027, -0.864459, 1.50992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.811321, 0.541151, -0.221164, 1.95511], [0.58268, 0.717918, -0.38089, 1.41471], [-0.0473411, -0.437892, -0.89778, 1.47143], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.716019, 0.638015, -0.283292, 1.90376], [0.695844, 0.619852, -0.362746, 1.47372], [-0.0558386, -0.45686, -0.887784, 1.47171], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.343521, 0.863589, -0.369062, 1.78626], [0.93897, 0.308244, -0.152711, 1.4599], [-0.0181186, -0.398998, -0.916773, 1.42951], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.105679, 0.905945, -0.409995, 1.66123], [0.994272, 0.0896334, -0.058223, 1.46628], [-0.0159976, -0.413799, -0.910228, 1.41003], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.164806, 0.907922, -0.385379, 1.52134], [0.986212, 0.145751, -0.0783735, 1.43054], [-0.0149876, -0.392982, -0.919424, 1.41089], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.480499, 0.789286, -0.382294, 1.40936], [0.876267, 0.41433, -0.24594, 1.3755], [-0.0357209, -0.453166, -0.89071, 1.41923], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.613959, 0.708439, -0.348093, 1.36822], [0.789179, 0.542086, -0.288685, 1.31401], [-0.0158195, -0.451949, -0.891904, 1.4324], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.695765, 0.61758, -0.366752, 1.39085], [0.713512, 0.53559, -0.451713, 1.29942], [-0.0825402, -0.575967, -0.813295, 1.47487], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.651589, 0.593591, -0.472315, 1.45339], [0.757483, 0.475788, -0.447041, 1.31987], [-0.0406373, -0.649058, -0.759653, 1.52774], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.495585, 0.668936, -0.554004, 1.62483], [0.867262, 0.346258, -0.357719, 1.39662], [-0.0474626, -0.657747, -0.751742, 1.55554], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.430794, 0.663145, -0.612091, 1.7503], [0.90245, 0.316617, -0.292126, 1.45524], [7.69496e-05, -0.678227, -0.734852, 1.57831], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.390349, 0.53899, -0.746404, 1.84461], [0.918514, 0.283405, -0.275706, 1.49482], [0.0629319, -0.793203, -0.605696, 1.6463], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.252021, 0.462229, -0.850194, 1.85314], [0.965605, 0.178193, -0.189353, 1.45345], [0.0639744, -0.868672, -0.491239, 1.70377], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.132699, 0.347671, -0.928179, 1.86141], [0.989081, 0.107023, -0.101318, 1.41008], [0.0641118, -0.931489, -0.358077, 1.77181], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.121195, 0.239826, -0.963221, 1.83222], [0.991024, 0.0843902, -0.103682, 1.42789], [0.0564208, -0.967141, -0.247901, 1.86311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.102612, 0.194119, -0.975597, 1.79745], [0.994525, 0.039512, -0.0967409, 1.37447], [0.0197686, -0.980182, -0.19711, 1.92629], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.0191082, 0.194808, -0.980655, 1.80942], [0.999752, 0.00747996, 0.0209662, 1.3454], [0.0114197, -0.980813, -0.194617, 1.92255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.113946, 0.229283, -0.966668, 1.80835], [0.993459, -0.0189422, 0.112611, 1.49119], [0.00750899, -0.973176, -0.229941, 1.87974], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.228002, 0.247874, -0.94158, 1.78307], [0.973546, -0.0431914, 0.224373, 1.47815], [0.014948, -0.967829, -0.251165, 1.78883], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.343991, 0.199168, -0.917607, 1.76463], [0.93897, -0.0754766, 0.335618, 1.38569], [-0.00241357, -0.977055, -0.212976, 1.73048], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.430608, 0.15366, -0.889362, 1.77056], [0.902533, -0.0697225, 0.424939, 1.33704], [0.00328773, -0.985661, -0.168707, 1.68628], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.446405, 0.328255, -0.832449, 1.755], [0.894612, -0.143138, 0.423298, 1.35267], [0.0197941, -0.933681, -0.357558, 1.57844], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.470368, 0.498688, -0.728055, 1.75146], [0.881513, -0.227104, 0.413954, 1.3549], [0.04109, -0.836501, -0.546422, 1.48439], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.511092, 0.605285, -0.610258, 1.78743], [0.858536, -0.325435, 0.396242, 1.32983], [0.0412398, -0.726445, -0.685987, 1.40515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.496455, 0.685592, -0.532443, 1.81798], [0.8679, -0.380165, 0.319725, 1.31982], [0.0167842, -0.620837, -0.78376, 1.36416], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.443213, 0.715831, -0.539582, 1.83328], [0.896332, -0.34562, 0.277734, 1.30386], [0.0123202, -0.60674, -0.794805, 1.35844], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.411906, 0.653574, -0.63496, 1.82862], [0.911188, -0.301823, 0.280427, 1.30061], [-0.00836608, -0.694078, -0.719852, 1.45262], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.398073, 0.550628, -0.733721, 1.82118], [0.916807, -0.266399, 0.297483, 1.32438], [-0.0316604, -0.791101, -0.610866, 1.52635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.372835, 0.415545, -0.829648, 1.81321], [0.92688, -0.20865, 0.312023, 1.33045], [-0.0434465, -0.885318, -0.462953, 1.6095], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.366666, 0.264583, -0.891937, 1.82523], [0.929687, -0.140476, 0.340514, 1.32626], [-0.0352013, -0.954077, -0.297486, 1.69306], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.343804, 0.100268, -0.933673, 1.82066], [0.938732, -0.0622138, 0.338986, 1.32011], [-0.0240979, -0.993014, -0.115514, 1.81439], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.354063, -0.0548755, -0.93361, 1.84838], [0.935203, 0.0144594, 0.353817, 1.34475], [-0.00591633, -0.998389, 0.0564394, 1.91342], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.353892, -0.249965, -0.901265, 1.89431], [0.93494, 0.0683241, 0.348165, 1.35433], [-0.025451, -0.965841, 0.257882, 1.9817], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.365204, -0.352739, -0.86151, 1.93613], [0.930816, 0.124038, 0.343797, 1.33097], [-0.0144112, -0.927464, 0.373634, 2.01612], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.390997, -0.3294, -0.859428, 1.94448], [0.920174, 0.119572, 0.372804, 1.34189], [-0.0200375, -0.936589, 0.349858, 1.99662], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.405319, -0.226982, -0.885548, 1.92282], [0.914142, 0.0923811, 0.394727, 1.36642], [-0.00778824, -0.969508, 0.244938, 1.93613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.382748, -0.059987, -0.921903, 1.8975], [0.923764, 0.038718, 0.381001, 1.37263], [0.0128392, -0.997448, 0.0702331, 1.86562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.354214, 0.109359, -0.928748, 1.86739], [0.935146, -0.0352642, 0.352502, 1.3968], [0.00579759, -0.993377, -0.114758, 1.77953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.219652, 0.255876, -0.941425, 1.82441], [0.975562, -0.0519612, 0.213493, 1.49173], [0.00571027, -0.965312, -0.261036, 1.7106], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.120702, 0.345804, -0.930511, 1.82854], [0.992637, 0.0516672, -0.109559, 1.53121], [0.0101908, -0.936883, -0.349494, 1.6662], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.161459, 0.384588, -0.908858, 1.81953], [0.985884, 0.10421, -0.131046, 1.50006], [0.0443135, -0.917187, -0.395985, 1.64251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.331684, 0.19977, -0.921997, 1.84063], [0.937599, 0.177933, -0.298744, 1.57012], [0.104374, -0.963552, -0.246321, 1.68516], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.4866, 0.152489, -0.860214, 1.8775], [0.873463, 0.10389, -0.475678, 1.62147], [0.0168321, -0.98283, -0.183746, 1.72225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.629135, 0.138716, -0.764819, 1.90497], [0.777237, 0.100093, -0.621196, 1.70924], [-0.00961682, -0.985261, -0.170788, 1.70713], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.805749, 0.104057, -0.583044, 1.91912], [0.589516, 0.235507, -0.772662, 1.78865], [0.0569099, -0.966286, -0.251102, 1.65023], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.924905, 0.050144, -0.376876, 1.92824], [0.375207, 0.280458, -0.883495, 1.87329], [0.0613958, -0.958556, -0.278211, 1.60788], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.939286, 0.0440494, -0.340296, 1.96836], [0.341003, 0.00944995, -0.940015, 1.94303], [-0.0381913, -0.998985, -0.0238972, 1.74649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.940772, -0.0110518, -0.338859, 1.96877], [0.336275, -0.15778, -0.928453, 2.00048], [-0.043204, -0.987413, 0.152151, 1.80824], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.978988, 0.00666541, -0.203809, 2.02696], [0.200178, -0.159118, -0.966752, 1.99601], [-0.0388736, -0.987237, 0.154441, 1.81431], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.995971, 0.0166704, -0.0881147, 2.09625], [0.087898, -0.0133102, -0.996041, 1.9608], [-0.0177773, -0.999772, 0.0117912, 1.74196], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.99906, -0.0432957, -0.00222839, 2.09341], [-0.00620183, 0.193602, -0.981061, 1.92029], [0.0429071, -0.980124, -0.193689, 1.65317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.9872, -0.14013, 0.0761584, 2.0849], [-0.126491, 0.397072, -0.909029, 1.91452], [0.0971416, -0.907027, -0.409715, 1.54805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.978693, -0.177256, 0.103635, 2.09663], [-0.188583, 0.576337, -0.795156, 1.96098], [0.0812172, -0.797757, -0.597484, 1.4569], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.986764, -0.144827, 0.0729568, 2.0612], [-0.154242, 0.699302, -0.697987, 2.06631], [0.0500685, -0.700002, -0.712384, 1.39646], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.994617, -0.0733951, 0.0731478, 2.01067], [-0.10362, 0.70828, -0.698286, 2.10527], [-0.000558302, -0.702106, -0.712072, 1.41342], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.962231, -0.179496, 0.204676, 1.89359], [-0.271827, 0.674576, -0.686337, 2.24217], [-0.0148742, -0.716051, -0.69789, 1.41475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.943858, -0.195269, 0.266462, 1.8317], [-0.329257, 0.621677, -0.71071, 2.37725], [-0.0268737, -0.758543, -0.651068, 1.43042], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0764_00"}, {"annotation": [{"question_id": "test-scene0765-0", "question": "What color is the bathroom vanity?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0765-1", "question": "Where is the brown bathroom vanity found?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0765-2", "question": "What is under the bathroom mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0765-3", "question": "Where is the sink located in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0765-4", "question": "What is under a mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0765-5", "question": "What color is the bathroom vanity in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0765-6", "question": "Where does the bathroom vanity sit when you walk through the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0765-7", "question": "What type of vanity is the sink on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0765-8", "question": "What color stone is the sink made of?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.0583494, -0.697541, 0.714165, 0.752574], [-0.997059, 0.0763141, -0.00692485, 1.97908], [-0.0496705, -0.712469, -0.699943, 1.316], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.0344638, -0.605831, 0.794846, 0.764128], [-0.998773, 0.0491647, -0.00583249, 2.00259], [-0.0355449, -0.794073, -0.606782, 1.37877], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.0279598, -0.435446, 0.89978, 0.748981], [-0.999283, 0.0351296, -0.0140508, 2.01085], [-0.0254906, -0.899529, -0.436117, 1.44264], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.0362686, -0.614409, 0.788153, 0.780282], [-0.99933, 0.0260039, -0.0257149, 1.99881], [-0.00469561, -0.788559, -0.614941, 1.40362], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.039748, -0.556378, 0.829978, 0.872749], [-0.996376, -0.0404422, -0.0748273, 1.88088], [0.0751984, -0.829944, -0.552754, 1.45351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.121611, -0.58232, 0.803811, 0.964616], [-0.992371, -0.0878334, 0.0865086, 1.8408], [0.0202259, -0.808201, -0.58856, 1.42884], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.159557, -0.623142, 0.765659, 1.19488], [-0.986923, -0.118668, 0.109088, 1.96195], [0.0228823, -0.773053, -0.633928, 1.40671], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.23029, -0.635028, 0.737364, 1.32472], [-0.972963, -0.163927, 0.162695, 2.04788], [0.0175579, -0.754896, -0.65561, 1.4033], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.380144, -0.599859, 0.70403, 1.46543], [-0.924596, -0.266785, 0.27193, 2.05136], [0.0247049, -0.754317, -0.656045, 1.39579], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.557224, -0.572251, 0.601688, 1.50774], [-0.829886, -0.4083, 0.380235, 2.09854], [0.0280792, -0.71121, -0.702419, 1.37163], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.665113, -0.552155, 0.502741, 1.57249], [-0.746293, -0.514847, 0.421874, 2.16765], [0.0258948, -0.655787, -0.754502, 1.33765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.790015, -0.469955, 0.393721, 1.6406], [-0.612495, -0.5768, 0.54051, 2.1951], [-0.0269172, -0.668164, -0.743527, 1.34746], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.825163, -0.378506, 0.41933, 1.69433], [-0.562964, -0.489721, 0.665765, 2.17868], [-0.0466416, -0.785434, -0.617186, 1.42792], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.817991, -0.317085, 0.479944, 1.67913], [-0.572941, -0.374758, 0.728899, 2.17393], [-0.0512605, -0.871214, -0.48822, 1.50749], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.798489, -0.277769, 0.534097, 1.6555], [-0.596505, -0.245356, 0.764187, 2.16864], [-0.0812232, -0.928787, -0.361605, 1.57717], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.778048, -0.20932, 0.592306, 1.63376], [-0.624742, -0.15896, 0.764479, 2.15847], [-0.065868, -0.96484, -0.25445, 1.61862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.696557, -0.237713, 0.676979, 1.65958], [-0.714747, -0.147299, 0.683695, 2.14588], [-0.0628047, -0.960102, -0.272507, 1.62982], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.703984, -0.201142, 0.681137, 1.66147], [-0.7069, -0.105889, 0.699342, 2.14268], [-0.0685423, -0.973822, -0.216731, 1.63917], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.729872, -0.114146, 0.673986, 1.65908], [-0.679837, -0.0181157, 0.733139, 2.14105], [-0.071475, -0.993299, -0.0908227, 1.69374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.747198, -0.0594564, 0.661936, 1.64661], [-0.659459, 0.0573264, 0.749551, 2.13873], [-0.082512, -0.996583, 0.00362515, 1.74516], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.824134, -0.0286196, 0.56567, 1.69997], [-0.558179, 0.128437, 0.819719, 2.14121], [-0.096113, -0.991305, 0.0898745, 1.76576], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.932492, -0.0342877, 0.359559, 1.77362], [-0.349979, 0.160326, 0.922935, 2.17745], [-0.089292, -0.986468, 0.137503, 1.78088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.977187, -0.0905302, 0.192119, 1.89881], [-0.174222, 0.17563, 0.968917, 2.20683], [-0.121458, -0.980285, 0.155851, 1.79307], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.986504, -0.102558, -0.127637, 2.1115], [0.139059, 0.113245, 0.983787, 2.16546], [-0.0864415, -0.98826, 0.125978, 1.78292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.937375, -0.147413, -0.315589, 2.15867], [0.323808, 0.0349131, 0.945478, 2.08215], [-0.128358, -0.988459, 0.0804603, 1.77143], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.891094, -0.139903, -0.431714, 2.15266], [0.43336, -0.0200737, 0.900997, 1.97416], [-0.134718, -0.989962, 0.0427405, 1.7592], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.847197, -0.038299, -0.529896, 2.18425], [0.525888, -0.081267, 0.846662, 1.91257], [-0.0754895, -0.995956, -0.0487082, 1.70891], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.905632, -0.0244265, -0.423358, 2.17452], [0.412995, -0.175786, 0.893607, 1.82412], [-0.0962481, -0.984125, -0.14911, 1.64738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.957976, -0.0185392, -0.286248, 2.18923], [0.268791, -0.290443, 0.918364, 1.70601], [-0.100164, -0.956713, -0.273255, 1.56703], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.962183, 0.0353189, -0.270102, 2.20677], [0.260892, -0.404658, 0.876462, 1.65245], [-0.0783431, -0.913786, -0.39857, 1.46965], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.93671, 0.172014, -0.304935, 2.2066], [0.348463, -0.542338, 0.764487, 1.66154], [-0.0338752, -0.822362, -0.567955, 1.38717], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.958658, 0.149171, -0.242325, 2.1928], [0.281295, -0.625378, 0.727856, 1.62172], [-0.0429697, -0.76593, -0.641486, 1.33414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.988107, 0.0546633, -0.143718, 2.22124], [0.142403, -0.677907, 0.721223, 1.59775], [-0.0580029, -0.733112, -0.67763, 1.29821], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.998059, -0.0580932, -0.0224136, 2.31204], [-0.0176838, -0.609586, 0.792522, 1.60714], [-0.0597032, -0.790588, -0.609431, 1.33152], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.989088, -0.125947, 0.0764221, 2.36271], [-0.132115, -0.528807, 0.838396, 1.62381], [-0.065181, -0.839345, -0.539677, 1.39435], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.95917, -0.206009, 0.193784, 2.42738], [-0.272269, -0.487092, 0.829825, 1.62542], [-0.0765609, -0.848706, -0.523295, 1.41723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.961148, -0.159833, 0.225049, 2.42673], [-0.26768, -0.340659, 0.901276, 1.62855], [-0.0673886, -0.926501, -0.370208, 1.49527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.967531, -0.117913, 0.223562, 2.42595], [-0.242625, -0.185416, 0.952236, 1.6191], [-0.0708295, -0.97556, -0.208004, 1.58226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.970194, -0.0683498, 0.23249, 2.41401], [-0.236488, -0.0576996, 0.969919, 1.59918], [-0.0528792, -0.995991, -0.0721437, 1.65394], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.975727, -0.0575848, 0.211284, 2.40111], [-0.208642, 0.0486354, 0.976781, 1.58952], [-0.0665237, -0.997155, 0.0354403, 1.71308], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.974582, -0.0564762, 0.216795, 2.4072], [-0.212842, 0.0685889, 0.974676, 1.58602], [-0.0699158, -0.996045, 0.054825, 1.72185], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.972288, -0.0968354, 0.212784, 2.40235], [-0.223213, -0.113945, 0.968086, 1.61223], [-0.0694994, -0.988757, -0.132402, 1.62765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.962828, -0.144992, 0.2279, 2.40552], [-0.262115, -0.29772, 0.917964, 1.63108], [-0.0652469, -0.943578, -0.324659, 1.53034], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.937472, -0.23617, 0.255673, 2.44478], [-0.334934, -0.412303, 0.847245, 1.69817], [-0.0946789, -0.879903, -0.465625, 1.47354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.908635, -0.318415, 0.270172, 2.48014], [-0.413713, -0.598457, 0.686068, 1.89099], [-0.0567686, -0.73516, -0.675512, 1.38604], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.858241, -0.392974, 0.330142, 2.48984], [-0.511603, -0.60358, 0.611516, 1.9603], [-0.0410431, -0.69373, -0.719065, 1.35869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.624302, -0.599427, 0.500932, 2.41106], [-0.780016, -0.443311, 0.441644, 2.08558], [-0.0426643, -0.666455, -0.744323, 1.37195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.467395, -0.700394, 0.539434, 2.40794], [-0.883865, -0.357812, 0.301251, 2.24336], [-0.0179783, -0.617591, -0.786294, 1.33475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.213473, -0.744457, 0.632623, 2.40971], [-0.976918, -0.167733, 0.132268, 2.43204], [0.00764381, -0.646258, -0.763081, 1.36457], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.00258277, -0.714545, 0.699584, 2.42602], [-0.999737, 0.0177691, 0.0144583, 2.52704], [-0.0227621, -0.699364, -0.714404, 1.40763], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.0259612, -0.701863, 0.711838, 2.53431], [-0.999654, 0.0210308, -0.0157219, 2.52746], [-0.00393599, -0.712001, -0.702167, 1.42349], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.0784686, -0.732469, 0.676262, 2.65838], [-0.996661, 0.0422955, -0.0698344, 2.57171], [0.0225487, -0.679485, -0.733343, 1.40543], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.0564724, -0.820737, 0.568507, 2.80737], [-0.997639, 0.0241081, -0.0642958, 2.56574], [0.0390643, -0.570797, -0.820162, 1.35853], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.0321416, -0.918999, 0.392947, 3.0091], [-0.999477, -0.0281904, 0.0158238, 2.53507], [-0.00346481, -0.39325, -0.919425, 1.33311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.0241801, -0.948381, 0.316208, 3.08666], [-0.999595, -0.0181933, 0.0218722, 2.55797], [-0.0149903, -0.316609, -0.948438, 1.39142], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.00592262, -0.956057, 0.29312, 3.12372], [-0.999865, 0.0101346, 0.0128529, 2.55233], [-0.0152588, -0.293005, -0.955989, 1.43928], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.0162556, -0.943803, 0.330107, 3.0405], [-0.999867, 0.0152138, -0.00573929, 2.55209], [0.000394545, -0.330157, -0.943926, 1.41396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.0882981, -0.922494, 0.375775, 2.86834], [-0.995968, 0.0877576, -0.0185914, 2.54972], [-0.0158268, -0.375902, -0.926524, 1.41105], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.162114, -0.868147, 0.469084, 2.69696], [-0.986533, 0.153044, -0.0576989, 2.44532], [-0.0216993, -0.472121, -0.881267, 1.44293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.151693, -0.843972, 0.514489, 2.54273], [-0.98826, 0.119943, -0.0946253, 2.30743], [0.0181518, -0.522804, -0.85226, 1.45412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.222621, -0.819028, 0.528803, 2.48429], [-0.974464, 0.170636, -0.145953, 2.36353], [0.0293069, -0.547792, -0.836101, 1.45132], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.356722, -0.764968, 0.536258, 2.46033], [-0.934195, 0.288887, -0.209337, 2.48861], [0.00521836, -0.575645, -0.817683, 1.4578], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.401939, -0.742417, 0.535968, 2.43604], [-0.915649, 0.322288, -0.240244, 2.50672], [0.00562516, -0.587322, -0.809334, 1.45335], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.36344, -0.761141, 0.537192, 2.54584], [-0.931508, 0.288092, -0.222022, 2.45282], [0.0142291, -0.581091, -0.813714, 1.43927], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.411172, -0.744941, 0.525357, 2.63543], [-0.911089, 0.317378, -0.263034, 2.43436], [0.0292079, -0.5868, -0.809205, 1.4327], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.589297, -0.673715, 0.445911, 2.77413], [-0.807108, 0.466237, -0.362214, 2.42101], [0.0361285, -0.573351, -0.818513, 1.43107], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.731459, -0.565676, 0.38076, 2.79555], [-0.680555, 0.570756, -0.459436, 2.34044], [0.0425712, -0.595187, -0.802459, 1.43835], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.801786, -0.480442, 0.355405, 2.78342], [-0.596026, 0.599609, -0.534061, 2.31522], [0.0434809, -0.640034, -0.767115, 1.45368], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.809467, -0.456738, 0.36899, 2.74064], [-0.586813, 0.607511, -0.535331, 2.31347], [0.0203404, -0.649862, -0.75978, 1.46613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.769476, -0.474086, 0.427958, 2.62172], [-0.638645, 0.564707, -0.52272, 2.28934], [0.00614324, -0.675535, -0.737302, 1.4929], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.763926, -0.457726, 0.454866, 2.44743], [-0.644083, 0.497508, -0.581069, 2.24533], [0.0396706, -0.736866, -0.674874, 1.52913], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.722906, -0.545719, 0.423789, 2.40971], [-0.689637, 0.53215, -0.491137, 2.30121], [0.0425036, -0.647307, -0.761043, 1.45998], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.680655, -0.635808, 0.363944, 2.44237], [-0.732172, 0.573336, -0.367707, 2.3286], [0.0251284, -0.516752, -0.855766, 1.36703], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.703939, -0.594924, 0.387987, 2.60156], [-0.709423, 0.562435, -0.424717, 2.29285], [0.034457, -0.574222, -0.817974, 1.37465], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.77208, -0.517605, 0.36875, 2.75719], [-0.634041, 0.587728, -0.50256, 2.24736], [0.0434032, -0.62182, -0.781956, 1.39318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.778291, -0.510268, 0.365908, 2.88296], [-0.626277, 0.588936, -0.510813, 2.13505], [0.045155, -0.626721, -0.777934, 1.37213], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.846908, -0.448709, 0.285317, 3.01604], [-0.529838, 0.666792, -0.524079, 2.08194], [0.0449116, -0.595019, -0.802456, 1.33847], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.940759, -0.300521, 0.157031, 3.10102], [-0.330056, 0.705514, -0.627145, 2.04312], [0.077683, -0.641822, -0.762909, 1.3487], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.973668, -0.207155, 0.0951624, 3.15979], [-0.210902, 0.660077, -0.720984, 1.99722], [0.0865409, -0.72207, -0.686386, 1.38876], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.993433, -0.114391, -0.001955, 3.16269], [-0.0711083, 0.630748, -0.772722, 1.96506], [0.0896256, -0.76751, -0.634741, 1.40344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.997778, -0.0638107, 0.0191316, 3.14245], [-0.0589109, 0.711106, -0.700611, 1.89778], [0.0311019, -0.700183, -0.713286, 1.46888], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.995213, -0.0585689, 0.0782332, 3.14236], [-0.0915809, 0.838349, -0.537384, 1.80623], [-0.034113, -0.541977, -0.839701, 1.55471], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.997976, 0.0197416, 0.0604355, 3.16775], [-0.0116354, 0.877806, -0.478874, 1.83211], [-0.0625046, -0.478609, -0.875801, 1.55615], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.999447, -0.0188416, 0.0273966, 3.15858], [-0.0290991, 0.894306, -0.446508, 1.80238], [-0.0160881, -0.447058, -0.89436, 1.55495], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.984009, -0.162351, 0.0732628, 3.12534], [-0.17627, 0.828549, -0.531445, 1.89523], [0.0255786, -0.535861, -0.843919, 1.50108], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.967612, -0.194475, 0.160951, 3.07062], [-0.250805, 0.668155, -0.700475, 2.00427], [0.0286846, -0.718156, -0.69529, 1.46885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.958668, -0.223622, 0.175922, 2.96655], [-0.274061, 0.5596, -0.782136, 2.10845], [0.0764565, -0.798023, -0.597757, 1.40606], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.956094, -0.249966, 0.152969, 3.00645], [-0.261479, 0.491939, -0.830436, 2.22893], [0.132329, -0.833974, -0.535701, 1.31666], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.941488, -0.332346, 0.0560808, 3.17432], [-0.221411, 0.484408, -0.84636, 2.20266], [0.254118, -0.809256, -0.52965, 1.27952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.9522, -0.296071, 0.0752073, 3.0945], [-0.228627, 0.527439, -0.818252, 2.18414], [0.202594, -0.796335, -0.569918, 1.29178], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.880795, -0.400345, 0.252829, 2.88592], [-0.455657, 0.571475, -0.68249, 2.21791], [0.128746, -0.716338, -0.685773, 1.2961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.658178, -0.611326, 0.439411, 2.74855], [-0.750126, 0.482786, -0.451916, 2.31861], [0.0641262, -0.627055, -0.776331, 1.32202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.455562, -0.737833, 0.498062, 2.68942], [-0.888206, 0.339279, -0.309804, 2.2272], [0.0596013, -0.583517, -0.809911, 1.31787], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.0621029, -0.810274, 0.582751, 2.542], [-0.99804, 0.0459781, -0.0424302, 2.17647], [0.00758633, -0.584244, -0.811542, 1.36178], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.0364425, -0.769846, 0.637188, 2.33879], [-0.999313, -0.0323376, 0.0180834, 2.14765], [0.00668366, -0.63741, -0.770496, 1.42486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.0377904, -0.727429, 0.685141, 2.1449], [-0.999011, 0.0435678, -0.00884571, 2.17338], [-0.0234155, -0.684798, -0.728356, 1.46083], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.090896, -0.694208, 0.714011, 1.974], [-0.995847, -0.0669263, 0.0617046, 2.07295], [0.00495021, -0.716656, -0.69741, 1.4706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.116391, -0.671503, 0.731804, 1.79177], [-0.992785, -0.0572999, 0.105321, 2.03884], [-0.0287908, -0.738783, -0.673328, 1.47561], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.0432315, -0.637639, 0.769121, 1.57304], [-0.998048, 0.00715472, 0.062031, 2.0649], [-0.0450562, -0.770302, -0.636086, 1.48713], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0765_00"}, {"annotation": [{"question_id": "test-scene0766-0", "question": "What color is the pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-1", "question": "The pillow is located in the middle of the floor up against what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-2", "question": "What type of backpack is it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-3", "question": "Where is the backpack laying?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-4", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-5", "question": "How many layers is the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-6", "question": "Where is the shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-7", "question": "What type of object is it located next to the brown door in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-8", "question": "What color is the door in the middle of a room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-9", "question": "Where is the brown wardrobe closet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-10", "question": "What is located beside a small cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-11", "question": "Where is the bed located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-12", "question": "Where is the door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-13", "question": "What color is the pillow beside the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-14", "question": "Where is the brown pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-15", "question": "Where is the brown dresser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-16", "question": "What color is the door that is open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-17", "question": "Where is a black backpack dumped?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-18", "question": "In what color is the back cushion on the floor in front of a dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-19", "question": "What color is the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-20", "question": "Where is a dark coloured nightstand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-21", "question": "What kind of shelf lays flat against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-22", "question": "To the left of what is the large dark brown wardrobe?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-23", "question": "Where is a fluffy pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-24", "question": "Where is the alarm clock located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-25", "question": "The bed is centered on what to the right as you enter the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-26", "question": "What color border does the mickey mouse comforter have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-27", "question": "What color is the backpack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-28", "question": "Where is the brown wardrobe closet sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-29", "question": "What color are the curtains?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-30", "question": "What is the object on the wall that is perpendicular to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-31", "question": "What colors are the picture on the wall to the right of the tall shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-32", "question": "What color is the pillow on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-33", "question": "What is on the wall next to a shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-34", "question": "What color is the dresser beside the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-35", "question": "What color is the nightstand beside the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-36", "question": "Where is the black backpack located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-37", "question": "What type of cover does the bed have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-38", "question": "What color are the curtains in the bedroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-39", "question": "What color is the night stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-40", "question": "What color are the handles on the dresser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-41", "question": "What color is the wavy curtain on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-42", "question": "How many drawers does the desk have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-43", "question": "What is the color of the curtain?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-44", "question": "How many drawers is the nighstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-45", "question": "Where is the picture located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-46", "question": "Where is the bedside dresser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0766-47", "question": "What type of door is next to the bookshelf?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.0302541, -0.862914, 0.504444, 0.883473], [-0.998195, 0.0522762, 0.0295579, 2.65142], [-0.0518763, -0.502639, -0.862939, 1.51702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.00154017, -0.803988, 0.594644, 0.839065], [-0.999604, 0.0154809, 0.0235198, 2.67149], [-0.0281152, -0.594445, -0.803645, 1.5251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.0043762, -0.69495, 0.719045, 0.835595], [-0.999629, 0.01629, 0.0218279, 2.67721], [-0.0268825, -0.718874, -0.694621, 1.57226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.0118871, -0.571504, 0.820513, 0.821053], [-0.999802, 0.00632349, 0.018889, 2.6788], [-0.0159836, -0.820575, -0.571316, 1.59454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.0329779, -0.466067, 0.884135, 0.850621], [-0.999054, 0.0404514, -0.0159407, 2.69713], [-0.028335, -0.883824, -0.46696, 1.64417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.057629, -0.368901, 0.92768, 0.878511], [-0.998132, 0.0401621, -0.0460348, 2.71509], [-0.0202753, -0.928601, -0.370526, 1.67587], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.0298093, -0.243204, 0.969517, 0.996866], [-0.999493, 0.00358519, 0.0316303, 2.64052], [-0.0111685, -0.969968, -0.242974, 1.6944], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.0333448, -0.200692, 0.979087, 1.12806], [-0.999444, -0.00720721, 0.0325608, 2.62375], [0.000521867, -0.979628, -0.20082, 1.71253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.0785848, -0.179711, 0.980576, 1.30904], [-0.996798, 0.0287394, -0.0746178, 2.69907], [-0.0147716, -0.983299, -0.181394, 1.72688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.0226107, -0.215377, 0.976269, 1.48592], [-0.999741, 0.00723996, -0.0215571, 2.68687], [-0.00242521, -0.976504, -0.215485, 1.72232], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.0187061, -0.280327, 0.959722, 1.59974], [-0.999812, -0.000331597, 0.0193906, 2.64972], [-0.00511741, -0.959905, -0.28028, 1.71025], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.0333567, -0.271335, 0.961907, 1.76369], [-0.999429, -0.0142272, 0.0306446, 2.67635], [0.00537038, -0.96238, -0.271655, 1.69965], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.0526652, -0.311043, 0.948935, 1.94122], [-0.998477, 0.0320377, -0.0449134, 2.62855], [-0.0164317, -0.949856, -0.312257, 1.68396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.0110686, -0.336249, 0.941708, 2.1486], [-0.999917, -0.00995732, 0.0081974, 2.57903], [0.00662057, -0.94172, -0.336331, 1.67159], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.0873171, -0.421892, 0.902432, 2.35733], [-0.996141, 0.0288711, -0.0828868, 2.62318], [0.00891515, -0.906186, -0.422785, 1.61522], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.134762, -0.472435, 0.871002, 2.48776], [-0.99082, 0.0737445, -0.113301, 2.65727], [-0.0107042, -0.878275, -0.478036, 1.58368], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.180194, -0.512347, 0.839661, 2.5493], [-0.983567, 0.103565, -0.147883, 2.52597], [-0.0111922, -0.852511, -0.52259, 1.53917], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.490047, -0.431427, 0.757446, 2.62071], [-0.868888, 0.311453, -0.384749, 2.56394], [-0.0699178, -0.846681, -0.527488, 1.55626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.652022, -0.349036, 0.673083, 2.71776], [-0.754959, 0.380863, -0.533835, 2.56206], [-0.0700253, -0.856223, -0.511839, 1.57361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.767606, -0.309037, 0.561495, 2.90272], [-0.640261, 0.409491, -0.649909, 2.48621], [-0.0290815, -0.858378, -0.512193, 1.56247], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.960388, -0.102381, 0.259176, 3.03226], [-0.270398, 0.567234, -0.777902, 2.53573], [-0.0673714, -0.817169, -0.572448, 1.53098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.996787, 0.0780151, -0.0181331, 3.0191], [0.0624226, 0.61483, -0.786185, 2.51628], [-0.0501856, -0.784791, -0.617725, 1.5072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.960382, 0.196064, -0.198055, 3.02821], [0.278002, 0.624176, -0.73015, 2.39792], [-0.0195349, -0.756283, -0.653953, 1.46991], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.798182, 0.433751, -0.41805, 3.13307], [0.599184, 0.499823, -0.625425, 2.31823], [-0.0623273, -0.749692, -0.658846, 1.50135], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.663969, 0.506262, -0.550312, 3.07598], [0.747027, 0.416514, -0.518138, 2.28117], [-0.0331012, -0.755126, -0.654744, 1.50007], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.578501, 0.553377, -0.599258, 2.96612], [0.815633, 0.384434, -0.43238, 2.2245], [-0.00889426, -0.738907, -0.673749, 1.49268], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.425525, 0.612185, -0.666452, 3.03584], [0.904342, 0.260752, -0.337896, 2.13367], [-0.0330759, -0.746484, -0.664581, 1.51033], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.210204, 0.687771, -0.694828, 3.08101], [0.977091, 0.123588, -0.173264, 2.14691], [-0.0332935, -0.715331, -0.697993, 1.49093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.0262333, 0.720515, -0.692943, 3.01644], [0.999391, -0.0348475, 0.00160071, 2.2091], [-0.022994, -0.692564, -0.72099, 1.4635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.203371, 0.706155, -0.678222, 2.92241], [0.979048, -0.153945, 0.133292, 2.311], [-0.010284, -0.69112, -0.722667, 1.45065], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.423776, 0.629812, -0.650962, 2.8262], [0.905765, -0.292949, 0.306221, 2.29144], [0.00216311, -0.719388, -0.694606, 1.45864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.646837, 0.432171, -0.628355, 2.7108], [0.761601, -0.408815, 0.502826, 2.14077], [-0.0395738, -0.803803, -0.593578, 1.51353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.739804, 0.262979, -0.619299, 2.58492], [0.672035, -0.333328, 0.661258, 2.13435], [-0.0325328, -0.905392, -0.423328, 1.56872], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.813206, 0.144149, -0.563842, 2.45859], [0.581637, -0.234359, 0.778957, 2.13037], [-0.0198551, -0.961404, -0.274425, 1.65759], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.878128, 0.0409161, -0.476673, 2.38649], [0.477323, -0.142537, 0.867091, 2.05149], [-0.0324653, -0.988944, -0.144696, 1.7361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.907202, 0.00800887, -0.42062, 2.37107], [0.420669, -0.0285146, 0.906766, 2.01577], [-0.00473166, -0.999561, -0.0292377, 1.79832], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.922863, -0.0177385, -0.38472, 2.39405], [0.385074, 0.0591965, 0.920985, 2.00728], [0.00643715, -0.998089, 0.0614608, 1.86332], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.933066, -0.0403571, -0.357434, 2.41758], [0.359459, 0.141368, 0.92239, 1.99358], [0.0133048, -0.989134, 0.146412, 1.92973], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.956082, 0.0120113, -0.292855, 2.44452], [0.292724, 0.0115559, 0.956127, 2.01262], [0.0148685, -0.999861, 0.00753231, 1.86693], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.936271, 0.0436429, -0.348558, 2.54247], [0.351276, -0.120454, 0.928491, 2.01715], [-0.00146294, -0.991759, -0.128108, 1.77205], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.888916, 0.13302, -0.438331, 2.67987], [0.45792, -0.233543, 0.857768, 1.95451], [0.011731, -0.963205, -0.268513, 1.66853], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.906028, 0.163354, -0.390422, 2.69129], [0.423215, -0.353528, 0.834211, 1.8659], [-0.00175339, -0.92105, -0.38944, 1.59577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.943769, 0.114816, -0.310028, 2.69215], [0.325581, -0.485649, 0.811259, 1.69435], [-0.0574189, -0.866581, -0.495723, 1.53445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.982422, 0.0765921, -0.170237, 2.86077], [0.185207, -0.514014, 0.837549, 1.71013], [-0.0233544, -0.854356, -0.519164, 1.51004], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.997772, -0.0429352, 0.0510643, 3.01875], [-0.0644611, -0.423118, 0.903779, 1.72179], [-0.0171976, -0.905057, -0.424943, 1.56224], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.977082, -0.0898603, 0.192969, 3.03109], [-0.212153, -0.336936, 0.917314, 1.70207], [-0.017412, -0.93723, -0.348278, 1.58789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.918626, -0.118437, 0.37696, 3.07541], [-0.395107, -0.265369, 0.879471, 1.69957], [-0.00412798, -0.956845, -0.29057, 1.64212], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.839225, -0.123644, 0.529541, 3.07959], [-0.543781, -0.194485, 0.816381, 1.69261], [0.00204721, -0.973082, -0.230452, 1.69506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.745762, -0.15893, 0.646978, 3.16456], [-0.665977, -0.15199, 0.730325, 1.73803], [-0.0177364, -0.975521, -0.219192, 1.70576], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.685761, -0.123014, 0.717356, 3.32851], [-0.727813, -0.121969, 0.674842, 1.90192], [0.00447989, -0.984881, -0.173173, 1.7395], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.573948, -0.129475, 0.808592, 3.36576], [-0.818671, -0.11367, 0.562901, 2.10259], [0.0190314, -0.985046, -0.171238, 1.74815], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.44582, -0.285403, 0.848404, 3.30251], [-0.895088, -0.133806, 0.425339, 2.38743], [-0.0078721, -0.949021, -0.315114, 1.67739], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.350288, -0.461178, 0.815238, 3.39933], [-0.936257, -0.147455, 0.318872, 2.58882], [-0.0268457, -0.87497, -0.483433, 1.56704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.232331, -0.58364, 0.778066, 3.43328], [-0.972277, -0.161127, 0.169458, 2.71162], [0.0264647, -0.795866, -0.604895, 1.49567], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.0524554, -0.443451, 0.894763, 3.40582], [-0.998456, -0.0396702, 0.0388737, 2.87931], [0.0182569, -0.89542, -0.444847, 1.57674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.0731629, -0.27128, 0.959716, 3.45501], [-0.997209, -0.0342768, 0.0663322, 2.94242], [0.0149015, -0.96189, -0.273031, 1.66619], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.120563, -0.129947, 0.984164, 3.59653], [-0.992511, -0.0353914, 0.116912, 2.89081], [0.0196385, -0.990889, -0.133241, 1.74338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.174469, -0.150661, 0.973068, 3.74527], [-0.984137, -0.0589745, 0.167322, 2.9139], [0.0321773, -0.986825, -0.15856, 1.81407], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.166228, -0.156817, 0.973538, 3.93479], [-0.985886, -0.0463892, 0.160864, 3.05699], [0.0199354, -0.986538, -0.162315, 1.93029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.18862, -0.152833, 0.970085, 4.03454], [-0.981869, -0.0483102, 0.1833, 3.01149], [0.0188508, -0.987071, -0.159174, 2.01237], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.270156, -0.119252, 0.955403, 4.08313], [-0.961173, -0.0913641, 0.260384, 2.83067], [0.0562383, -0.988651, -0.139305, 2.0098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.362179, -0.109291, 0.925679, 4.19403], [-0.930282, -0.104523, 0.351639, 2.73992], [0.0583235, -0.988499, -0.139527, 2.01313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.512083, -0.121246, 0.850335, 4.37963], [-0.858767, -0.0918635, 0.504063, 2.62617], [0.0169994, -0.988363, -0.151164, 2.00994], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.666749, -0.101283, 0.738368, 4.57103], [-0.745088, -0.113247, 0.657282, 2.47854], [0.017047, -0.988391, -0.150972, 1.99617], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.676561, -0.110387, 0.728065, 4.64059], [-0.736369, -0.108271, 0.667861, 2.498], [0.00510466, -0.987974, -0.154538, 1.88589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.626091, -0.136133, 0.767775, 4.50942], [-0.779706, -0.0988612, 0.618292, 2.50388], [-0.00826696, -0.985746, -0.16804, 1.81232], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.390854, -0.195422, 0.899468, 4.35396], [-0.919304, -0.0340701, 0.392071, 2.59473], [-0.0459745, -0.980127, -0.192969, 1.77104], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.280587, -0.282754, 0.917235, 4.23234], [-0.959715, -0.0679658, 0.27263, 2.53622], [-0.0147466, -0.956781, -0.290434, 1.69205], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.303967, -0.342843, 0.888855, 4.14052], [-0.952673, -0.113669, 0.281947, 2.50185], [0.00437203, -0.93249, -0.361169, 1.66478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.312398, -0.459056, 0.83167, 4.12571], [-0.949818, -0.165605, 0.265369, 2.49572], [0.0159095, -0.872836, -0.487754, 1.58073], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.360532, -0.537152, 0.762551, 4.16227], [-0.932267, -0.23374, 0.276123, 2.48534], [0.0299193, -0.810452, -0.58504, 1.53011], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.418748, -0.563644, 0.712008, 4.39049], [-0.906334, -0.308308, 0.288971, 2.38329], [0.056641, -0.766323, -0.639954, 1.48542], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.495505, -0.586356, 0.640829, 4.64186], [-0.867589, -0.369772, 0.332502, 2.35056], [0.0419961, -0.720733, -0.69194, 1.47665], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.542371, -0.596334, 0.591793, 4.86189], [-0.840117, -0.37991, 0.387132, 2.39261], [-0.00603244, -0.707145, -0.707043, 1.49808], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.717642, -0.519182, 0.464155, 4.94259], [-0.695108, -0.493247, 0.523003, 2.38843], [-0.0425906, -0.697967, -0.714863, 1.47307], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.951666, -0.177356, 0.250754, 5.01748], [-0.303643, -0.666075, 0.681282, 2.16322], [0.0461915, -0.724493, -0.687733, 1.4722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.97832, -0.0895211, 0.186752, 5.10009], [-0.198386, -0.663917, 0.721011, 2.13837], [0.0594423, -0.742428, -0.667283, 1.47734], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.998251, 0.0446063, 0.0387895, 5.21558], [-0.00189598, -0.631695, 0.775215, 1.99315], [0.0590826, -0.773933, -0.630506, 1.50981], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.997495, 0.0704062, 0.0068851, 5.21965], [0.0304482, -0.515146, 0.856562, 1.86592], [0.063854, -0.854206, -0.515999, 1.60017], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.999228, 0.0296451, 0.0257758, 5.16074], [-0.00988249, -0.445347, 0.895303, 1.77127], [0.0380206, -0.894867, -0.444711, 1.66018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.997892, -0.0209782, 0.0614156, 5.11441], [-0.0634172, -0.516293, 0.854061, 1.66251], [0.0137918, -0.856155, -0.516535, 1.60407], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.989462, -0.1074, 0.0971139, 5.09209], [-0.143169, -0.625391, 0.767065, 1.62399], [-0.0216488, -0.772885, -0.634177, 1.51659], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.998279, -0.04006, 0.0428281, 5.15485], [-0.0578295, -0.551215, 0.832357, 1.63324], [-0.00973681, -0.833401, -0.552583, 1.5546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.996096, -0.00465277, 0.0881481, 5.12191], [-0.083809, -0.363326, 0.927885, 1.62044], [0.0277093, -0.931651, -0.362297, 1.66666], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.990745, -0.00398833, 0.135677, 5.07889], [-0.132312, -0.251439, 0.958787, 1.58121], [0.0302905, -0.967865, -0.249639, 1.72796], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.994077, 0.0187581, 0.107044, 5.07026], [-0.103547, -0.135507, 0.98535, 1.58241], [0.0329885, -0.990599, -0.132763, 1.84337], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.995025, 0.0252169, 0.0963793, 5.06787], [-0.0942066, -0.0764964, 0.99261, 1.58873], [0.0324032, -0.996751, -0.0737403, 1.88579], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.998601, 0.0417313, -0.0324745, 5.09605], [0.038368, -0.149234, 0.988057, 1.63503], [0.0363866, -0.987921, -0.150626, 1.80475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.955167, 0.159752, -0.249269, 5.06407], [0.28531, -0.27177, 0.919097, 1.68831], [0.0790837, -0.94901, -0.305165, 1.71968], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.88798, 0.240472, -0.392001, 4.98436], [0.456451, -0.356931, 0.815017, 1.75163], [0.0560713, -0.902648, -0.426711, 1.65563], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.69643, 0.325254, -0.639683, 4.98237], [0.716113, -0.257169, 0.64888, 1.87198], [0.0465443, -0.909986, -0.412019, 1.63686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.508404, 0.289326, -0.811058, 4.98513], [0.860539, -0.136169, 0.490846, 2.00717], [0.0315735, -0.947496, -0.318206, 1.67412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.360669, 0.240843, -0.901062, 4.8648], [0.932141, -0.059835, 0.357116, 2.07419], [0.0320937, -0.968718, -0.24608, 1.67041], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.0394571, 0.360156, -0.932058, 4.82291], [0.998729, 0.0150616, 0.0480995, 2.20439], [0.0313616, -0.932771, -0.359103, 1.64409], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.220594, 0.491224, -0.842637, 4.86565], [0.97147, 0.187788, -0.144848, 2.29148], [0.0870847, -0.85055, -0.518635, 1.54916], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.481982, 0.510856, -0.711843, 4.98579], [0.87281, 0.351141, -0.338975, 2.25555], [0.0767895, -0.784683, -0.615123, 1.50336], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.710768, 0.439273, -0.549408, 5.12823], [0.702063, 0.491603, -0.515202, 2.20484], [0.0437763, -0.751908, -0.657813, 1.44727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.901579, 0.285882, -0.324695, 5.17274], [0.428692, 0.691221, -0.581753, 2.2054], [0.0581231, -0.66369, -0.745746, 1.38952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.976733, 0.132312, -0.168779, 5.26746], [0.210001, 0.749712, -0.62756, 2.10477], [0.0435022, -0.648402, -0.760054, 1.38765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.996674, 0.0503852, -0.0640518, 5.3594], [0.0796853, 0.767213, -0.636423, 1.99071], [0.017075, -0.63941, -0.768676, 1.3851], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.999552, 0.016915, -0.0246757, 5.28014], [0.0294936, 0.69538, -0.718036, 1.78176], [0.00501347, -0.718443, -0.695568, 1.42938], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.999608, -0.00911561, 0.026493, 5.22763], [-0.0262389, 0.636113, -0.77115, 1.627], [-0.00982296, -0.771542, -0.636102, 1.46854], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.99933, 0.0299619, -0.0210024, 5.27684], [0.0353448, 0.641993, -0.765896, 1.29083], [-0.00946426, -0.766125, -0.642622, 1.47273], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.995895, 0.0867712, -0.0257742, 5.28695], [0.0781253, 0.680157, -0.728892, 1.07853], [-0.0457163, -0.727913, -0.684144, 1.45872], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.975892, 0.181623, -0.121025, 5.15683], [0.216733, 0.741123, -0.635423, 0.903737], [-0.025713, -0.646335, -0.762621, 1.39262], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.971366, 0.195387, -0.135172, 5.13023], [0.237317, 0.825017, -0.512862, 0.65894], [0.0113125, -0.530256, -0.847762, 1.35439], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.952382, 0.262845, -0.154533, 5.06549], [0.30402, 0.857232, -0.415601, 0.490003], [0.0232318, -0.442792, -0.896323, 1.31434], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.904154, 0.377973, -0.199105, 5.04837], [0.42672, 0.776783, -0.463161, 0.595166], [-0.0204009, -0.503731, -0.86362, 1.368], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.926499, 0.301885, -0.224646, 5.09745], [0.376289, 0.747508, -0.547392, 0.938179], [0.00267476, -0.59169, -0.806161, 1.37888], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.961393, 0.212013, -0.175423, 5.13741], [0.274936, 0.76678, -0.580051, 1.04179], [0.0115326, -0.605887, -0.795467, 1.2188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.997858, 0.0570902, -0.0319537, 5.19976], [0.0627103, 0.695415, -0.715867, 1.17197], [-0.018648, -0.716337, -0.697505, 1.03339], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.998429, 0.0542277, 0.0141334, 5.24642], [0.0280597, 0.702079, -0.711546, 1.25929], [-0.0485083, -0.710032, -0.702497, 0.832347], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.979701, -0.162044, 0.118016, 5.36738], [-0.199959, 0.748118, -0.632722, 1.10416], [0.0142386, -0.643476, -0.765334, 1.05804], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.81929, -0.530254, 0.218161, 5.44014], [-0.568265, 0.700206, -0.432188, 0.831402], [0.076412, -0.47806, -0.874997, 1.21978], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.661886, -0.690729, 0.291205, 5.40955], [-0.744824, 0.562208, -0.359387, 0.682609], [0.0845216, -0.45477, -0.886589, 1.28], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.858548, -0.442328, 0.259309, 5.44027], [-0.511905, 0.710731, -0.482509, 0.948513], [0.0291281, -0.546999, -0.836627, 1.31009], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.974045, -0.182218, 0.134284, 5.40805], [-0.2262, 0.761816, -0.607018, 1.10987], [0.00830975, -0.621638, -0.783261, 1.34704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.999296, 0.0353275, 0.0126169, 5.34374], [0.0182128, 0.750935, -0.660126, 1.30272], [-0.032795, -0.659431, -0.751049, 1.35538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.968042, 0.218323, -0.123412, 5.30866], [0.245076, 0.719089, -0.650268, 1.49851], [-0.0532244, -0.659732, -0.749614, 1.36495], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.827923, 0.455352, -0.327412, 5.25094], [0.559632, 0.63242, -0.53559, 1.51222], [-0.0368199, -0.626657, -0.778425, 1.33967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.697077, 0.568424, -0.43701, 5.19501], [0.716456, 0.528561, -0.455316, 1.38096], [-0.0278264, -0.630489, -0.775699, 1.37986], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.700447, 0.478284, -0.529734, 5.04835], [0.710452, 0.396484, -0.581427, 1.27597], [-0.0680565, -0.78361, -0.617514, 1.54551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.607846, 0.443316, -0.658783, 4.86909], [0.793331, 0.303614, -0.527679, 1.19705], [-0.033913, -0.84338, -0.536247, 1.58419], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.301369, 0.51163, -0.804619, 4.77478], [0.951406, 0.105352, -0.289358, 0.985897], [-0.0632759, -0.852723, -0.518518, 1.59387], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.187491, 0.486533, -0.853307, 4.66369], [0.981249, 0.0532483, -0.185242, 0.906782], [-0.0446891, -0.872038, -0.487394, 1.60275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.139115, 0.473252, -0.869873, 4.5316], [0.989961, 0.0443245, -0.134206, 0.905939], [-0.0249567, -0.879811, -0.474668, 1.59753], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.182779, 0.47979, -0.858134, 4.55199], [0.981797, -0.134918, 0.133684, 0.917178], [-0.0516377, -0.866948, -0.495717, 1.5893], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[0.342532, 0.461573, -0.818304, 4.60935], [0.93695, -0.232023, 0.261321, 1.09006], [-0.0692468, -0.856221, -0.511947, 1.58054], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.320572, 0.483391, -0.814596, 4.70135], [0.94702, -0.181421, 0.265029, 1.42082], [-0.0196722, -0.856399, -0.515939, 1.56671], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.405664, 0.495506, -0.768056, 4.66451], [0.913991, -0.22679, 0.336431, 1.70465], [-0.00748406, -0.838475, -0.54489, 1.5216], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[0.277765, 0.586737, -0.760648, 4.64387], [0.960466, -0.185041, 0.207998, 1.92899], [-0.0187114, -0.788352, -0.61494, 1.46682], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.134319, 0.666042, -0.733721, 4.74491], [0.988418, 0.142824, -0.0512949, 2.19844], [0.0706282, -0.732113, -0.677512, 1.41917], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.296257, 0.649941, -0.699863, 4.52248], [0.95013, 0.275267, -0.146565, 2.36955], [0.0973904, -0.708381, -0.699079, 1.42609], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.451553, 0.565738, -0.689957, 4.19485], [0.881828, 0.400783, -0.2485, 2.45594], [0.135937, -0.720634, -0.679858, 1.43554], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[-0.560833, 0.510557, -0.651765, 3.84421], [0.819014, 0.457333, -0.346499, 2.4546], [0.121166, -0.728133, -0.674641, 1.42751], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[-0.66164, 0.459203, -0.592761, 3.49504], [0.744169, 0.499036, -0.444045, 2.43682], [0.0919023, -0.734912, -0.671906, 1.45111], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[-0.81707, 0.345346, -0.461663, 3.12643], [0.569688, 0.606687, -0.554425, 2.43662], [0.0886161, -0.716008, -0.692445, 1.44506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[-0.812185, 0.411357, -0.413692, 2.74031], [0.581102, 0.633293, -0.511136, 2.34605], [0.0517288, -0.655534, -0.753392, 1.44118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[-0.916208, 0.297976, -0.267906, 2.46939], [0.398943, 0.740936, -0.54024, 2.3484], [0.0375228, -0.601851, -0.797726, 1.40702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[-0.939359, 0.250354, -0.234365, 2.24266], [0.338652, 0.784862, -0.518947, 2.26394], [0.0540237, -0.566846, -0.822051, 1.37375], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[-0.997664, -0.0248089, -0.0636542, 2.06725], [0.0145519, 0.833185, -0.552803, 2.24798], [0.0667502, -0.552438, -0.830877, 1.36196], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[-0.939689, -0.33684, 0.0593601, 1.9803], [-0.309164, 0.762269, -0.56865, 2.33476], [0.146296, -0.552706, -0.820435, 1.39384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.934673, -0.335993, 0.116172, 1.92604], [-0.329586, 0.69645, -0.637441, 2.34968], [0.133268, -0.634087, -0.761691, 1.45233], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.909417, -0.34473, 0.23264, 1.88518], [-0.404286, 0.601612, -0.688924, 2.35583], [0.0975338, -0.720572, -0.686486, 1.5114], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.879129, -0.3407, 0.33325, 1.86837], [-0.472327, 0.529611, -0.70457, 2.33929], [0.0635543, -0.776811, -0.626518, 1.56424], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.852841, -0.354491, 0.383403, 1.97529], [-0.518982, 0.494427, -0.69728, 2.35371], [0.0576146, -0.793648, -0.605643, 1.57667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.883143, -0.334748, 0.328638, 2.22108], [-0.467212, 0.564794, -0.680236, 2.30277], [0.0420949, -0.754289, -0.655192, 1.5435], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.746425, -0.525188, 0.408689, 2.35839], [-0.66325, 0.537008, -0.521269, 2.33077], [0.0542946, -0.660152, -0.749168, 1.47096], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[-0.636472, -0.611422, 0.470177, 2.39277], [-0.768814, 0.454022, -0.45032, 2.20556], [0.0618649, -0.648095, -0.759043, 1.44449], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[-0.828914, -0.442397, 0.342325, 2.63777], [-0.55918, 0.639156, -0.528012, 2.00947], [0.0147918, -0.629098, -0.777186, 1.41819], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[-0.902689, -0.353901, 0.24476, 2.74567], [-0.429257, 0.70116, -0.56931, 1.75184], [0.0298633, -0.618974, -0.784843, 1.42263], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[-0.936277, -0.299301, 0.18386, 2.81597], [-0.349939, 0.749369, -0.562128, 1.43588], [0.0304668, -0.590648, -0.806354, 1.41482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[-0.99123, -0.0816946, 0.103867, 2.9758], [-0.12832, 0.782819, -0.608874, 1.12682], [-0.0315677, -0.616863, -0.786437, 1.42903], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[-0.995096, -0.042925, 0.0891137, 3.01723], [-0.0902536, 0.762675, -0.640453, 0.856861], [-0.0404734, -0.645356, -0.762809, 1.43555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[-0.999946, 0.000114292, 0.0103817, 3.11752], [-0.00558667, 0.83691, -0.547312, 0.629371], [-0.00875103, -0.547341, -0.836864, 1.39833], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[-0.978852, 0.183039, -0.0913494, 3.16626], [0.204115, 0.84419, -0.495662, 0.517195], [-0.0136093, -0.503826, -0.863698, 1.37439], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[-0.998515, 0.0541288, 0.00611764, 3.06808], [0.0400602, 0.805773, -0.590868, 0.737696], [-0.0369124, -0.589746, -0.806745, 1.38779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[-0.996268, 0.0839134, 0.0202044, 3.00824], [0.057741, 0.82196, -0.56661, 0.896705], [-0.0641534, -0.563329, -0.823738, 1.32362], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[-0.968976, 0.242755, -0.0464296, 2.99294], [0.23052, 0.819915, -0.524022, 0.902821], [-0.0891404, -0.518468, -0.850438, 1.29278], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[-0.810441, 0.509623, -0.288913, 2.92539], [0.582607, 0.649568, -0.488499, 0.789266], [-0.0612817, -0.564222, -0.823346, 1.32499], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[-0.625371, 0.644895, -0.439342, 2.81152], [0.779191, 0.485704, -0.396173, 0.728034], [-0.0421003, -0.590086, -0.806242, 1.35664], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[-0.515304, 0.702018, -0.491561, 2.71397], [0.856989, 0.418329, -0.300948, 0.608983], [-0.00563674, -0.576343, -0.817189, 1.33867], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[-0.060473, 0.784094, -0.617689, 2.67881], [0.998131, 0.042041, -0.0443521, 0.477903], [-0.00880799, -0.619217, -0.785171, 1.3635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[0.214215, 0.734283, -0.644159, 2.6414], [0.976786, -0.160934, 0.14138, 0.512349], [0.000146098, -0.659491, -0.751712, 1.40411], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[0.384242, 0.658704, -0.64689, 2.63014], [0.923211, -0.269377, 0.274076, 0.604707], [0.00627723, -0.702528, -0.711629, 1.43668], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[0.523061, 0.584372, -0.620416, 2.6874], [0.851995, -0.377838, 0.362414, 0.713614], [-0.0226322, -0.718156, -0.695514, 1.44598], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[0.655603, 0.521706, -0.5459, 2.75456], [0.754952, -0.467451, 0.459932, 0.80433], [-0.0152322, -0.713661, -0.700325, 1.43743], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[0.633542, 0.601055, -0.487193, 2.78414], [0.773684, -0.487201, 0.405027, 0.774957], [0.00608253, -0.633536, -0.77369, 1.35422], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[0.561159, 0.73994, -0.37093, 2.77136], [0.827047, -0.483344, 0.287005, 0.679243], [0.0330801, -0.467832, -0.883198, 1.23975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[0.653871, 0.656803, -0.375583, 2.73977], [0.756595, -0.570234, 0.319994, 0.793462], [-0.00399727, -0.493399, -0.869794, 1.24515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[0.711903, 0.56576, -0.416064, 2.71373], [0.702112, -0.586237, 0.404184, 1.04562], [-0.015241, -0.579863, -0.814571, 1.30318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[0.75589, 0.496339, -0.42694, 2.6953], [0.654229, -0.597331, 0.463874, 1.18228], [-0.0247855, -0.629955, -0.776236, 1.37379], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[0.867693, 0.320599, -0.379901, 2.60093], [0.496323, -0.601453, 0.626033, 1.38738], [-0.0277871, -0.731759, -0.680997, 1.43686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3460", "pose": [[0.955891, 0.103702, -0.274807, 2.59549], [0.289019, -0.498845, 0.817081, 1.53304], [-0.0523537, -0.860465, -0.506813, 1.51469], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3480", "pose": [[0.972241, 0.0489624, -0.228801, 2.63441], [0.232091, -0.325866, 0.916485, 1.56749], [-0.0296852, -0.944147, -0.328184, 1.60868], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3500", "pose": [[0.972966, 0.014102, -0.230518, 2.63061], [0.228097, -0.215046, 0.949593, 1.53993], [-0.0361809, -0.976502, -0.212449, 1.66739], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0766_00"}, {"annotation": [{"question_id": "test-scene0767-0", "question": "What is located behind the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-1", "question": "Where is the brown rack located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-2", "question": "What color is the door ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-3", "question": "Where is the brown door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-4", "question": "What colors of towels are hanging in front of the bathtub?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-5", "question": "Where are the brown and red towels?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-6", "question": "What is beside the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-7", "question": "What is in the corner of the bathroom right by the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-8", "question": "In what part of the bathroom is a bathtub located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-9", "question": "What is positioned on top of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-10", "question": "What is hanging above the bathtub?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-11", "question": "What is next to the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-12", "question": "Where is a trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-13", "question": "How many window panes are in the shower?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-14", "question": "What shape is the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-15", "question": "What is on the ledge of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-16", "question": "What color is the rack above the toilet bowl?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-17", "question": "What is the look of the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-18", "question": "What color is the spicket on the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-19", "question": "What is to the left of the toilet and to the right of the bath?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-20", "question": "What color is the toilet paper holder?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-21", "question": "What color is the toilet paper?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-22", "question": "What side of the toilet paper ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-23", "question": "What is the towel hanging on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-24", "question": "What is to the left of the shower/tub?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-25", "question": "What is above the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-26", "question": "What is to the right of the shower/tub?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-27", "question": "What is to the left of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-28", "question": "What is the towel hanging in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-29", "question": "Where is the towel hanging?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-30", "question": "What type of door is open in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-31", "question": "What is located under the sink in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-32", "question": "Where is the white trash can located in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-33", "question": "What type of door has a metal handle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-34", "question": "The trash can sits near what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-35", "question": "What is above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-36", "question": "What is present on the left side of the bathtub?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-37", "question": "What is hanging on the hanger placed on the glassdoors closing the bathtub?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-38", "question": "Where is the toilet from the entrance?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-39", "question": "Where is a toilet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-40", "question": "How many panes of glass does the window have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-41", "question": "Where is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-42", "question": "On what side of the wall is the window placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-43", "question": "What is present on the window slab?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-44", "question": "What is on the right side of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-45", "question": "What is present on the left side of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-46", "question": "What color is the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0767-47", "question": "On what color wall is the toilet paper holder located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.999572, 0.0262891, -0.0128194, 0.607574], [0.02628, -0.614872, 0.788188, -0.543869], [0.0128384, -0.788188, -0.6153, 1.42586], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.998393, 0.0391733, -0.0409455, 0.595546], [0.0564981, -0.632461, 0.772529, -0.477169], [0.00436609, -0.773601, -0.633658, 1.47274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.999729, -0.0128571, 0.0194074, 0.50455], [-0.0231877, -0.475913, 0.879186, -0.291194], [-0.00206764, -0.879398, -0.476082, 1.54596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.997357, -0.0657042, 0.0310225, 0.542405], [-0.0483831, -0.282022, 0.958187, -0.176573], [-0.054208, -0.957155, -0.284455, 1.65124], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.9991, -0.0272877, -0.032471, 0.632872], [0.0277511, -0.158403, 0.986984, -0.0850994], [-0.0320761, -0.986997, -0.157503, 1.7484], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.998988, -0.023133, -0.0385601, 0.687801], [0.0376366, -0.0391184, 0.998525, -0.0542676], [-0.0246073, -0.998967, -0.0382081, 1.79524], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.99946, -0.00869133, 0.0316729, 0.606906], [-0.0307438, 0.0917054, 0.995311, -0.0264834], [-0.0115552, -0.995748, 0.0913889, 1.87314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.983971, -0.00530285, 0.178249, 0.461416], [-0.178165, 0.0135535, 0.983907, 0.0393403], [-0.0076335, -0.999894, 0.0123915, 1.82886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.966561, 0.00285092, 0.256419, 0.482592], [-0.254271, -0.118972, 0.959787, 0.149158], [0.033243, -0.992893, -0.114269, 1.75242], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.985471, -0.0173183, 0.168956, 0.524811], [-0.16466, -0.341274, 0.925429, 0.225333], [0.0416335, -0.939804, -0.339167, 1.62039], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.9909, -0.0275495, 0.131747, 0.537928], [-0.127507, -0.505613, 0.853286, 0.284798], [0.0431052, -0.86232, -0.504525, 1.52711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.982849, -0.0482767, 0.177978, 0.501056], [-0.17479, -0.55152, 0.815643, 0.443929], [0.0587821, -0.832764, -0.550499, 1.48598], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.976645, -0.101431, 0.189412, 0.477726], [-0.211958, -0.599225, 0.772012, 0.582006], [0.0351946, -0.794129, -0.606729, 1.47093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.999398, 0.0209583, 0.0276263, 0.502998], [-0.0069116, -0.660302, 0.750968, 0.797024], [0.0339807, -0.750707, -0.65976, 1.43266], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.995474, 0.0852206, -0.0420501, 0.477027], [0.0892683, -0.686845, 0.721301, 1.03095], [0.0325878, -0.72179, -0.691344, 1.39695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.989327, 0.0914878, -0.113411, 0.451493], [0.14447, -0.717315, 0.681606, 1.22686], [-0.018993, -0.690716, -0.722876, 1.35778], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.97295, 0.123239, -0.195396, 0.431571], [0.225008, -0.697155, 0.680695, 1.49699], [-0.0523334, -0.706249, -0.706027, 1.39237], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.994693, 0.0718678, -0.0736277, 0.308149], [0.101843, -0.789497, 0.605245, 1.7218], [-0.0146312, -0.609532, -0.792626, 1.36426], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.991561, 0.108085, -0.0715762, 0.273208], [0.129418, -0.857348, 0.498201, 1.88099], [-0.0075176, -0.50326, -0.864102, 1.31477], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.999027, 0.0159185, 0.0411338, 0.325058], [-0.0116991, -0.803556, 0.595113, 1.89951], [0.0425267, -0.595015, -0.802588, 1.36726], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.978973, -0.0684253, 0.19217, 0.331074], [-0.196829, -0.564254, 0.801795, 1.84957], [0.0535699, -0.82276, -0.565858, 1.4762], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.924335, -0.148838, 0.351357, 0.365916], [-0.381576, -0.365449, 0.849026, 1.85719], [0.00203595, -0.918855, -0.39459, 1.54897], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.864425, -0.136404, 0.483904, 0.38649], [-0.50131, -0.306907, 0.809009, 1.93126], [0.0381618, -0.941914, -0.333679, 1.55275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.743876, -0.138345, 0.653841, 0.410026], [-0.662166, -0.28499, 0.693048, 2.03203], [0.0904588, -0.948494, -0.303605, 1.5576], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.548278, -0.129366, 0.82623, 0.483273], [-0.832507, -0.178357, 0.524518, 2.03804], [0.0795092, -0.975425, -0.205488, 1.59346], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.445504, -0.05401, 0.893649, 0.487023], [-0.89497, -0.0531006, 0.442953, 1.99641], [0.0235293, -0.997127, -0.0719939, 1.65351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.525731, 0.0899594, 0.845881, 0.458882], [-0.85052, 0.0381522, 0.524557, 2.01651], [0.0149165, -0.995214, 0.09657, 1.68998], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.675463, 0.146527, 0.722688, 0.398743], [-0.737223, 0.113143, 0.666108, 2.04081], [0.0158356, -0.982715, 0.184448, 1.71996], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.573686, 0.146349, 0.805895, 0.441605], [-0.818995, 0.116226, 0.561905, 2.0327], [-0.0114316, -0.982381, 0.186537, 1.72742], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.285997, 0.14895, 0.946583, 0.525234], [-0.95821, 0.050888, 0.281503, 2.05913], [-0.00623992, -0.987534, 0.157279, 1.69532], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.0352679, 0.0794317, 0.996216, 0.580965], [-0.99785, 0.0578874, 0.0307104, 2.0238], [-0.0552291, -0.995158, 0.0813025, 1.67676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.0734326, 0.0608989, 0.995439, 0.573977], [-0.997299, 0.00539556, 0.07324, 2.03133], [-0.000910759, -0.998129, 0.0611307, 1.66152], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.19463, -0.0792927, 0.977666, 0.556794], [-0.979608, -0.0663902, 0.189632, 2.04052], [0.049871, -0.994638, -0.0905973, 1.57943], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.249162, -0.160155, 0.955127, 0.522511], [-0.963778, -0.137876, 0.2283, 2.01586], [0.0951253, -0.977415, -0.188708, 1.46949], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.348967, -0.210004, 0.913301, 0.465721], [-0.931725, -0.182307, 0.314088, 1.93489], [0.100541, -0.960553, -0.259286, 1.39547], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.555808, -0.18773, 0.809836, 0.356058], [-0.818974, -0.290855, 0.494655, 1.75588], [0.142684, -0.938169, -0.315406, 1.3521], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.660216, -0.228103, 0.7156, 0.402275], [-0.727842, -0.429445, 0.534623, 1.59834], [0.185362, -0.873811, -0.44955, 1.3516], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.724801, -0.255648, 0.639771, 0.486355], [-0.673877, -0.456294, 0.581107, 1.51239], [0.143365, -0.852314, -0.502998, 1.35783], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.809751, -0.219938, 0.543994, 0.540277], [-0.571185, -0.507722, 0.644953, 1.37423], [0.134348, -0.832974, -0.536754, 1.36084], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.805007, -0.273602, 0.526408, 0.537818], [-0.584353, -0.518897, 0.623921, 1.27], [0.102445, -0.809869, -0.577596, 1.37475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.869378, -0.22868, 0.438049, 0.587653], [-0.485602, -0.559512, 0.671667, 1.08296], [0.0914971, -0.796651, -0.597475, 1.38681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.770249, -0.400967, 0.495926, 0.720469], [-0.634307, -0.56228, 0.530561, 0.999755], [0.0661116, -0.723234, -0.687432, 1.36935], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.633146, -0.577594, 0.515277, 0.758349], [-0.772979, -0.50653, 0.382008, 1.21017], [0.0403578, -0.640166, -0.767176, 1.34453], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.434902, -0.724376, 0.534919, 0.83746], [-0.898352, -0.389817, 0.202499, 1.40233], [0.0618347, -0.568613, -0.820278, 1.29494], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.16786, -0.82851, 0.534223, 0.932786], [-0.984337, -0.170479, 0.0449011, 1.54839], [0.053873, -0.533393, -0.84415, 1.28281], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.0724176, -0.836658, 0.542917, 0.850716], [-0.996091, 0.0330642, -0.081911, 1.57056], [0.0505804, -0.546727, -0.835782, 1.27731], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.225953, -0.860759, 0.456113, 0.819326], [-0.973777, 0.186828, -0.129823, 1.49671], [0.0265319, -0.473487, -0.880401, 1.2383], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.494764, -0.761259, 0.419157, 0.802263], [-0.867962, 0.409003, -0.281705, 1.34354], [0.0430142, -0.50319, -0.863104, 1.25512], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.562652, -0.629049, 0.536395, 0.793924], [-0.825156, 0.387782, -0.410782, 1.30702], [0.0503977, -0.673737, -0.737251, 1.35336], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.554452, -0.534072, 0.63824, 0.83904], [-0.830637, 0.307932, -0.463917, 1.30842], [0.0512306, -0.787366, -0.614354, 1.46723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.513337, -0.42662, 0.744634, 0.841862], [-0.857777, 0.228246, -0.460567, 1.32808], [0.0265272, -0.875157, -0.483112, 1.54388], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.471964, -0.324134, 0.81987, 0.828753], [-0.880682, 0.130519, -0.455371, 1.34839], [0.0405926, -0.936964, -0.347059, 1.60275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.450761, -0.335476, 0.827206, 0.837774], [-0.890833, 0.110059, -0.440797, 1.32914], [0.0568349, -0.935598, -0.348464, 1.63512], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.356636, -0.395964, 0.846181, 0.961755], [-0.932752, 0.0997662, -0.346437, 1.16782], [0.0527565, -0.91283, -0.404917, 1.66266], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.192108, -0.473357, 0.859667, 1.11417], [-0.981198, 0.0760995, -0.177364, 0.981242], [0.0185361, -0.877577, -0.479077, 1.68655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.237189, -0.481655, 0.843652, 1.06376], [-0.96662, 0.0304027, -0.254404, 1.02003], [0.0968856, -0.875833, -0.472789, 1.65918], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.341814, -0.497323, 0.797391, 0.963041], [-0.933913, 0.0851953, -0.3472, 1.15494], [0.104737, -0.863372, -0.493578, 1.62363], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.408684, -0.552385, 0.726532, 0.830574], [-0.909217, 0.177177, -0.376739, 1.33223], [0.0793798, -0.814542, -0.574647, 1.54465], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.268532, -0.674751, 0.68746, 0.822765], [-0.956029, 0.0993421, -0.275933, 1.40357], [0.117892, -0.731328, -0.671759, 1.44684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.0795865, -0.741152, 0.666603, 0.809601], [-0.989672, -0.0212357, -0.141768, 1.51884], [0.119228, -0.671001, -0.731808, 1.39964], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.0505364, -0.753488, 0.655517, 0.855546], [-0.994022, -0.0256554, -0.106123, 1.51456], [0.0967796, -0.656961, -0.747687, 1.39115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.196314, -0.747842, 0.634186, 1.03512], [-0.970887, -0.238784, 0.0189629, 1.37407], [0.137252, -0.619447, -0.772947, 1.37242], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.475108, -0.693142, 0.542057, 1.11985], [-0.874405, -0.440815, 0.202726, 1.29729], [0.0984288, -0.570295, -0.815522, 1.33634], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.709701, -0.539314, 0.453282, 1.1267], [-0.698127, -0.62474, 0.349739, 1.16236], [0.0945641, -0.564659, -0.819889, 1.34784], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.871773, -0.352558, 0.340168, 0.991193], [-0.485479, -0.714852, 0.503284, 0.997901], [0.0657332, -0.603895, -0.794349, 1.34893], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.923186, -0.295811, 0.245403, 0.798199], [-0.383883, -0.678088, 0.626761, 0.879032], [-0.0189978, -0.672824, -0.739559, 1.3615], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.979272, -0.187017, 0.0777887, 0.59641], [-0.187689, -0.693449, 0.695629, 0.712771], [-0.0761518, -0.695811, -0.714177, 1.28632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.966138, -0.22421, 0.1277, 0.539869], [-0.251406, -0.706596, 0.66145, 0.565301], [-0.0580714, -0.671157, -0.739037, 1.19036], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.869109, -0.332309, 0.36636, 0.567722], [-0.493775, -0.539626, 0.681901, 0.491993], [-0.0289039, -0.773546, -0.63308, 0.965836], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.730603, -0.36152, 0.579242, 0.559565], [-0.682617, -0.406455, 0.607311, 0.454347], [0.0158805, -0.839105, -0.543738, 0.766375], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.556483, -0.436348, 0.707055, 0.584103], [-0.830773, -0.30444, 0.465973, 0.435229], [0.0119292, -0.846709, -0.531923, 0.651295], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.464556, -0.422936, 0.778018, 0.575084], [-0.88477, -0.258383, 0.387839, 0.444613], [0.0369951, -0.868541, -0.494235, 0.559414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.366126, -0.465609, 0.805704, 0.618021], [-0.929513, -0.22413, 0.292865, 0.444642], [0.0442217, -0.856139, -0.51485, 0.508762], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.328174, -0.469716, 0.819554, 0.615509], [-0.943408, -0.206863, 0.259208, 0.460227], [0.0477808, -0.858239, -0.511021, 0.528054], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.279364, -0.493946, 0.823391, 0.560206], [-0.9572, -0.210833, 0.198286, 0.524763], [0.0756552, -0.843544, -0.531704, 0.613941], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.31779, -0.517374, 0.794565, 0.557653], [-0.938256, -0.292406, 0.184862, 0.595892], [0.136693, -0.804253, -0.578353, 0.841958], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.355754, -0.398412, 0.845403, 0.695709], [-0.919908, -0.308928, 0.241519, 0.806571], [0.164944, -0.863615, -0.476406, 1.07122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.21314, -0.497995, 0.840578, 0.790293], [-0.939049, -0.341942, 0.0355276, 1.03001], [0.269736, -0.796917, -0.540523, 1.10976], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.170693, -0.664903, 0.727164, 0.953153], [-0.956675, -0.288501, -0.0392307, 1.18597], [0.235872, -0.688964, -0.685341, 1.12646], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.0430597, -0.809718, 0.585237, 1.13328], [-0.984989, -0.132415, -0.110733, 1.23034], [0.167157, -0.571684, -0.803266, 1.15593], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.0289391, -0.872759, 0.487293, 1.25773], [-0.99451, -0.0741801, -0.0737973, 1.10068], [0.100555, -0.482483, -0.870114, 1.15225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.058423, -0.884351, 0.463152, 1.28813], [-0.996042, -0.0827698, -0.0323991, 0.995841], [0.066987, -0.459426, -0.885687, 1.15777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.0265359, -0.895086, 0.445103, 1.30441], [-0.998818, -0.0418749, -0.0246617, 0.907295], [0.040713, -0.443923, -0.89514, 1.15122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.0124932, -0.90433, 0.42665, 1.31247], [-0.999832, 0.00558824, -0.0174321, 0.824021], [0.0133802, -0.426796, -0.904249, 1.13975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.0313298, -0.913826, 0.404896, 1.31247], [-0.999509, 0.028816, -0.012303, 0.750843], [-0.000424802, -0.405083, -0.91428, 1.11764], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.0179126, -0.914561, 0.404051, 1.30509], [-0.999789, 0.0123483, -0.0163727, 0.728981], [0.00998434, -0.404259, -0.91459, 1.1127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.0936347, -0.891993, 0.442245, 1.27219], [-0.994599, -0.103777, 0.00126876, 0.868418], [0.0447629, -0.439975, -0.896894, 1.14424], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.148818, -0.865405, 0.478463, 1.20069], [-0.983024, -0.181977, -0.0233928, 1.06633], [0.107314, -0.46686, -0.877796, 1.15553], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.162541, -0.847295, 0.505639, 1.12755], [-0.983565, -0.179959, 0.0146166, 1.23104], [0.0786097, -0.499705, -0.862621, 1.17054], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.293405, -0.819835, 0.491715, 1.04098], [-0.953823, -0.285646, 0.0928861, 1.28919], [0.0643052, -0.496262, -0.865788, 1.17592], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.655782, -0.646412, 0.390001, 0.919666], [-0.753057, -0.596646, 0.277339, 1.19183], [0.053418, -0.475568, -0.878056, 1.15094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.765515, -0.523292, 0.374368, 0.803548], [-0.640631, -0.673984, 0.367881, 1.07495], [0.0598093, -0.521451, -0.851183, 1.1809], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.835236, -0.441714, 0.327519, 0.710036], [-0.548225, -0.715214, 0.433493, 0.931042], [0.0427661, -0.541624, -0.839532, 1.2249], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.955226, -0.231919, 0.18373, 0.630086], [-0.294492, -0.805231, 0.514662, 0.713715], [0.0285852, -0.545726, -0.837476, 1.26188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.98523, -0.107357, 0.1334, 0.528774], [-0.165806, -0.792714, 0.586611, 0.503708], [0.0427707, -0.600066, -0.798806, 1.31464], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.999094, 0.0372829, 0.0205169, 0.504621], [0.0122323, -0.713375, 0.700675, 0.250152], [0.0407595, -0.69979, -0.713185, 1.38565], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.999574, 0.0208637, -0.0204125, 0.567467], [0.0290715, -0.649049, 0.76019, 0.0367776], [0.00261169, -0.76046, -0.64938, 1.42289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.999724, -0.0166794, 0.0165159, 0.530086], [-0.0234091, -0.656648, 0.753833, -0.118006], [-0.00172831, -0.754012, -0.656858, 1.42585], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0767_00"}, {"annotation": [{"question_id": "test-scene0768-0", "question": "What is closed with blinds?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-1", "question": "What is next to the nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-2", "question": "What is next to another chair that is quite low compared to it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-3", "question": "What is in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-4", "question": "Where is the picture located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-5", "question": "When facing the door with clothing hanging on it, the picture is located where?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-6", "question": "What side of the bed is the wooden room door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-7", "question": "What is hanging off the back of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-8", "question": "What is the closest item not hanging off of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-9", "question": "What is closed in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-10", "question": "The bed is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-11", "question": "What is to the left of the white bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-12", "question": "In what part of the room is the night stand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-13", "question": "Where is the chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-14", "question": "What is hung on the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-15", "question": "The nightstand is to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-16", "question": "What is over the bed in the hotel room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-17", "question": "What is the robe hanging on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-18", "question": "What color is the chair in front of the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-19", "question": "What color is the sheet on top of the bed in a hotel room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-20", "question": "What color chair is behind the raft window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-21", "question": "What color is the square nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-22", "question": "Where is the square nightstand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-23", "question": "What does the brown quilted chair have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-24", "question": "Where does the brown quilted chair sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-25", "question": "What is on the wall near the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-26", "question": "What is next to the square picture?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-27", "question": "What are located behind the brown chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-28", "question": "Where are the blinds located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-29", "question": "What kind of windows are behind the brown chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-30", "question": "Where are the tall windows with blinds that are turned open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-31", "question": "What color is the nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-32", "question": "Where is the small white nightstand sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-33", "question": "What is hanging from the white door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-34", "question": "Where can you find the small square nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0768-35", "question": "What type of windows are behind a brown chair with a footrest?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.951036, -0.0537958, 0.304363, 0.519917], [-0.308382, -0.0989702, 0.9461, 6.05355], [-0.0207733, -0.993635, -0.110714, 1.86383], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.947699, -0.043534, 0.316181, 0.541004], [-0.319158, -0.122806, 0.939711, 6.05213], [-0.00208031, -0.991475, -0.130278, 1.88487], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.949355, -0.0448144, 0.310992, 0.541015], [-0.314204, -0.134917, 0.93972, 6.05809], [-0.000155001, -0.989843, -0.142165, 1.88169], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.948135, -0.039612, 0.315389, 0.540567], [-0.317853, -0.127372, 0.939545, 6.05539], [0.00295436, -0.991064, -0.133356, 1.88334], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.926435, -0.0574582, 0.372045, 0.573838], [-0.37444, -0.0385124, 0.926451, 6.02872], [-0.0389039, -0.997605, -0.0571939, 1.94717], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.821456, -0.0867247, 0.563639, 0.652917], [-0.568267, -0.0416895, 0.821787, 6.03074], [-0.0477714, -0.99536, -0.083529, 1.98469], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.766522, -0.100463, 0.634312, 0.638164], [-0.639832, -0.0343914, 0.767745, 6.04022], [-0.0553153, -0.994346, -0.0906414, 1.97077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.846496, -0.0853425, 0.52551, 0.606446], [-0.529898, -0.0395684, 0.847138, 6.04285], [-0.0515033, -0.995566, -0.0787174, 1.95721], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.839153, -0.099722, 0.534675, 0.631863], [-0.541923, -0.0696567, 0.837536, 6.05278], [-0.0462771, -0.992574, -0.112494, 1.96872], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.695449, -0.147903, 0.703189, 0.700724], [-0.71617, -0.0626612, 0.695107, 6.03061], [-0.0587459, -0.987015, -0.149501, 1.97087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.821606, -0.171101, 0.543772, 0.639159], [-0.566103, -0.132763, 0.813573, 6.06764], [-0.0670107, -0.976268, -0.20594, 1.91724], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.940501, -0.12707, 0.315137, 0.574324], [-0.338209, -0.260677, 0.904247, 6.07567], [-0.0327536, -0.957027, -0.288143, 1.86597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.995513, -0.0657408, 0.0680628, 0.576011], [-0.0904644, -0.450176, 0.888345, 6.02653], [-0.0277604, -0.890516, -0.454103, 1.79792], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.997014, 0.0195269, -0.074711, 0.516279], [0.0716558, -0.59457, 0.800845, 5.98395], [-0.028783, -0.803807, -0.594193, 1.72273], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.996295, 0.0477889, -0.0715016, 0.491577], [0.0853249, -0.653335, 0.752245, 5.96478], [-0.0107656, -0.755559, -0.654992, 1.68401], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.996568, 0.0366162, -0.0742434, 0.482861], [0.0795441, -0.671926, 0.736334, 5.95499], [-0.0229244, -0.739713, -0.672532, 1.67419], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.995679, 0.048964, -0.0789058, 0.468854], [0.0902065, -0.711761, 0.696605, 5.948], [-0.0220537, -0.700713, -0.713102, 1.64817], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.994573, 0.0295615, -0.0997508, 0.47768], [0.08508, -0.782919, 0.616278, 5.95981], [-0.0598788, -0.62142, -0.781186, 1.61566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.992603, -0.118862, 0.0247159, 0.579829], [-0.0978762, -0.663024, 0.742172, 5.98098], [-0.0718291, -0.739102, -0.669753, 1.69703], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.912536, -0.312087, 0.264349, 0.700496], [-0.397435, -0.524036, 0.75328, 5.99684], [-0.0965603, -0.792457, -0.602236, 1.7648], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.766196, -0.402328, 0.501075, 0.709513], [-0.633227, -0.339958, 0.695307, 6.0166], [-0.109397, -0.850036, -0.51524, 1.83452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.638436, -0.403652, 0.655335, 0.690837], [-0.766598, -0.257441, 0.588261, 6.02308], [-0.0687428, -0.877946, -0.473799, 1.8497], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.554147, -0.448507, 0.701258, 0.705072], [-0.828076, -0.211072, 0.519363, 6.0469], [-0.0849221, -0.868498, -0.488363, 1.83587], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.535535, -0.527494, 0.659509, 0.827694], [-0.837834, -0.233836, 0.49331, 6.13827], [-0.106001, -0.816744, -0.56718, 1.80744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.472616, -0.585988, 0.658219, 0.989691], [-0.872426, -0.205567, 0.443412, 6.20807], [-0.124526, -0.783811, -0.608386, 1.79723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.190535, -0.627017, 0.755345, 1.06259], [-0.974903, -0.0306031, 0.220514, 6.26626], [-0.11515, -0.778404, -0.617113, 1.80963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.149243, -0.633126, 0.759525, 1.09568], [-0.983423, 0.17504, -0.0473282, 6.32363], [-0.102982, -0.753998, -0.648754, 1.79349], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.394988, -0.57979, 0.71262, 1.08604], [-0.913988, 0.326351, -0.241081, 6.23498], [-0.0927879, -0.746551, -0.658827, 1.79153], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.585248, -0.520097, 0.62208, 1.06224], [-0.806667, 0.451316, -0.381578, 6.15994], [-0.0822968, -0.72513, -0.683677, 1.78888], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.74303, -0.434699, 0.508863, 1.02882], [-0.665524, 0.560124, -0.493294, 6.09742], [-0.0705919, -0.705193, -0.705492, 1.77862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.849936, -0.379593, 0.3654, 0.992675], [-0.521191, 0.707401, -0.477435, 6.04134], [-0.0772528, -0.596232, -0.799086, 1.72166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.816693, -0.475638, 0.326773, 0.980591], [-0.574412, 0.724345, -0.381282, 5.99949], [-0.0553439, -0.499092, -0.86478, 1.64284], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.566635, -0.684327, 0.458935, 0.935209], [-0.823304, 0.492598, -0.28199, 5.95928], [-0.0330969, -0.537629, -0.842532, 1.64157], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.406067, -0.700706, 0.586618, 0.851659], [-0.912777, 0.341998, -0.223328, 6.06068], [-0.0441352, -0.626137, -0.778463, 1.70887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.0725915, -0.753423, 0.653516, 0.792899], [-0.996585, 0.0806446, -0.0177261, 6.12663], [-0.0393474, -0.652572, -0.756705, 1.71341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.317567, -0.700833, 0.638736, 0.731512], [-0.948065, -0.221885, 0.227903, 6.05395], [-0.0179964, -0.677938, -0.734899, 1.70834], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.477058, -0.641109, 0.601161, 0.665739], [-0.878861, -0.344658, 0.329869, 6.04471], [-0.00428708, -0.685704, -0.727868, 1.71606], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.775733, -0.427175, 0.4645, 0.656104], [-0.631014, -0.534112, 0.562624, 5.98259], [0.00775598, -0.729552, -0.683881, 1.70764], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.920138, -0.261485, 0.291499, 0.615665], [-0.391511, -0.629643, 0.671021, 5.96501], [0.00807879, -0.731557, -0.681732, 1.68312], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.986705, -0.106283, 0.122952, 0.534764], [-0.16219, -0.692291, 0.703155, 5.94003], [0.010385, -0.713748, -0.700325, 1.65171], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.998071, 0.0328511, -0.0526793, 0.45607], [0.0606131, -0.699162, 0.712388, 5.9107], [-0.0134288, -0.714207, -0.699805, 1.64065], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.994504, 0.056217, -0.0883224, 0.443046], [0.104094, -0.62122, 0.776691, 5.89976], [-0.0112045, -0.781617, -0.623658, 1.67289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.986872, -0.0918768, 0.132823, 0.566133], [-0.158878, -0.404598, 0.900588, 5.89292], [-0.0290032, -0.909868, -0.413883, 1.77953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.895524, -0.188978, 0.402895, 0.690633], [-0.441292, -0.260267, 0.858791, 5.85887], [-0.0574321, -0.946862, -0.31647, 1.8485], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.770938, -0.254281, 0.583948, 0.694578], [-0.63346, -0.210829, 0.744499, 5.82792], [-0.0661982, -0.943871, -0.323613, 1.8878], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.633793, -0.392505, 0.666518, 0.685944], [-0.772276, -0.272595, 0.57383, 5.78632], [-0.043542, -0.878426, -0.475891, 1.8192], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.841437, -0.330719, 0.427327, 0.612304], [-0.539835, -0.479832, 0.691621, 5.75089], [-0.0236867, -0.812642, -0.582282, 1.73779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.963725, -0.165306, 0.209545, 0.499901], [-0.266744, -0.569792, 0.777293, 5.64534], [-0.00909422, -0.804991, -0.593217, 1.70594], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.835614, -0.377191, 0.399345, 0.545084], [-0.547496, -0.51274, 0.661321, 5.57564], [-0.0446841, -0.771249, -0.634963, 1.70932], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.577235, -0.557043, 0.597078, 0.736586], [-0.809063, -0.291174, 0.510524, 5.46849], [-0.11053, -0.777766, -0.618759, 1.74], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.25518, -0.647794, 0.717806, 0.834563], [-0.959795, -0.0799182, 0.269083, 5.38283], [-0.116945, -0.757612, -0.642143, 1.72982], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.153498, -0.634671, 0.757384, 0.882052], [-0.98045, 0.193314, -0.0367139, 5.42758], [-0.123112, -0.748213, -0.651937, 1.73043], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.446203, -0.617688, 0.647584, 0.862191], [-0.884328, 0.415383, -0.213119, 5.45212], [-0.137354, -0.667771, -0.731584, 1.68453], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.669355, -0.531324, 0.519287, 0.818228], [-0.713827, 0.653692, -0.251271, 5.39628], [-0.205948, -0.538871, -0.816826, 1.63769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.940948, -0.139375, 0.30853, 0.80088], [-0.266436, 0.867113, -0.420863, 5.37565], [-0.208872, -0.478214, -0.853044, 1.61879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.971169, 0.237011, 0.0255946, 0.657502], [0.194085, 0.848449, -0.492407, 5.34159], [-0.138422, -0.473243, -0.869989, 1.60988], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.847109, 0.470029, -0.247949, 0.535103], [0.53054, 0.721187, -0.44544, 5.32377], [-0.0305515, -0.508883, -0.860294, 1.60984], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.857066, 0.381415, -0.346352, 0.545142], [0.515162, 0.643171, -0.566514, 5.2794], [0.00668625, -0.663968, -0.747731, 1.71698], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.940897, 0.23358, -0.245264, 0.598343], [0.337168, 0.577292, -0.743675, 5.24233], [-0.0321183, -0.782416, -0.621927, 1.75761], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.98645, 0.136434, -0.0911178, 0.569678], [0.161693, 0.714415, -0.680784, 5.09427], [-0.0277863, -0.686292, -0.726795, 1.69673], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.997493, -0.0223893, 0.0671236, 0.608962], [-0.0622516, 0.728649, -0.682052, 5.05384], [-0.0336389, -0.684521, -0.728216, 1.69371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.911028, -0.295102, 0.287998, 0.790789], [-0.411425, 0.697163, -0.587106, 5.02853], [-0.0275257, -0.653359, -0.756547, 1.66273], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.690234, -0.532066, 0.49039, 0.874702], [-0.720956, 0.563432, -0.403444, 5.00424], [-0.0616424, -0.632021, -0.772496, 1.65018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.479481, -0.638765, 0.601729, 0.858219], [-0.86896, 0.441312, -0.223948, 4.93777], [-0.1225, -0.630257, -0.766661, 1.65414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.866549, -0.318827, 0.383981, 0.867354], [-0.485886, 0.714723, -0.503076, 4.65921], [-0.114045, -0.622512, -0.774256, 1.64801], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.994661, -0.00449508, 0.103097, 0.842047], [-0.0580133, 0.850593, -0.522615, 4.5194], [-0.0853447, -0.525806, -0.846312, 1.59072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.943904, 0.304762, -0.127143, 0.774679], [0.326127, 0.799901, -0.503786, 4.39669], [-0.051833, -0.51699, -0.854421, 1.57237], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.66914, 0.566397, -0.48109, 0.884039], [0.742801, 0.529218, -0.41009, 4.37198], [0.0223276, -0.631762, -0.774841, 1.62747], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.629843, 0.475705, -0.614006, 0.935283], [0.776248, 0.413142, -0.476186, 4.41473], [0.0271476, -0.776543, -0.62948, 1.72036], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.543033, 0.375946, -0.750853, 1.12605], [0.839586, 0.227598, -0.49325, 4.41435], [-0.0145423, -0.898256, -0.439232, 1.80725], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.547231, 0.176394, -0.818183, 1.19117], [0.836038, 0.161618, -0.524329, 4.42386], [0.0397451, -0.970961, -0.235914, 1.87039], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.490601, 0.0652334, -0.868939, 1.22067], [0.869543, 0.10145, -0.483325, 4.42322], [0.0566247, -0.9927, -0.106495, 1.93063], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.489103, -0.0221841, -0.871944, 1.25366], [0.87024, 0.0550085, -0.489546, 4.45173], [0.0588245, -0.998239, -0.00759937, 1.95759], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.308684, -0.00575924, -0.951147, 1.19651], [0.950934, 0.0201571, -0.308736, 4.55975], [0.0209505, -0.99978, -0.000745527, 1.96254], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.173808, 0.0212969, -0.984549, 1.17305], [0.983324, 0.0580861, -0.172335, 4.56697], [0.0535184, -0.998084, -0.0310376, 1.98329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.31634, 0.241064, -0.917506, 1.18375], [0.947466, 0.128506, -0.292906, 4.52891], [0.0472956, -0.961964, -0.269051, 1.8881], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.329773, 0.434531, -0.838112, 1.19613], [0.943521, 0.181687, -0.27705, 4.52455], [0.0318873, -0.882141, -0.469905, 1.78447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.465236, 0.57288, -0.674807, 1.25676], [0.884724, 0.325576, -0.333562, 4.47704], [0.0286104, -0.752203, -0.65831, 1.68961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.712107, 0.489411, -0.503369, 1.32843], [0.700248, 0.546759, -0.459029, 4.38085], [0.050568, -0.679361, -0.73206, 1.6249], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.891959, 0.312449, -0.326778, 1.35437], [0.449866, 0.685359, -0.572628, 4.3144], [0.0450436, -0.657767, -0.751873, 1.61669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.998602, 0.00450253, -0.0526752, 1.31634], [0.0375883, 0.761115, -0.647528, 4.34779], [0.0371763, -0.648602, -0.760219, 1.59808], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.956394, -0.221818, 0.190021, 1.32141], [-0.292049, 0.716756, -0.63322, 4.39955], [0.00426083, -0.661103, -0.750283, 1.60002], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.902359, -0.26666, 0.338588, 1.35782], [-0.430087, 0.607865, -0.667477, 4.40711], [-0.0278265, -0.747926, -0.663199, 1.66116], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.941314, -0.109357, 0.319324, 1.28279], [-0.333096, 0.453812, -0.826499, 4.37286], [-0.054529, -0.884362, -0.463606, 1.75858], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.96255, 0.0131298, 0.270786, 1.18854], [-0.260615, 0.230336, -0.937564, 4.40647], [-0.0746817, -0.973023, -0.218288, 1.82512], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.99286, -0.0128125, 0.118593, 1.22656], [-0.11928, 0.113006, -0.986408, 4.47096], [-0.000763305, -0.993512, -0.113728, 1.81752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.998082, -0.0105097, -0.0610121, 1.22149], [0.0601252, 0.0704352, -0.995702, 4.46685], [0.0147619, -0.997461, -0.0696682, 1.82174], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.971966, 0.00323802, -0.235097, 1.16006], [0.234648, 0.0766381, -0.969054, 4.45287], [0.0148796, -0.997054, -0.0752495, 1.83578], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.927254, 0.0415002, -0.372126, 1.09609], [0.374325, 0.126661, -0.918606, 4.43448], [0.00901164, -0.991078, -0.132982, 1.83967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.924079, 0.112426, -0.365292, 1.07894], [0.382066, 0.297158, -0.875056, 4.39289], [0.0101708, -0.948186, -0.317551, 1.78509], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.960799, 0.145194, -0.236187, 1.11039], [0.277186, 0.485182, -0.829317, 4.3485], [-0.00581809, -0.862274, -0.506408, 1.72954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.999555, 0.0297628, -0.00194395, 1.19763], [0.0168931, 0.51121, -0.859289, 4.35213], [-0.0245811, -0.85894, -0.511485, 1.73964], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.973708, -0.0660727, 0.218006, 1.2325], [-0.225583, 0.412828, -0.882431, 4.38216], [-0.0316944, -0.908409, -0.416879, 1.76507], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.974711, -0.0238148, 0.222199, 1.17145], [-0.221798, 0.224517, -0.948893, 4.41695], [-0.0272898, -0.974179, -0.224122, 1.83953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.997462, -0.0585685, -0.0404766, 1.23301], [0.0342177, 0.104182, -0.993969, 4.45648], [0.0624322, -0.992832, -0.101914, 1.80826], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.937997, -0.0335742, -0.345015, 1.13097], [0.341287, 0.0848717, -0.93612, 4.42781], [0.0607115, -0.995826, -0.0681509, 1.82274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.882565, 0.1238, -0.453601, 1.08613], [0.469621, 0.279611, -0.837421, 4.39397], [0.0231592, -0.952098, -0.304913, 1.7875], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.929618, 0.199375, -0.309935, 1.11395], [0.367899, 0.551068, -0.748982, 4.35781], [0.0214669, -0.810292, -0.585633, 1.67798], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.991387, 0.102267, -0.081815, 1.20355], [0.130159, 0.700074, -0.702108, 4.35465], [-0.0145261, -0.706709, -0.707355, 1.62981], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.872531, 0.364814, -0.324964, 1.34965], [0.487866, 0.615156, -0.619331, 4.26927], [-0.026037, -0.698924, -0.714722, 1.60137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.582503, 0.561357, -0.58785, 1.48058], [0.81281, 0.397412, -0.425914, 4.28143], [-0.0054712, -0.725907, -0.687771, 1.63739], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.366946, 0.658491, -0.65707, 1.63848], [0.928897, 0.2214, -0.296872, 4.29009], [-0.0500123, -0.719286, -0.692912, 1.64754], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.152657, 0.750448, -0.643058, 1.75053], [0.988086, 0.103024, -0.114336, 4.04498], [-0.019553, -0.65285, -0.757235, 1.60078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.0961367, 0.748067, -0.656623, 1.95353], [0.99428, -0.103017, 0.0282101, 3.97077], [-0.0465401, -0.655579, -0.753691, 1.58881], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.633039, 0.564648, -0.529561, 1.93269], [0.773732, -0.43986, 0.455918, 3.96708], [0.0245007, -0.698352, -0.715335, 1.63876], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.866234, 0.305186, -0.395601, 1.91637], [0.499599, -0.538993, 0.67815, 3.98603], [-0.00626487, -0.785078, -0.619365, 1.69431], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.896479, 0.264379, -0.355569, 1.86651], [0.43907, -0.637864, 0.63273, 4.08598], [-0.0595247, -0.723349, -0.687912, 1.66472], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.962703, 0.100325, -0.251273, 1.84353], [0.267605, -0.489978, 0.829644, 4.13407], [-0.0398843, -0.865942, -0.498551, 1.7545], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.988321, -0.142495, 0.0539984, 1.79156], [-0.112929, -0.446976, 0.887389, 4.14917], [-0.102313, -0.883124, -0.457848, 1.74699], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.901521, -0.326063, 0.284504, 1.77259], [-0.424196, -0.53592, 0.729964, 4.14418], [-0.0855429, -0.778764, -0.621458, 1.66898], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.788541, -0.347496, 0.507395, 1.84262], [-0.614709, -0.420802, 0.667126, 4.14624], [-0.0183105, -0.837957, -0.545429, 1.72013], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.839752, -0.190308, 0.508527, 1.82657], [-0.542894, -0.278553, 0.792259, 4.1201], [-0.00912168, -0.941377, -0.337232, 1.81135], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.840439, -0.0823348, 0.535614, 1.80263], [-0.541889, -0.119857, 0.83186, 4.04259], [-0.00429361, -0.989371, -0.145349, 1.82789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.713516, -0.0708853, 0.697044, 1.85942], [-0.700623, -0.0655794, 0.710511, 3.99933], [-0.00465308, -0.995326, -0.0964559, 1.84896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.525779, -0.0650961, 0.848127, 1.93143], [-0.850535, -0.0260534, 0.525272, 3.99193], [-0.0120967, -0.997539, -0.0690649, 1.8906], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[0.380684, -0.0636354, 0.922513, 1.96886], [-0.924574, -0.00940742, 0.380886, 3.97487], [-0.0155594, -0.997929, -0.0624169, 1.89723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.542209, -0.114898, 0.832351, 1.93756], [-0.840033, -0.0519509, 0.540042, 4.02818], [-0.0188085, -0.992018, -0.124687, 1.88146], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[0.720227, -0.238519, 0.651445, 1.87794], [-0.69335, -0.216104, 0.687433, 4.12973], [-0.0231859, -0.946788, -0.321021, 1.78907], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[0.80151, -0.295972, 0.519598, 1.82484], [-0.597975, -0.40068, 0.694176, 4.20013], [0.00273597, -0.867096, -0.498133, 1.71137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[0.869072, -0.303699, 0.390488, 1.78177], [-0.494637, -0.544567, 0.677333, 4.20731], [0.00694148, -0.781801, -0.623489, 1.64787], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[0.856621, -0.308672, 0.413428, 2.00429], [-0.515936, -0.50743, 0.690163, 4.34342], [-0.00324842, -0.80451, -0.59393, 1.67188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[0.89106, -0.280672, 0.356701, 2.13916], [-0.453862, -0.542888, 0.706599, 4.49893], [-0.00467425, -0.791515, -0.611132, 1.66309], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[0.872638, -0.31411, 0.373949, 2.27669], [-0.488283, -0.575442, 0.656083, 4.74824], [0.00910406, -0.755116, -0.655527, 1.66214], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[0.963508, -0.152099, 0.220268, 2.47654], [-0.265898, -0.638591, 0.722149, 4.9227], [0.0308233, -0.754365, -0.655731, 1.65763], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[0.984985, -0.0749175, 0.155539, 2.55902], [-0.164395, -0.682139, 0.712503, 5.15533], [0.0527203, -0.727375, -0.684212, 1.64953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[0.993396, -0.0438588, 0.106023, 2.58134], [-0.106104, -0.702808, 0.703421, 5.4074], [0.0436622, -0.710026, -0.702821, 1.65784], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.995259, 0.0211576, 0.0949341, 2.64273], [-0.0555681, -0.677389, 0.733523, 5.63746], [0.0798269, -0.73532, -0.673002, 1.67332], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[0.983303, -0.0828869, 0.162005, 2.60116], [-0.178998, -0.600982, 0.778961, 5.77013], [0.0327964, -0.794953, -0.605784, 1.72058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.972066, -0.107402, 0.208693, 2.58352], [-0.23019, -0.609875, 0.75833, 5.83334], [0.0458307, -0.785186, -0.617561, 1.72212], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.993055, -0.044736, 0.108813, 2.57741], [-0.111492, -0.65315, 0.748975, 5.73419], [0.037565, -0.755906, -0.653602, 1.69224], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[0.960001, 0.175481, -0.218186, 2.48871], [0.279374, -0.548319, 0.788223, 5.51715], [0.0186827, -0.817651, -0.575411, 1.72385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[0.968683, 0.122925, -0.21574, 2.45283], [0.246257, -0.364312, 0.898128, 5.4829], [0.0318057, -0.923128, -0.383174, 1.80272], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[0.8878, 0.196862, -0.416001, 2.3905], [0.457595, -0.281001, 0.843591, 5.39091], [0.0491741, -0.9393, -0.339556, 1.80301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[0.822245, 0.304697, -0.4807, 2.38073], [0.564443, -0.328368, 0.757349, 5.34526], [0.0729154, -0.894055, -0.441983, 1.74651], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.827901, 0.393561, -0.399613, 2.39994], [0.556735, -0.490237, 0.670607, 5.35939], [0.0680192, -0.777674, -0.624977, 1.6842], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.667704, 0.550419, -0.501209, 2.41612], [0.742651, -0.446034, 0.499523, 5.29395], [0.0513903, -0.705757, -0.706588, 1.64678], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.483847, 0.743871, -0.461028, 2.40857], [0.874196, -0.386202, 0.294328, 5.17391], [0.0408921, -0.545439, -0.837152, 1.55987], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[0.283222, 0.827527, -0.484752, 2.40602], [0.958361, -0.224994, 0.175843, 5.11561], [0.0364484, -0.51437, -0.856793, 1.54466], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.695261, 0.601191, -0.393931, 2.4355], [0.718719, -0.575863, 0.389647, 5.31126], [0.00740242, -0.554032, -0.832462, 1.5805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[0.994768, 0.0836858, -0.0585953, 2.50816], [0.101052, -0.721784, 0.684702, 5.46368], [0.0150066, -0.687041, -0.726464, 1.65665], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[0.982918, -0.0837059, 0.163905, 2.5632], [-0.181804, -0.580075, 0.794015, 5.44035], [0.0286132, -0.810251, -0.585384, 1.72234], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[0.956596, -0.21688, 0.194645, 2.64128], [-0.288793, -0.616102, 0.732814, 5.29993], [-0.039012, -0.75722, -0.651994, 1.68589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[0.825404, -0.422619, 0.374301, 2.57858], [-0.562482, -0.55905, 0.60916, 5.16457], [-0.0481901, -0.713341, -0.699158, 1.65286], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[0.732196, -0.530701, 0.426902, 2.49854], [-0.678724, -0.51629, 0.522282, 4.98026], [-0.05677, -0.672161, -0.738225, 1.61855], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[0.481313, -0.693945, 0.535517, 2.42517], [-0.872864, -0.323485, 0.365329, 4.78083], [-0.0802862, -0.643271, -0.761417, 1.60963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[0.197917, -0.591272, 0.78181, 2.08364], [-0.975483, -0.040505, 0.216312, 4.61499], [-0.0962321, -0.805455, -0.584792, 1.74101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[0.125266, -0.148345, 0.98097, 1.93325], [-0.991344, 0.0204532, 0.129683, 4.69119], [-0.0393018, -0.988724, -0.144499, 1.91761], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[-0.0622887, -0.028079, 0.997663, 1.93484], [-0.99681, 0.0517162, -0.06078, 4.65911], [-0.0498887, -0.998267, -0.0312108, 1.9342], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[-0.299644, -0.0481032, 0.952838, 1.96224], [-0.953683, 0.042854, -0.297746, 4.60276], [-0.0265104, -0.997923, -0.0587161, 1.93211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[-0.486063, -0.0884672, 0.869435, 1.98201], [-0.873795, 0.0662812, -0.481756, 4.52164], [-0.0150075, -0.993871, -0.109519, 1.93882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[-0.464982, -0.219989, 0.857553, 1.99301], [-0.885028, 0.140365, -0.443873, 4.52922], [-0.0227228, -0.965351, -0.259964, 1.86879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[-0.43998, -0.356997, 0.823997, 1.99558], [-0.897163, 0.214532, -0.386102, 4.52857], [-0.038936, -0.909137, -0.414674, 1.80119], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[-0.435983, -0.485268, 0.757914, 2.00238], [-0.898274, 0.286086, -0.333553, 4.52857], [-0.0549658, -0.826238, -0.560632, 1.73107], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[-0.39678, -0.601466, 0.693401, 2.00075], [-0.915073, 0.31857, -0.247294, 4.55631], [-0.0721575, -0.732633, -0.676788, 1.67688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[-0.574748, -0.547673, 0.608045, 1.99189], [-0.816646, 0.43151, -0.38326, 4.51436], [-0.0524763, -0.716836, -0.695265, 1.67069], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[-0.713853, -0.385078, 0.584918, 1.94304], [-0.700264, 0.400458, -0.590985, 4.4336], [-0.00665954, -0.831474, -0.555524, 1.77226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[-0.762048, -0.242058, 0.600575, 1.92189], [-0.647128, 0.252426, -0.719379, 4.43769], [0.0225305, -0.936851, -0.349003, 1.88272], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[-0.851672, -0.0882521, 0.516592, 1.95466], [-0.523171, 0.0852614, -0.847952, 4.50558], [0.0307881, -0.992442, -0.118786, 1.95899], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[-0.884908, -0.042472, 0.463825, 1.94068], [-0.460263, -0.0728865, -0.884786, 4.56799], [0.0713853, -0.996435, 0.0449495, 1.9992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[-0.959656, -0.0800307, 0.269546, 1.92928], [-0.266872, -0.0426206, -0.962789, 4.53283], [0.0885409, -0.995881, 0.0195432, 2.04337], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[-0.980618, -0.122401, 0.152994, 1.93376], [-0.17577, 0.204565, -0.962942, 4.44472], [0.0865677, -0.97117, -0.222114, 1.97521], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[-0.997797, 0.0662726, 0.00297758, 1.7894], [0.0289868, 0.475915, -0.879013, 4.33094], [-0.0596715, -0.876991, -0.476788, 1.76638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[-0.848023, 0.387823, -0.361181, 1.7805], [0.528949, 0.577307, -0.622037, 4.30007], [-0.0327281, -0.718548, -0.694707, 1.62392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[-0.567112, 0.659369, -0.493575, 1.84018], [0.823572, 0.44623, -0.350154, 4.32614], [-0.010633, -0.605071, -0.7961, 1.57447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[-0.49674, 0.749622, -0.437397, 1.92326], [0.867896, 0.427653, -0.252723, 4.4395], [-0.00239311, -0.505153, -0.863026, 1.52743], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[-0.157549, 0.84573, -0.509823, 1.91277], [0.987045, 0.150713, -0.0550116, 4.54525], [0.0303118, -0.511886, -0.858519, 1.55075], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[0.333012, 0.732909, -0.593252, 1.94056], [0.942215, -0.234277, 0.239469, 4.64178], [0.036524, -0.638717, -0.768575, 1.59951], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[0.129925, 0.687345, -0.714616, 1.91789], [0.988836, -0.0367934, 0.144392, 4.57722], [0.0729541, -0.725399, -0.684452, 1.65428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[-0.23417, 0.646795, -0.725824, 1.8778], [0.970094, 0.204518, -0.130727, 4.49913], [0.0638904, -0.73473, -0.675344, 1.6555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[-0.516389, 0.621208, -0.589442, 1.90759], [0.855311, 0.408102, -0.319211, 4.44197], [0.0422563, -0.668994, -0.742066, 1.60786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[-0.523609, 0.636653, -0.566132, 1.83449], [0.850708, 0.426697, -0.306961, 4.36376], [0.0461393, -0.642341, -0.765029, 1.58862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3460", "pose": [[-0.437096, 0.677992, -0.590994, 1.73926], [0.898107, 0.364421, -0.24617, 4.20945], [0.0484696, -0.638376, -0.768197, 1.5888], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3480", "pose": [[-0.481895, 0.624801, -0.61433, 1.57394], [0.875399, 0.373794, -0.30652, 4.15889], [0.0381188, -0.685494, -0.72708, 1.59886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3500", "pose": [[-0.470423, 0.548504, -0.691264, 1.38799], [0.882313, 0.305705, -0.357865, 4.16521], [0.0150321, -0.778259, -0.627763, 1.66546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3520", "pose": [[-0.380864, 0.284929, -0.879635, 1.43006], [0.924474, 0.134862, -0.356594, 4.16435], [0.0170255, -0.949014, -0.314774, 1.80118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3540", "pose": [[-0.334412, 0.0453265, -0.941336, 1.48271], [0.942403, 0.0231951, -0.333674, 4.20206], [0.0067101, -0.998703, -0.0504725, 1.89834], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3560", "pose": [[-0.272326, 0.15545, -0.949565, 1.4438], [0.961763, 0.0738832, -0.263729, 4.19609], [0.0291602, -0.985077, -0.169626, 1.84054], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3580", "pose": [[-0.273962, 0.440395, -0.854984, 1.41911], [0.961372, 0.150023, -0.230776, 4.17095], [0.0266344, -0.885181, -0.464484, 1.73813], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3600", "pose": [[-0.128332, 0.695956, -0.706525, 1.37444], [0.991554, 0.0765903, -0.104659, 4.20579], [-0.0187251, -0.713989, -0.699907, 1.62204], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3620", "pose": [[0.103419, 0.796086, -0.596281, 1.30228], [0.993509, -0.111231, 0.0238115, 4.30791], [-0.0473691, -0.594873, -0.802423, 1.57251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3640", "pose": [[0.531396, 0.637868, -0.557443, 1.25623], [0.846239, -0.429781, 0.31491, 4.37817], [-0.0387072, -0.639072, -0.768172, 1.60328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3660", "pose": [[0.719572, 0.503621, -0.478102, 1.26796], [0.693525, -0.556082, 0.458034, 4.37483], [-0.0351882, -0.661165, -0.749415, 1.60176], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3680", "pose": [[0.631877, 0.567354, -0.528053, 1.25149], [0.774861, -0.478168, 0.413455, 4.32712], [-0.0179227, -0.670421, -0.741764, 1.60378], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3700", "pose": [[0.787391, 0.451197, -0.420043, 1.27711], [0.615803, -0.544409, 0.569566, 4.40556], [0.0283113, -0.707135, -0.706512, 1.61873], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3720", "pose": [[0.854544, 0.337006, -0.395198, 1.30601], [0.519111, -0.529763, 0.670727, 4.46029], [0.0166776, -0.778317, -0.62765, 1.65496], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3740", "pose": [[0.801683, 0.406446, -0.438299, 1.22171], [0.597383, -0.570434, 0.563682, 4.63171], [-0.0209142, -0.713727, -0.700112, 1.61844], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3760", "pose": [[0.811648, 0.409121, -0.416949, 1.05549], [0.584128, -0.574082, 0.573781, 4.74685], [-0.00461721, -0.70926, -0.704931, 1.61228], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3780", "pose": [[0.93513, 0.235337, -0.264857, 0.885387], [0.353984, -0.652401, 0.670125, 4.89995], [-0.0150883, -0.720409, -0.693385, 1.62892], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3800", "pose": [[0.995541, -0.0869301, -0.0366112, 0.941033], [-0.0253328, -0.620286, 0.783966, 5.08887], [-0.0908599, -0.779544, -0.619723, 1.67068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3820", "pose": [[0.824793, -0.387219, 0.412041, 1.08092], [-0.55764, -0.436464, 0.706071, 5.12555], [-0.0935634, -0.812133, -0.575921, 1.71564], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3840", "pose": [[0.591629, -0.508072, 0.62597, 1.08569], [-0.800605, -0.278854, 0.53035, 5.07433], [-0.0949017, -0.814925, -0.571743, 1.71137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3860", "pose": [[0.232712, -0.633419, 0.737988, 1.19262], [-0.967839, -0.0762644, 0.239733, 4.98859], [-0.0955688, -0.770042, -0.630795, 1.68992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3880", "pose": [[-0.138297, -0.654038, 0.743713, 1.40448], [-0.981246, 0.192298, -0.0133575, 4.74108], [-0.134278, -0.731612, -0.668366, 1.66421], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3900", "pose": [[-0.585196, -0.519432, 0.622685, 1.47483], [-0.802685, 0.480038, -0.35392, 4.5284], [-0.115076, -0.706933, -0.697856, 1.66092], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3920", "pose": [[-0.656074, -0.30686, 0.689495, 1.54], [-0.74725, 0.392148, -0.536505, 4.5653], [-0.105752, -0.867212, -0.486579, 1.78384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3940", "pose": [[-0.57175, -0.187407, 0.798737, 1.55969], [-0.81925, 0.182577, -0.543595, 4.6143], [-0.0439578, -0.965165, -0.257921, 1.92458], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3960", "pose": [[-0.562997, -0.0527189, 0.824776, 1.53628], [-0.826209, 0.0604414, -0.560112, 4.62068], [-0.0203221, -0.996779, -0.0775852, 1.9803], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3980", "pose": [[-0.763474, -0.252674, 0.594359, 1.56463], [-0.642317, 0.393041, -0.657988, 4.55315], [-0.0673511, -0.884124, -0.462373, 1.83266], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4000", "pose": [[-0.910893, -0.271094, 0.311096, 1.5623], [-0.409197, 0.690631, -0.59631, 4.55353], [-0.0531961, -0.670475, -0.740022, 1.59632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4020", "pose": [[-0.96394, -0.234226, 0.126326, 1.55271], [-0.264861, 0.89051, -0.36992, 4.52147], [-0.0258498, -0.390039, -0.920435, 1.51015], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0768_00"}, {"annotation": [{"question_id": "test-scene0769-0", "question": "What part of the table is the black chair facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-1", "question": "What kind of framed door is behind the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-2", "question": "Where is the wood-framed door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-3", "question": "What is hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-4", "question": "What color are the chairs in front of the table ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-5", "question": "How many doors are closed ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-6", "question": "What is next to the open door ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-7", "question": "What color is the wooden door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-8", "question": "What is the state of the brown wooden door near the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-9", "question": "What is mounted on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-10", "question": "Where is the circular table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-11", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-12", "question": "What is closed now?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-13", "question": "What color are the chairs by the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-14", "question": "What type of device is located against the white wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-15", "question": "What color is the chair in front of the glass double doors and behind the round table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-16", "question": "What is the black chair in front of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-17", "question": "What is on top of the wall mounted television?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-18", "question": "What does the round table have on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-19", "question": "What kind of paneling is in the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-20", "question": "What type of door is closest to the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-21", "question": "What is the glass door panel with a darker wooden frame?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-22", "question": "What is in the room with the table and chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-23", "question": "What is in front of the open door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-24", "question": "What is the TV on the wall hanging over?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-25", "question": "The chairs are closer to what in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-26", "question": "How many chairs does the round table have across from it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-27", "question": "Where is the black chair in relation to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-28", "question": "What is on the table directly in front of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-29", "question": "Where is the remote control set?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-30", "question": "What is on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-31", "question": "What color is the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0769-32", "question": "What kind of objects are on the rounded table?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.502163, -0.114348, 0.85718, 1.24132], [-0.862127, -0.143682, 0.485893, 3.03739], [0.0675999, -0.982995, -0.170734, 1.5516], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.556513, -0.119655, 0.822177, 1.21158], [-0.828478, -0.154462, 0.538298, 3.03146], [0.0625846, -0.980726, -0.185091, 1.55424], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.679813, -0.226452, 0.697548, 1.15708], [-0.727362, -0.329842, 0.601788, 2.85011], [0.0938044, -0.916473, -0.388943, 1.40197], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.791919, -0.193558, 0.579138, 1.03628], [-0.59893, -0.430968, 0.674944, 2.81354], [0.118949, -0.881364, -0.457219, 1.38633], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.74899, -0.112208, 0.65301, 1.07609], [-0.654198, -0.28151, 0.70198, 2.85443], [0.105061, -0.952975, -0.284254, 1.51974], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.814374, 0.0440602, 0.578665, 1.20552], [-0.575188, -0.0712871, 0.814909, 2.72791], [0.0771564, -0.996482, -0.0327115, 1.68307], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.830927, 0.0692171, 0.552059, 1.2623], [-0.550877, -0.0368738, 0.833771, 2.65515], [0.0780677, -0.99692, 0.00749063, 1.74138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.826559, 0.174574, 0.535092, 1.28533], [-0.556799, 0.114578, 0.822707, 2.58749], [0.0823139, -0.977955, 0.191908, 1.81704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.863621, 0.213364, 0.456765, 1.27333], [-0.496988, 0.208227, 0.842404, 2.56361], [0.0846284, -0.954525, 0.285869, 1.85521], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.973119, 0.133149, 0.187908, 1.22182], [-0.215269, 0.235953, 0.947621, 2.56034], [0.0818376, -0.962599, 0.258273, 1.83049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.994651, 0.0764548, 0.0694476, 1.16721], [-0.0770632, 0.101633, 0.991833, 2.64814], [0.0687723, -0.99188, 0.106981, 1.70782], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.995999, 0.0885475, 0.01204, 1.21177], [-0.00663292, -0.0611109, 0.998109, 2.71607], [0.0891159, -0.994195, -0.0602791, 1.62361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.974164, 0.124419, -0.18848, 1.46039], [0.210262, -0.195052, 0.95799, 2.68733], [0.0824291, -0.972869, -0.216173, 1.55069], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.97997, 0.115832, -0.161991, 1.64641], [0.194142, -0.37453, 0.906662, 2.77941], [0.04435, -0.919951, -0.389516, 1.42297], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.935086, 0.212539, -0.283622, 1.74746], [0.351829, -0.460056, 0.815208, 2.85962], [0.0427818, -0.862076, -0.504969, 1.39256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.766754, 0.272501, -0.581233, 1.91323], [0.641273, -0.366428, 0.674165, 2.91698], [-0.0292693, -0.889648, -0.455708, 1.41922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.666293, 0.259149, -0.699211, 1.88027], [0.745679, -0.226476, 0.626635, 3.05322], [0.00403671, -0.938909, -0.344141, 1.45805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.559141, 0.190579, -0.806871, 1.87808], [0.829071, -0.130017, 0.543816, 3.12521], [-0.00126727, -0.973024, -0.230701, 1.55188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.442161, 0.13014, -0.887444, 1.92375], [0.896887, -0.0538265, 0.438973, 3.15974], [0.00935987, -0.990033, -0.140521, 1.59281], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.434896, -0.0383216, -0.899665, 1.96294], [0.900037, 0.0498437, 0.432953, 3.20894], [0.0282512, -0.998022, 0.0561677, 1.70661], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.545168, -0.149035, -0.824973, 2.0194], [0.837317, 0.145094, 0.527113, 3.26794], [0.0411404, -0.978129, 0.203891, 1.77207], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.611972, -0.165495, -0.77337, 2.05179], [0.787843, 0.213174, 0.577807, 3.24737], [0.0692385, -0.962896, 0.26084, 1.78509], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.52468, -0.269857, -0.807395, 2.08492], [0.847828, 0.251203, 0.466995, 3.20402], [0.076798, -0.929556, 0.360594, 1.79178], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.523125, -0.0953188, -0.846909, 2.0375], [0.850507, 0.122013, 0.511616, 3.24473], [0.0545673, -0.987941, 0.144897, 1.69328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.484869, 0.0921118, -0.869723, 1.96276], [0.874475, -0.0351849, 0.483792, 3.25838], [0.0139619, -0.995127, -0.0976096, 1.61129], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.47816, 0.320846, -0.81757, 1.9266], [0.878267, -0.171374, 0.446406, 3.21827], [0.00311741, -0.931498, -0.363732, 1.46189], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.453178, 0.436796, -0.777071, 1.94421], [0.89141, -0.217979, 0.397332, 3.10789], [0.0041683, -0.872751, -0.488148, 1.37803], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.308778, 0.477462, -0.822609, 1.90817], [0.951131, -0.152937, 0.268252, 3.06077], [0.00227243, -0.86524, -0.501353, 1.37148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.0384639, 0.490326, -0.87069, 1.89567], [0.998283, 0.0196654, 0.0551753, 3.17826], [0.0441764, -0.871317, -0.488728, 1.37818], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.120463, 0.33193, -0.935581, 1.91336], [0.991262, 0.0912486, -0.0952586, 3.28206], [0.0537513, -0.93888, -0.340021, 1.46775], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.0562751, 0.197839, -0.978618, 1.92226], [0.996058, 0.0784443, -0.0414192, 3.3092], [0.0685727, -0.977091, -0.201473, 1.52954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.0342258, 0.118509, -0.992363, 1.94299], [0.996596, 0.0785582, -0.02499, 3.30273], [0.0749968, -0.98984, -0.120794, 1.55238], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.069263, 0.317782, -0.94563, 1.93151], [0.996175, 0.0726559, -0.0485486, 3.30969], [0.0532778, -0.945376, -0.321599, 1.4723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.0335631, 0.513007, -0.857728, 1.89372], [0.998936, 0.0443705, -0.0125501, 3.30053], [0.0316196, -0.857237, -0.51395, 1.36958], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.0685358, 0.62799, -0.775197, 1.77219], [0.993655, 0.0264825, 0.109304, 3.27932], [0.089171, -0.77777, -0.622191, 1.31063], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.0282048, 0.617719, -0.785893, 1.72958], [0.996626, 0.043246, 0.06976, 3.28546], [0.0770788, -0.785209, -0.614415, 1.31193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.297767, 0.604528, -0.738838, 1.66068], [0.954595, 0.195967, -0.224378, 3.43654], [0.0091454, -0.772103, -0.635432, 1.28754], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.593991, 0.520273, -0.613588, 1.69258], [0.803247, 0.425635, -0.416688, 3.59859], [0.0443729, -0.740372, -0.670731, 1.31203], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.806832, 0.361555, -0.467226, 1.65328], [0.590781, 0.494011, -0.637911, 3.66514], [0.000174716, -0.790715, -0.612184, 1.34202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.937786, 0.159337, -0.308496, 1.6634], [0.344371, 0.54031, -0.767772, 3.72374], [0.0443491, -0.826243, -0.561566, 1.37606], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.985415, 0.0106803, -0.16983, 1.54795], [0.149079, 0.535396, -0.83134, 3.92853], [0.0820476, -0.844533, -0.52918, 1.40175], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.990019, -0.00160875, -0.140928, 1.51324], [0.133149, 0.317121, -0.938992, 3.94696], [0.0462017, -0.948384, -0.313741, 1.48833], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.984861, -0.00364218, -0.173309, 1.49009], [0.167526, 0.236929, -0.956974, 3.93222], [0.0445475, -0.97152, -0.232732, 1.54338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.957134, -0.032081, -0.287863, 1.39474], [0.281836, 0.126072, -0.951144, 3.95371], [0.0668052, -0.991502, -0.111626, 1.64814], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.96097, -0.0754497, -0.266164, 1.39107], [0.271303, -0.0687531, -0.960035, 4.00007], [0.0541348, -0.994776, 0.0865394, 1.73695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.985526, -0.119101, -0.120641, 1.38833], [0.147956, -0.256887, -0.955049, 4.057], [0.0827563, -0.959074, 0.270791, 1.79333], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.991911, -0.0917557, -0.0877075, 1.37387], [0.0922073, -0.0459967, -0.994677, 4.04715], [0.087233, -0.994719, 0.0540852, 1.72134], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.997835, -0.0519755, -0.0402867, 1.38006], [0.0210018, 0.328676, -0.944209, 4.0324], [0.0623171, -0.943012, -0.326873, 1.46531], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.974065, -0.199716, 0.106352, 1.46781], [-0.207306, 0.599361, -0.773169, 3.98748], [0.0906714, -0.775164, -0.625219, 1.33139], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.861987, -0.331011, 0.38394, 1.37226], [-0.503871, 0.47638, -0.720538, 3.95882], [0.0556043, -0.814551, -0.577421, 1.35626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.768632, -0.412442, 0.488975, 1.27056], [-0.637487, 0.430475, -0.638984, 4.01081], [0.0530529, -0.802859, -0.593804, 1.36389], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.714678, -0.507084, 0.481768, 1.31542], [-0.697673, 0.467702, -0.542684, 4.12033], [0.0498628, -0.723961, -0.688036, 1.32136], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.496587, -0.538987, 0.680364, 1.31357], [-0.867918, 0.298474, -0.397028, 4.1414], [0.0109217, -0.787659, -0.616014, 1.36285], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.530822, -0.392264, 0.751237, 1.27527], [-0.846584, 0.286248, -0.448728, 4.04669], [-0.0390197, -0.87418, -0.484031, 1.44087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.538229, -0.238007, 0.808494, 1.24147], [-0.84278, 0.145569, -0.518201, 4.0685], [0.00564392, -0.960293, -0.278937, 1.54407], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.384475, -0.0501602, 0.921771, 1.24799], [-0.92274, 0.0501046, -0.382152, 4.09282], [-0.0270162, -0.997483, -0.0655489, 1.62342], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.263286, 0.0448891, 0.963673, 1.24999], [-0.962086, 0.0615085, -0.265718, 4.10147], [-0.071202, -0.997097, 0.0269928, 1.66768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.259248, 0.126375, 0.957507, 1.22808], [-0.964247, 0.0225316, -0.264047, 4.10563], [-0.0549432, -0.991727, 0.116016, 1.70471], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.251375, 0.212541, 0.944265, 1.18827], [-0.967493, -0.0272695, -0.251421, 4.10458], [-0.0276876, -0.976772, 0.212486, 1.73508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.279303, 0.164592, 0.945991, 1.18257], [-0.959735, -0.0171099, -0.280385, 4.10812], [-0.0299634, -0.986213, 0.162744, 1.68701], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.341496, -0.103761, 0.934138, 1.23664], [-0.939865, 0.03162, -0.340078, 4.13091], [0.00574948, -0.994099, -0.10832, 1.57171], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0769_00"}, {"annotation": [{"question_id": "test-scene0770-0", "question": "How many black chairs surround the white rectangular table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-1", "question": "Where is the location of the white rectangular table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-2", "question": "What is the color of the rectangular table at the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-3", "question": "What is the color of the chair on the right side of the gray trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-4", "question": "Where is the black chair located on the island table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-5", "question": "What color is the table in front of a chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-6", "question": "What color sink is above the white cabinets in the kitchen near the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-7", "question": "What color is the chair at the far end of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-8", "question": "What color sink is on the countertop?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-9", "question": "Where is the sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-10", "question": "What is tucked under the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-11", "question": "What is next to the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-12", "question": "What is placed next to kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-13", "question": "What is the color of the couch with three seats?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-14", "question": "How many red chairs are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-15", "question": "What type of chair is next to the white table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-16", "question": "What is the object against the wall near a few desks?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-17", "question": "Where is the black office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-18", "question": "How many seats does the gray couch have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-19", "question": "What color is the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-20", "question": "The black chair is pulled up to where in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-21", "question": "Where is the glass window cabinet located in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-22", "question": "What shape is the red lounge chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-23", "question": "What is the trash bin in the break room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-24", "question": "How many trash bins are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-25", "question": "Where is the table on the right of the long couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-26", "question": "What is the shape of the red chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-27", "question": "What is sitting next to the sink in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-28", "question": "Where is the silver oven located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-29", "question": "What color is the kitchen counter above the dishwasher?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-30", "question": "What is sitting next to a table in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-31", "question": "What direction is the black chair facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-32", "question": "What color is the chair facing left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-33", "question": "Where is the counter top in a kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-34", "question": "What is to the right of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-35", "question": "To what side of the sink is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-36", "question": "What is next to the kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-37", "question": "Where is a table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-38", "question": "Where do kitchen cabinets sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-39", "question": "What is on its own?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-40", "question": "Where does the couch sit in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-41", "question": "What color is the couch in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-42", "question": "What is next to the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-43", "question": "What is sitting up against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-44", "question": "What color are the chairs at the rectangular white table ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-45", "question": "What color is the sink on the counter top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-46", "question": "What color is the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-47", "question": "What color table is in front of the couch ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-48", "question": "How many people can the longest couch in the room seat?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-49", "question": "How many chairs surround the table in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-50", "question": "What color is the kitchen island?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-51", "question": "What color is the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-52", "question": "What color is the sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-53", "question": "What color is the kitchen counter above white cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-54", "question": "What is by the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-55", "question": "Where is a kitchen cabinet with things inside?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-56", "question": "What is next to the wall as you enter the kitchen area?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-57", "question": "What is white and in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-58", "question": "What color is the table in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-59", "question": "What is next to the kitchen island?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-60", "question": "What color is the lamp above the table ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-61", "question": "What type of sink is to the left of the recycling bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-62", "question": "Where is the white kitchen cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-63", "question": "What color is the kitchen counter above the white cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-64", "question": "What color is the table in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-65", "question": "Where is the gray couch next to a chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-66", "question": "What is at the end of the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-67", "question": "What color is the table in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-68", "question": "Is the white or silver table smaller?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-69", "question": "The black chair is near the corner of the table next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-70", "question": "What is under the sink in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-71", "question": "What is next to the black chair in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-72", "question": "What type of bin is to the right of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-73", "question": "What is in the kitchen that has chairs pulled up to it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-74", "question": "What is pulled up to the island table in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-75", "question": "What color is the chair on the right of the grey couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-76", "question": "What is the size of the table in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-77", "question": "Where is the well sink in the employee kitchen located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-78", "question": "What is next to the black office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-79", "question": "What color is the sofa in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-80", "question": "In what part of the room is the dark grey sofa located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-81", "question": "What is in the room near the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-82", "question": "Where is the sofa located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-83", "question": "What color chair is in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-84", "question": "What is the one sitting closest to the grey couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-85", "question": "The white square table is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-86", "question": "What color is the geometric chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-87", "question": "What color handles do white kitchen cabinets have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-88", "question": "Where are the white kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-89", "question": "Where can you find the low coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-90", "question": "What is in front of the red chair in front of the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-91", "question": "What color are the chairs sitting around the small white table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-92", "question": "What is to the back of the grey stool near the red chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-93", "question": "What color is the dining chair that sits around the large bar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-94", "question": "What is sitting at the white rectangular table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-95", "question": "Where is the gray chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-96", "question": "What color is the kitchen cabinet with glass front doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-97", "question": "In what part of the room are the side by side white tables located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-98", "question": "What is the trash bin to the left of the stainless fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-99", "question": "To the left of what is the black trash bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-100", "question": "What is to the left of the dishwasher?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-101", "question": "What color is the lamp that is above the kitchen island?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-102", "question": "What is in front of the grey sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-103", "question": "What type of seat is near the trash bin in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-104", "question": "The black bucket seat is near what in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-105", "question": "What kind of furniture is on the large square kitchen island?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-106", "question": "What color is the large square kitchen island?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-107", "question": "What is found in front of the gray couch near the wooden coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-108", "question": "Where can you find the gray chair with silver legs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-109", "question": "Where does the white kitchen cabinet hang when you face the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-110", "question": "What object, besides a chair, is the couch facing towards?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-111", "question": "What's between the refrigerator and the trash bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-112", "question": "Where is the silver and black oven located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0770-113", "question": "Where is the silver and black oven located in the kitchen?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.0651546, -0.410406, 0.909572, 7.17676], [-0.997424, -0.0541889, 0.0469971, 2.1277], [0.0300009, -0.910292, -0.412879, 1.4216], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.143353, -0.508998, 0.848746, 7.24506], [-0.989524, -0.0885177, 0.114046, 2.06605], [0.0170798, -0.856204, -0.516355, 1.39211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.102219, -0.550934, 0.828264, 7.10802], [-0.994615, -0.0708916, 0.0755942, 2.05368], [0.0170696, -0.831532, -0.555214, 1.36155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.027137, -0.4189, 0.907626, 6.98681], [-0.999361, -0.00974219, -0.0343762, 2.01699], [0.0232425, -0.90798, -0.418369, 1.46799], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.0527738, -0.257394, 0.964864, 7.12611], [-0.998594, -0.0183474, 0.049724, 2.08137], [0.00490408, -0.966132, -0.258001, 1.5175], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.229145, -0.348591, 0.908832, 7.31374], [-0.97334, -0.0916788, 0.210245, 2.2374], [0.0100312, -0.93278, -0.360306, 1.45033], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.36393, -0.411512, 0.835591, 7.14596], [-0.931136, -0.183111, 0.315364, 2.47106], [0.0232298, -0.89282, -0.449814, 1.36397], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.535522, -0.348045, 0.769467, 7.0859], [-0.842798, -0.278412, 0.460626, 2.71412], [0.0539103, -0.895182, -0.442428, 1.37202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.663027, -0.284995, 0.692223, 7.22146], [-0.747479, -0.302518, 0.591403, 3.009], [0.0408631, -0.909539, -0.413605, 1.39609], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.630929, -0.270305, 0.72723, 7.24672], [-0.775012, -0.262868, 0.574678, 3.35327], [0.0358274, -0.926194, -0.375341, 1.44277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.643773, -0.298561, 0.704568, 7.41015], [-0.765015, -0.230043, 0.601524, 3.72229], [-0.017511, -0.926251, -0.3765, 1.43794], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.503504, -0.317003, 0.803736, 7.51672], [-0.862847, -0.232376, 0.448882, 4.16418], [0.0444719, -0.919516, -0.390528, 1.43166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.472929, -0.292311, 0.831199, 7.58206], [-0.87862, -0.227192, 0.420012, 4.50493], [0.0660679, -0.928945, -0.364276, 1.44601], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.407869, -0.33361, 0.849909, 7.75101], [-0.911465, -0.20342, 0.357562, 4.81884], [0.053602, -0.920502, -0.387043, 1.44128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.265938, -0.312576, 0.911906, 7.83647], [-0.962706, -0.134923, 0.234505, 5.18995], [0.0497368, -0.940261, -0.336801, 1.47184], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.20508, -0.29074, 0.934565, 8.0382], [-0.977646, -0.10609, 0.181529, 5.41636], [0.0463708, -0.950902, -0.305998, 1.47669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.0285714, -0.397125, 0.917319, 8.18432], [-0.99959, -0.00999274, 0.0268077, 5.68104], [-0.0014795, -0.91771, -0.397248, 1.42917], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.0461458, -0.475575, 0.878463, 8.43411], [-0.998925, -0.0182701, 0.0425827, 6.02105], [-0.00420171, -0.879485, -0.475908, 1.3739], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.338073, -0.463422, 0.819112, 8.63939], [-0.93979, 0.212482, -0.267666, 6.38426], [-0.0500043, -0.860285, -0.507355, 1.36207], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.559583, -0.428734, 0.709262, 8.59496], [-0.828338, 0.261587, -0.495407, 6.7481], [0.0268642, -0.864731, -0.501516, 1.41632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.599963, -0.367962, 0.710385, 8.61734], [-0.799753, 0.252617, -0.544591, 7.07709], [0.0209337, -0.894868, -0.44584, 1.50014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.616677, -0.243917, 0.748474, 8.67344], [-0.78671, 0.156876, -0.597057, 7.21735], [0.0282146, -0.957024, -0.288634, 1.61276], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.444313, -0.172346, 0.879137, 8.53698], [-0.895327, 0.0512503, -0.442449, 7.09433], [0.0311982, -0.983702, -0.177077, 1.61295], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.288875, -0.355979, 0.888723, 8.46453], [-0.955946, 0.157797, -0.24752, 6.68804], [-0.0521256, -0.921075, -0.385881, 1.4451], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.0148317, -0.496248, 0.868053, 8.37448], [-0.999602, 0.0281774, -0.000970922, 6.27132], [-0.0239776, -0.867723, -0.496469, 1.36817], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.218091, -0.49794, 0.83934, 8.31448], [-0.975928, -0.111201, 0.187611, 5.88834], [-8.3141e-05, -0.860052, -0.510206, 1.35564], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.532817, -0.416539, 0.736614, 8.15321], [-0.84226, -0.345257, 0.413999, 5.49499], [0.0818751, -0.841007, -0.534793, 1.34789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.743535, -0.337773, 0.577117, 8.01447], [-0.667612, -0.424102, 0.611907, 5.03956], [0.038071, -0.840266, -0.540836, 1.34687], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.793299, -0.320606, 0.517578, 7.95209], [-0.605455, -0.504832, 0.615279, 4.709], [0.0640276, -0.801471, -0.594596, 1.33674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.909799, -0.209146, 0.358499, 7.95123], [-0.415043, -0.462421, 0.783521, 4.36156], [0.00190729, -0.86164, -0.507516, 1.39268], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.935292, -0.14253, 0.323904, 7.81543], [-0.352378, -0.459244, 0.815429, 4.07606], [0.0325274, -0.876801, -0.479752, 1.39412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.991389, -0.0403661, 0.124571, 7.76335], [-0.127713, -0.508183, 0.851727, 3.82956], [0.0289237, -0.860303, -0.508962, 1.38436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.998254, 0.0278392, -0.0520874, 7.73965], [0.0587708, -0.555435, 0.82948, 3.61403], [-0.00583908, -0.831094, -0.556102, 1.38697], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.972588, 0.119318, -0.199588, 7.69345], [0.232519, -0.489209, 0.8406, 3.40548], [0.00265905, -0.863966, -0.503543, 1.41691], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.925875, 0.173866, -0.335449, 7.72216], [0.377716, -0.404174, 0.833051, 3.52204], [0.00925991, -0.898005, -0.439887, 1.42493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.898074, 0.225772, -0.377476, 7.7383], [0.439695, -0.43863, 0.783754, 3.73311], [0.0113779, -0.869845, -0.493194, 1.39499], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.951987, 0.170378, -0.254344, 7.73708], [0.302789, -0.401514, 0.864352, 3.90807], [0.0451441, -0.899866, -0.433825, 1.44571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.843292, 0.233647, -0.484011, 7.73097], [0.537423, -0.356782, 0.764122, 4.0373], [0.00584894, -0.904497, -0.426439, 1.43782], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.63838, 0.315122, -0.702259, 7.73458], [0.769176, -0.295495, 0.566613, 4.07474], [-0.0289623, -0.901876, -0.431023, 1.43242], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.510068, 0.443247, -0.73713, 7.72218], [0.860103, -0.255644, 0.441439, 3.8957], [0.00722392, -0.859173, -0.511635, 1.365], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.419538, 0.575188, -0.702243, 7.71073], [0.905714, -0.213626, 0.366121, 3.84941], [0.0605708, -0.789634, -0.610581, 1.31163], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.194634, 0.564613, -0.802078, 7.66168], [0.979796, -0.0735499, 0.185985, 4.09934], [0.0460166, -0.822072, -0.567521, 1.3395], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.112708, 0.477036, -0.871627, 7.63101], [0.993322, -0.0323224, 0.110754, 4.40481], [0.0246607, -0.878289, -0.477493, 1.3881], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.0792175, 0.429583, -0.899545, 7.63463], [0.996428, -0.00767427, 0.0840846, 4.78657], [0.029218, -0.902995, -0.428658, 1.43564], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.129882, 0.3725, -0.918897, 7.75981], [0.9911, 0.0760082, -0.109275, 5.12506], [0.0291388, -0.924914, -0.379058, 1.45538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.383813, 0.341446, -0.857964, 7.70186], [0.921313, 0.204182, -0.330893, 5.24442], [0.0621987, -0.917455, -0.392947, 1.42826], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.561471, 0.296292, -0.772632, 7.72176], [0.827217, 0.225224, -0.514768, 5.44926], [0.0214936, -0.928162, -0.371555, 1.45813], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.701706, 0.25948, -0.663534, 7.74274], [0.712072, 0.286369, -0.641049, 5.34898], [0.0236762, -0.922314, -0.385716, 1.4499], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.642891, 0.242319, -0.726617, 7.68873], [0.764415, 0.263138, -0.588581, 5.00947], [0.0485763, -0.933831, -0.354401, 1.46524], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.561888, 0.165527, -0.810483, 7.45623], [0.826215, 0.160407, -0.540035, 4.73275], [0.0406162, -0.973073, -0.226892, 1.51255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.472424, -0.116392, -0.873651, 6.98255], [0.876796, 0.0388023, -0.479294, 4.38386], [0.0896856, -0.992445, 0.0837206, 1.5203], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.50022, -0.0515063, -0.864364, 6.89892], [0.862036, 0.0645474, -0.502719, 4.22251], [0.0816858, -0.996584, 0.0121123, 1.49089], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.502846, 0.205727, -0.839536, 6.82166], [0.863684, 0.158414, -0.478491, 4.03703], [0.0345554, -0.965703, -0.257341, 1.42831], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.560478, 0.265239, -0.784546, 6.50748], [0.827992, 0.199044, -0.524223, 4.12454], [0.0171148, -0.943414, -0.331176, 1.40522], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.753349, 0.163194, -0.63705, 6.22965], [0.652534, 0.30576, -0.693332, 4.13612], [0.0816365, -0.938018, -0.336834, 1.41583], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.951412, 0.0610519, -0.301807, 5.94232], [0.293494, 0.476297, -0.828856, 4.40208], [0.0931465, -0.877162, -0.471073, 1.41132], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.999738, -0.0185208, 0.013371, 5.64725], [-0.0204782, 0.467298, -0.883862, 4.53653], [0.0101216, -0.883906, -0.467556, 1.42411], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.900419, -0.218049, 0.376429, 5.41742], [-0.434385, 0.403853, -0.805115, 4.60552], [0.0235328, -0.888458, -0.458355, 1.43716], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.773145, -0.363747, 0.519551, 5.21837], [-0.631047, 0.359246, -0.687547, 4.53958], [0.0634471, -0.859436, -0.507291, 1.42478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.638589, -0.368662, 0.675493, 5.08318], [-0.76857, 0.261315, -0.583964, 4.26923], [0.0387686, -0.892078, -0.450216, 1.46307], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.560328, -0.381235, 0.735317, 4.84894], [-0.825969, 0.191055, -0.530352, 3.99308], [0.0617025, -0.904521, -0.421942, 1.48183], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.407704, -0.412355, 0.814702, 4.80099], [-0.909726, 0.106647, -0.401279, 3.67568], [0.0785837, -0.90476, -0.418611, 1.48131], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.292851, -0.427193, 0.85542, 4.69548], [-0.953531, 0.0642114, -0.294372, 3.29445], [0.0708261, -0.901878, -0.426146, 1.48432], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.359365, -0.446481, 0.819457, 4.72311], [-0.924746, 0.0524757, -0.376948, 2.86118], [0.125299, -0.893253, -0.43174, 1.44669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.209891, -0.429548, 0.878313, 4.88237], [-0.974009, 0.0136237, -0.226097, 2.544], [0.0851538, -0.902941, -0.421243, 1.461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.0475648, -0.425774, 0.903578, 5.06975], [-0.998592, -0.000999507, -0.0530375, 2.27675], [0.0234851, -0.904829, -0.425127, 1.46575], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.0829629, -0.379048, 0.92165, 5.50645], [-0.995868, -0.0658102, 0.0625778, 2.14428], [0.036934, -0.923034, -0.382942, 1.45809], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.288578, -0.387435, 0.875566, 5.92085], [-0.955885, -0.168942, 0.240294, 2.07979], [0.0548213, -0.906285, -0.419097, 1.40038], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.19531, -0.428228, 0.882312, 6.38267], [-0.978543, -0.145292, 0.146095, 2.08916], [0.065631, -0.891914, -0.447417, 1.37734], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.14528, -0.432821, 0.889696, 6.84421], [-0.986874, -0.127484, 0.0991303, 2.0614], [0.070516, -0.89242, -0.445661, 1.40887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.0473791, -0.394725, 0.917576, 7.26942], [-0.996322, -0.084334, 0.0151661, 2.10875], [0.0713965, -0.914921, -0.39727, 1.45515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.150336, -0.361674, 0.920103, 7.62906], [-0.984752, -0.13718, 0.106977, 2.17743], [0.0875293, -0.922157, -0.376782, 1.46385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.0945758, -0.348651, 0.932468, 7.89062], [-0.992757, -0.102737, 0.0622771, 2.14781], [0.0740857, -0.931605, -0.355842, 1.4682], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.424047, -0.298523, 0.855024, 8.08632], [-0.902386, -0.219236, 0.370991, 2.2018], [0.076703, -0.928881, -0.36235, 1.47906], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.709737, -0.218738, 0.669646, 8.25786], [-0.69722, -0.354095, 0.623297, 2.00044], [0.10078, -0.909269, -0.403823, 1.47014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.788324, -0.199401, 0.582051, 8.53353], [-0.611614, -0.356804, 0.706129, 1.88499], [0.0668752, -0.91265, -0.403234, 1.44975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.932371, -0.104237, 0.346147, 8.80329], [-0.356899, -0.417717, 0.835544, 1.74982], [0.0574971, -0.902578, -0.42667, 1.44701], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.981666, -0.00452756, 0.190554, 9.15256], [-0.17337, -0.436658, 0.882763, 1.4936], [0.0792105, -0.899616, -0.429438, 1.4664], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.99599, 0.0891308, 0.00759126, 9.49698], [0.0333965, -0.449229, 0.892792, 1.42467], [0.0829856, -0.888959, -0.450405, 1.46285], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.983981, 0.130564, -0.121378, 9.90038], [0.167651, -0.446282, 0.879047, 1.38909], [0.0606032, -0.885316, -0.461023, 1.47672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.94633, 0.188488, -0.262547, 10.2258], [0.320406, -0.440535, 0.838611, 1.61021], [0.0424068, -0.877725, -0.477285, 1.44192], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.819626, 0.306401, -0.484076, 10.5989], [0.571334, -0.374779, 0.730149, 1.90709], [0.0422964, -0.875019, -0.482236, 1.46344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.840198, 0.290155, -0.458121, 10.9057], [0.539558, -0.362807, 0.759768, 2.37333], [0.0542413, -0.88554, -0.461386, 1.45657], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.829496, 0.258216, -0.495237, 11.1246], [0.55849, -0.375758, 0.739523, 2.8078], [0.00486678, -0.890017, -0.455902, 1.46567], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.804839, 0.266163, -0.530462, 11.0953], [0.592102, -0.298966, 0.748354, 3.21143], [0.0405942, -0.916393, -0.398216, 1.46709], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.667347, 0.291559, -0.685303, 10.9473], [0.744678, -0.273729, 0.608709, 3.62382], [-0.0101128, -0.916551, -0.39979, 1.47988], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.573288, 0.340893, -0.745071, 10.7529], [0.819314, -0.229714, 0.525313, 4.0158], [0.00792249, -0.911605, -0.410992, 1.44944], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.319889, 0.445385, -0.836243, 10.534], [0.947406, -0.159311, 0.277563, 4.40348], [-0.00960048, -0.881052, -0.472923, 1.43412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.158038, 0.413678, -0.896601, 10.3243], [0.986486, -0.0263868, 0.161707, 4.82333], [0.0432364, -0.910041, -0.412258, 1.42761], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.201167, 0.436732, -0.87681, 9.95953], [0.979546, -0.0855842, 0.18211, 5.20184], [0.00449201, -0.895511, -0.445016, 1.4539], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.243293, 0.417155, -0.875665, 9.59555], [0.969268, -0.13846, 0.203339, 5.45756], [-0.036421, -0.898226, -0.438022, 1.46652], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.230989, 0.369715, -0.899974, 9.1486], [0.972361, -0.120053, 0.200249, 5.51393], [-0.0340097, -0.921356, -0.387228, 1.48209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.0940877, 0.380112, -0.920142, 8.69863], [0.994725, -0.0738231, 0.0712177, 5.73528], [-0.0408571, -0.92199, -0.385053, 1.41797], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.049795, 0.40991, -0.910766, 8.38119], [0.998753, 0.0171276, -0.0468969, 6.00067], [-0.0036243, -0.911965, -0.410252, 1.40789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.369777, 0.363832, -0.854921, 8.28203], [0.929068, 0.134999, -0.344395, 6.44398], [-0.00988799, -0.92163, -0.387944, 1.42305], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.532175, 0.303299, -0.790442, 8.01662], [0.84649, 0.207856, -0.490153, 6.74044], [0.0156356, -0.929949, -0.367355, 1.42486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.666413, 0.223104, -0.711419, 7.6938], [0.744088, 0.259386, -0.615671, 6.99171], [0.0471734, -0.939651, -0.338868, 1.45368], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.768108, 0.191539, -0.611001, 7.29384], [0.635486, 0.345052, -0.690721, 6.89995], [0.0785276, -0.918832, -0.386758, 1.43748], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.818657, 0.171348, -0.548123, 6.8421], [0.57276, 0.313043, -0.757594, 6.81513], [0.041774, -0.934154, -0.354416, 1.42467], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.797545, 0.139397, -0.586932, 6.49217], [0.601849, 0.25035, -0.758355, 6.59614], [0.0412258, -0.958068, -0.283561, 1.4531], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.822254, 0.0464876, -0.567218, 6.18788], [0.561138, 0.232558, -0.79438, 6.37737], [0.0949825, -0.971471, -0.217308, 1.51884], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.771224, 0.0403361, -0.635283, 5.9901], [0.632355, 0.163101, -0.757314, 6.09403], [0.0730684, -0.985784, -0.151295, 1.59085], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.783386, 0.0292648, -0.620844, 5.82472], [0.618071, 0.141975, -0.773195, 5.78], [0.0655168, -0.989438, -0.129309, 1.59794], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.690774, 0.0497413, -0.721357, 5.65607], [0.723069, 0.0491246, -0.689026, 5.4838], [0.00116327, -0.997553, -0.0699006, 1.61366], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.585476, 0.165682, -0.793578, 5.66015], [0.808665, 0.1885, -0.557251, 5.13001], [0.0572625, -0.967996, -0.244344, 1.48307], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.379877, 0.218749, -0.8988, 5.62936], [0.922655, 0.159281, -0.351193, 4.81413], [0.0663388, -0.962693, -0.262337, 1.46085], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.0318989, 0.35428, -0.934595, 5.68058], [0.99949, 0.010699, -0.0300582, 4.45063], [-0.000649827, -0.935078, -0.354441, 1.4627], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.116988, 0.354624, -0.927661, 5.83962], [0.992729, -0.0151378, 0.119407, 4.26345], [0.0283021, -0.934886, -0.353817, 1.44236], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.249731, 0.363038, -0.897684, 5.8292], [0.967583, -0.0575346, 0.245909, 4.11125], [0.0376262, -0.929996, -0.365638, 1.46071], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.443924, 0.333115, -0.831844, 5.72447], [0.895426, -0.199933, 0.397792, 3.94543], [-0.0338023, -0.921445, -0.387035, 1.46967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.401035, 0.299142, -0.865843, 5.57075], [0.915438, -0.165745, 0.366743, 3.96476], [-0.0338008, -0.939704, -0.340316, 1.47722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.313054, 0.267015, -0.911426, 5.28382], [0.9494, -0.113435, 0.292865, 3.98006], [-0.0251885, -0.956993, -0.289017, 1.50798], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.223543, 0.236833, -0.945482, 5.17316], [0.971539, -0.132117, 0.19661, 4.13183], [-0.0783504, -0.962526, -0.259626, 1.52191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.0373373, 0.277625, -0.959963, 5.19036], [0.999108, 0.0292893, -0.0303892, 4.38092], [0.0196799, -0.960243, -0.278471, 1.49179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.144353, 0.285916, -0.947319, 5.11307], [0.98901, 0.0725859, -0.128798, 4.59572], [0.0319367, -0.955502, -0.293252, 1.48702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.309674, 0.244644, -0.918831, 5.13155], [0.950629, 0.100131, -0.293731, 4.78406], [0.0201443, -0.964429, -0.263574, 1.53317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.304149, 0.235023, -0.923178, 5.06318], [0.952588, 0.0665832, -0.296887, 4.81861], [-0.00830728, -0.969707, -0.244132, 1.54788], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.193202, 0.207245, -0.959021, 4.77663], [0.9797, -0.0125311, -0.200076, 4.65986], [-0.0534824, -0.978209, -0.200617, 1.61538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.200265, 0.0639789, -0.97765, 4.46517], [0.978444, -0.0382749, -0.202933, 4.72264], [-0.0504029, -0.997217, -0.0549346, 1.66658], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.0787069, -0.0152782, -0.99678, 4.22187], [0.994569, -0.0695099, -0.0774668, 4.67293], [-0.0681027, -0.997464, 0.0206661, 1.783], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[0.158236, 0.00878459, -0.987361, 4.08067], [0.985287, -0.0668038, 0.157309, 4.71714], [-0.0645776, -0.997728, -0.0192263, 1.83549], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[0.300851, 0.063221, -0.951572, 3.87069], [0.952173, -0.0758037, 0.296005, 4.76164], [-0.053419, -0.995116, -0.0830033, 1.78104], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[0.473229, 0.157485, -0.866748, 3.59285], [0.879137, -0.147322, 0.453226, 4.72272], [-0.0563146, -0.976471, -0.208168, 1.70997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[0.447728, 0.216816, -0.867485, 3.45047], [0.890812, -0.192146, 0.411744, 4.77094], [-0.0774107, -0.957116, -0.279172, 1.61609], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[0.325168, 0.270518, -0.906137, 3.40809], [0.943956, -0.15028, 0.293875, 5.03442], [-0.0566757, -0.950913, -0.304223, 1.59099], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.438554, 0.275712, -0.855366, 3.36118], [0.898641, -0.123237, 0.421018, 5.11488], [0.0106666, -0.953308, -0.301813, 1.58654], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[0.64108, 0.23604, -0.730274, 3.13487], [0.767462, -0.192128, 0.611627, 5.07478], [0.00406247, -0.952561, -0.304321, 1.64397], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.659336, 0.207935, -0.722521, 2.97388], [0.749858, -0.251728, 0.611837, 5.27832], [-0.0546561, -0.945196, -0.321895, 1.66751], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.747988, 0.218447, -0.626733, 2.78409], [0.663307, -0.279001, 0.694393, 5.37098], [-0.0231711, -0.935115, -0.353587, 1.67912], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[0.794435, 0.274005, -0.542026, 2.57211], [0.607345, -0.356019, 0.710197, 5.47181], [0.0016259, -0.893404, -0.449251, 1.66342], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[0.721834, 0.296499, -0.625334, 2.53093], [0.691654, -0.34022, 0.637075, 5.76308], [-0.0238593, -0.892378, -0.450658, 1.66646], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[0.735115, 0.233565, -0.636436, 2.52514], [0.677458, -0.288507, 0.676619, 5.85189], [-0.0255819, -0.928553, -0.370317, 1.71467], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[0.918943, 0.0993903, -0.381659, 2.45185], [0.393018, -0.311387, 0.865202, 5.55837], [-0.0328507, -0.945071, -0.325209, 1.68607], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.971472, 0.0933442, -0.218009, 2.39943], [0.235667, -0.482696, 0.843484, 5.36711], [-0.0264978, -0.870799, -0.490924, 1.61523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.99913, 0.000801668, -0.0416937, 2.38736], [0.0367225, -0.490673, 0.870569, 5.1473], [-0.0197601, -0.871343, -0.490276, 1.63454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.965387, -0.0791979, 0.248504, 2.30183], [-0.257469, -0.441581, 0.859485, 5.14828], [0.0416652, -0.893719, -0.446689, 1.64647], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[0.905421, -0.112477, 0.409341, 2.32673], [-0.422848, -0.324275, 0.846194, 5.40113], [0.0375615, -0.939252, -0.341167, 1.66092], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.796963, -0.171206, 0.579256, 2.3274], [-0.602605, -0.29113, 0.74304, 5.7331], [0.0414263, -0.941239, -0.33519, 1.6679], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[0.646515, -0.207177, 0.734231, 2.29301], [-0.759812, -0.261374, 0.595288, 5.9968], [0.0685784, -0.942741, -0.326398, 1.65805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[0.301134, -0.330406, 0.894511, 2.38384], [-0.952461, -0.149678, 0.265356, 6.27177], [0.0462132, -0.931895, -0.359772, 1.63035], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[-0.184009, -0.407883, 0.894299, 2.41706], [-0.982201, 0.0414112, -0.183209, 6.59545], [0.0376938, -0.912094, -0.408244, 1.63013], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.476327, -0.407713, 0.779026, 2.58045], [-0.877059, 0.157552, -0.453811, 6.75515], [0.0622873, -0.899415, -0.432635, 1.62064], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.805617, -0.326846, 0.494118, 2.68228], [-0.587819, 0.337062, -0.73543, 6.9571], [0.0738242, -0.882927, -0.46367, 1.61476], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.92675, -0.196948, 0.319915, 2.61674], [-0.372363, 0.368667, -0.851722, 7.09694], [0.0498029, -0.908458, -0.414999, 1.62376], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.966384, -0.148291, 0.210026, 2.58107], [-0.254965, 0.447649, -0.857089, 7.21925], [0.0330805, -0.881827, -0.47041, 1.6051], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.973794, -0.169214, 0.151958, 2.80043], [-0.207865, 0.39107, -0.89658, 7.47759], [0.092288, -0.904671, -0.415996, 1.61793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.950862, -0.166171, 0.261243, 2.75433], [-0.30156, 0.30585, -0.903059, 7.58552], [0.070161, -0.937466, -0.340932, 1.65923], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[-0.97373, -0.0978967, 0.205582, 2.79457], [-0.220186, 0.174779, -0.959672, 7.58114], [0.0580174, -0.979729, -0.191743, 1.76025], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[-0.949413, -0.103278, 0.29656, 2.98834], [-0.307434, 0.11316, -0.944817, 7.66565], [0.0640201, -0.988195, -0.139186, 1.75998], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[-0.874229, -0.203241, 0.440926, 2.92675], [-0.48039, 0.230515, -0.846219, 7.88067], [0.0703462, -0.951607, -0.299158, 1.66544], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[-0.82854, -0.225874, 0.512349, 2.9818], [-0.555767, 0.220387, -0.801593, 8.06011], [0.0681439, -0.948899, -0.308134, 1.67769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[-0.812053, -0.232851, 0.535115, 3.10208], [-0.580484, 0.227926, -0.781721, 8.12365], [0.0600577, -0.945426, -0.320255, 1.66796], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[-0.802363, -0.22967, 0.550876, 3.19811], [-0.593094, 0.203638, -0.778955, 7.88068], [0.0667232, -0.951727, -0.299607, 1.6745], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[-0.968008, -0.12101, 0.219809, 3.36361], [-0.246546, 0.295914, -0.922848, 7.63771], [0.0466295, -0.947519, -0.316282, 1.68401], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[-0.992044, -0.0960903, 0.081329, 3.56056], [-0.102174, 0.237179, -0.966078, 7.44707], [0.0735413, -0.966702, -0.24511, 1.69256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[-0.984704, -0.117722, -0.128444, 3.80352], [0.110148, 0.150573, -0.982443, 7.22458], [0.134995, -0.981565, -0.135303, 1.7189], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[-0.979588, -0.0715418, -0.187851, 4.14537], [0.177679, 0.128854, -0.975616, 7.20073], [0.0940027, -0.98908, -0.113512, 1.72287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[-0.938594, -0.05228, -0.341039, 4.40197], [0.333277, 0.118339, -0.935372, 7.0954], [0.0892597, -0.991596, -0.0936487, 1.70721], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[-0.927919, -0.0748755, -0.365183, 4.79999], [0.347286, 0.182418, -0.919845, 7.07326], [0.13549, -0.980366, -0.143266, 1.66936], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[-0.917457, -0.0362311, -0.396179, 5.13552], [0.387279, 0.146519, -0.910245, 6.87843], [0.0910271, -0.988544, -0.120394, 1.63497], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[-0.842434, -0.0332798, -0.53777, 5.50894], [0.520741, 0.205938, -0.828503, 6.57377], [0.13832, -0.977999, -0.156159, 1.5963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[-0.886458, 0.0359952, -0.461406, 5.73347], [0.452514, 0.276518, -0.847802, 6.10037], [0.0970702, -0.960335, -0.26141, 1.51881], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[-0.888043, 0.0594498, -0.455899, 5.91444], [0.455098, 0.254514, -0.853292, 5.7239], [0.0653048, -0.96524, -0.253075, 1.42001], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[-0.954125, -0.00678122, -0.299331, 5.89518], [0.273194, 0.389367, -0.879635, 5.39281], [0.122515, -0.921058, -0.369653, 1.4023], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[-0.996085, -0.0748341, 0.0470568, 5.84567], [-0.0768507, 0.470002, -0.879313, 5.12987], [0.0436858, -0.879487, -0.473913, 1.3696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[-0.906698, -0.241057, 0.346105, 5.80916], [-0.41658, 0.383377, -0.824307, 4.81837], [0.0660163, -0.891579, -0.448028, 1.36097], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[-0.750935, -0.364216, 0.550856, 5.79111], [-0.656435, 0.320699, -0.682821, 4.4609], [0.0720354, -0.874356, -0.479909, 1.38959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[-0.675842, -0.359184, 0.643601, 6.07514], [-0.735456, 0.271323, -0.620877, 4.16205], [0.0483854, -0.892956, -0.447536, 1.40077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[-0.515553, -0.368258, 0.773686, 6.4789], [-0.856839, 0.215612, -0.468335, 3.92147], [0.00565231, -0.904377, -0.426698, 1.38419], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[-0.545828, -0.364061, 0.754672, 6.89754], [-0.837471, 0.208355, -0.505202, 3.79669], [0.0266843, -0.907771, -0.418617, 1.37483], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0770_00"}, {"annotation": [{"question_id": "test-scene0771-0", "question": "What is in the meeting room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-1", "question": "Where is the blue chair tucked?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-2", "question": "What is tucked under the wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-3", "question": "Where is a chair tucked?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-4", "question": "What is in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-5", "question": "What type of furniture surrounds a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-6", "question": "What is the item that is closest to the white board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-7", "question": "What is the item that is the furthest to the left of the television?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-8", "question": "The chair is the furthest to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-9", "question": "On which side of the wall is the glass door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-10", "question": "What is the item closest to the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-11", "question": "Where is a chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-12", "question": "Where is the TV mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-13", "question": "How many sections make up the table in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-14", "question": "Where is the two section table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-15", "question": "What is the brown chair facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-16", "question": "What is the brown chair facing away from?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-17", "question": "What is the black chair not against?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-18", "question": "Where is the tv located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-19", "question": "What part of the chair is black in color?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-20", "question": "What color is the chair in front of the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-21", "question": "What's in front of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-22", "question": "What color is the chair closest to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-23", "question": "Where does the whiteboard end?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-24", "question": "Which chair is closest to the white board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-25", "question": "What color is the second chair closest to the white board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-26", "question": "How many chairs are at the table that face the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-27", "question": "How many black chairs are facing away from the orange wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-28", "question": "What is hanging on the orange wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-29", "question": "What is on the orange wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-30", "question": "On what wall is the large black tv hanging?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-31", "question": "How many chairs are on the side of the desk by the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-32", "question": "The one that is closer to the desk is the one that is closer to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-33", "question": "How many black chairs are in front of the orange wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-34", "question": "What will the wooden door with a rectangular glass window do?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-35", "question": "What is under whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-36", "question": "How many chairs face away under the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-37", "question": "What is above a chair against a white wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-38", "question": "What type of window is in the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-39", "question": "What is the table surrounded by?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-40", "question": "Where is the correct tv on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-41", "question": "What type of chair is in the meeting room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-42", "question": "Where is the black meeting room chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-43", "question": "What color is the handle of the wooden door with a single window panel?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-44", "question": "What is behind the table in the meeting room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-45", "question": "Where is the black television located in the meeting room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-46", "question": "What color office chair sits on the side of the table where the tv is?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-47", "question": "What shape is the glass window on the wooden door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-48", "question": "What type of door is the entrance to the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-49", "question": "What type of chair sits at the big table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-50", "question": "What color board is on the side of the black office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-51", "question": "What is in front of the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-52", "question": "Where are the black plastic chairs facing away from?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-53", "question": "How many chairs are at the table that face away from the orange wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-54", "question": "Which of the three chairs faces away from the orange wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-55", "question": "How many black chairs are on the side of the table with an orange wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-56", "question": "What's hanging over the chairs against the orange wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0771-57", "question": "How many chairs are on the side with the white board?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.569658, -0.355542, 0.740998, 2.16204], [-0.821788, -0.232823, 0.520055, 2.78507], [-0.0123801, -0.905198, -0.42481, 1.47149], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.60292, -0.413209, 0.682455, 2.09027], [-0.797213, -0.279198, 0.535257, 2.69939], [-0.0306334, -0.866779, -0.49775, 1.41794], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.636647, -0.420388, 0.646494, 1.91544], [-0.770401, -0.383792, 0.509102, 2.54577], [0.0340988, -0.822178, -0.568208, 1.38864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.776779, -0.282017, 0.563098, 1.92321], [-0.625761, -0.446388, 0.639656, 2.25925], [0.0709661, -0.849237, -0.523221, 1.40753], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.71878, -0.300733, 0.626829, 1.89581], [-0.69368, -0.370543, 0.617661, 2.07886], [0.0465163, -0.878782, -0.474951, 1.44128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.511528, -0.362115, 0.779237, 1.88331], [-0.858502, -0.253607, 0.445709, 1.97831], [0.0362216, -0.89697, -0.440604, 1.45376], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.489996, -0.430074, 0.758248, 1.89206], [-0.871716, -0.24555, 0.424046, 1.8316], [0.00381656, -0.868759, -0.495221, 1.42922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.533398, -0.428807, 0.729116, 1.8784], [-0.844494, -0.319007, 0.43019, 1.74507], [0.0481245, -0.845197, -0.532283, 1.40095], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.272736, -0.502192, 0.820621, 2.00061], [-0.961489, -0.172374, 0.214067, 1.6929], [0.0339509, -0.847402, -0.529865, 1.40967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.0329023, -0.440257, 0.897268, 2.09952], [-0.998557, -0.0236215, -0.0482068, 1.84107], [0.0424183, -0.897561, -0.438845, 1.45531], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.35079, -0.15984, 0.922712, 2.13151], [-0.936107, 0.0330497, -0.350157, 2.03334], [0.0254737, -0.986589, -0.161221, 1.57293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.467578, -0.0362543, 0.883207, 2.17705], [-0.883751, 0.0404083, -0.466208, 2.28813], [-0.0187869, -0.998525, -0.0509339, 1.74162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.433296, 0.0595604, 0.899281, 2.21283], [-0.899688, 0.0301474, -0.435489, 2.51246], [-0.053049, -0.997769, 0.040523, 1.8409], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.134461, 0.0749386, 0.988081, 2.23354], [-0.990344, 0.0237869, -0.136573, 2.55742], [-0.033738, -0.996904, 0.0710167, 1.78757], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.0351278, -0.104105, 0.993945, 2.29413], [-0.999329, -0.00662763, -0.0360123, 2.48698], [0.0103365, -0.994544, -0.103802, 1.59789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.0167931, -0.197493, 0.98016, 2.199], [-0.996311, -0.0858044, -0.000218961, 2.37577], [0.0841453, -0.976542, -0.198205, 1.50771], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.0186373, -0.14211, 0.989675, 2.1751], [-0.998115, -0.0605245, 0.0101052, 2.24802], [0.0584634, -0.987999, -0.14297, 1.571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.120747, -0.04086, 0.991842, 2.25435], [-0.992032, -0.0411325, 0.119075, 2.41282], [0.0359314, -0.998318, -0.0455011, 1.58077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.161323, -0.0563809, 0.985289, 2.22474], [-0.986857, 0.000222436, 0.161592, 2.6815], [-0.00933003, -0.998409, -0.0556041, 1.60589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.328066, -0.0341334, 0.944037, 2.28826], [-0.944636, -0.0180927, 0.32762, 3.03252], [0.00589737, -0.999253, -0.0381792, 1.61668], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.640191, -0.0816771, 0.763861, 2.28194], [-0.766807, -0.00776924, 0.641829, 2.98141], [-0.0464882, -0.996628, -0.0676045, 1.67522], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.586545, -0.204378, 0.783705, 2.19037], [-0.809646, -0.172946, 0.560858, 2.86986], [0.020912, -0.963493, -0.266914, 1.50522], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.347869, -0.289228, 0.891815, 2.25567], [-0.936981, -0.140176, 0.320026, 2.88337], [0.0324502, -0.946941, -0.319764, 1.47191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.0123972, -0.342152, 0.939563, 2.37902], [-0.999547, -0.0299968, 0.00226495, 3.15314], [0.0274089, -0.939166, -0.342369, 1.4687], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.395123, -0.399672, 0.827127, 2.49383], [-0.913672, 0.0775811, -0.398978, 3.51678], [0.0952913, -0.913369, -0.395824, 1.45843], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.638532, -0.342997, 0.688933, 2.72512], [-0.768239, 0.230974, -0.597042, 3.68329], [0.0456578, -0.910496, -0.410988, 1.45181], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.859533, -0.198454, 0.470976, 2.99684], [-0.511074, 0.329556, -0.793848, 3.77204], [0.00232917, -0.923043, -0.384689, 1.46191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.967187, -0.156457, 0.200176, 3.17154], [-0.247939, 0.409271, -0.878079, 3.70429], [0.0554555, -0.898898, -0.434633, 1.43374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.991509, 0.0515866, -0.119364, 3.31069], [0.129163, 0.496812, -0.858192, 3.54643], [0.0150301, -0.866323, -0.499257, 1.42252], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.877419, 0.202177, -0.43504, 3.43355], [0.474181, 0.50297, -0.722615, 3.46861], [0.0727156, -0.840324, -0.537185, 1.42109], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.706515, 0.342716, -0.619179, 3.49477], [0.706215, 0.398047, -0.585508, 3.23404], [0.0457996, -0.850943, -0.523257, 1.40383], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.458319, 0.472681, -0.752672, 3.56498], [0.887983, 0.279535, -0.365164, 3.11349], [0.0377925, -0.835723, -0.54785, 1.40415], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.0546755, 0.584957, -0.809219, 3.73666], [0.993927, 0.109393, 0.011921, 3.10197], [0.0954961, -0.803653, -0.587386, 1.39428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.0789699, 0.536214, -0.840379, 3.91088], [0.996834, 0.0502745, -0.0615934, 3.21998], [0.00922243, -0.842583, -0.538487, 1.43252], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.117989, 0.374456, -0.919707, 4.08884], [0.992909, -0.0310122, 0.114754, 3.17137], [0.0144483, -0.926726, -0.37546, 1.52221], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.319704, 0.220528, -0.921497, 4.30842], [0.947392, -0.0586174, 0.31466, 3.11688], [0.0153756, -0.973618, -0.227667, 1.57018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.399243, 0.0939962, -0.912014, 4.4675], [0.916691, -0.0227217, 0.398949, 3.12475], [0.0167771, -0.995313, -0.0952371, 1.64639], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.545334, -0.0656901, -0.83564, 4.44873], [0.837948, 0.0680602, 0.541489, 3.00862], [0.0213034, -0.995516, 0.0921604, 1.6962], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.599084, -0.000504089, -0.800686, 4.40086], [0.795009, -0.118488, 0.594912, 2.98368], [-0.0951712, -0.992955, -0.0705833, 1.64474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.643546, 0.166108, -0.747165, 4.32427], [0.761922, -0.232064, 0.604665, 3.03852], [-0.0729503, -0.958412, -0.275905, 1.51533], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.496722, 0.317118, -0.807901, 4.16147], [0.865452, -0.110971, 0.488547, 3.23451], [0.0652735, -0.941871, -0.329572, 1.49093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.304332, 0.407885, -0.86082, 4.07556], [0.950921, -0.0770166, 0.299693, 3.19976], [0.0559431, -0.909779, -0.411306, 1.43241], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.266691, 0.487327, -0.831497, 3.99373], [0.955677, -0.0220701, 0.293586, 3.20379], [0.124721, -0.87294, -0.471614, 1.41945], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.604423, 0.409772, -0.683198, 3.7885], [0.790331, -0.200517, 0.578937, 3.39567], [0.10024, -0.889876, -0.445053, 1.40492], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.898356, 0.285118, -0.334161, 3.52168], [0.422722, -0.354319, 0.834125, 3.38376], [0.119424, -0.890599, -0.43883, 1.41715], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.991654, 0.0670087, -0.110143, 3.32778], [0.12845, -0.440255, 0.888637, 3.53221], [0.0110553, -0.895369, -0.445188, 1.44003], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.924443, -0.21313, 0.316197, 3.04215], [-0.379727, -0.438823, 0.814396, 3.56262], [-0.0348176, -0.872932, -0.486598, 1.46621], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.648967, -0.38574, 0.655779, 2.91524], [-0.760788, -0.321582, 0.563725, 3.67073], [-0.00656481, -0.864748, -0.502163, 1.45159], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.272953, -0.525934, 0.805537, 2.69483], [-0.96202, -0.152273, 0.226558, 3.69096], [0.00350677, -0.836783, -0.547523, 1.44855], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.104766, -0.408301, 0.906815, 2.5094], [-0.993865, -0.0754736, 0.0808403, 3.50918], [0.0354334, -0.909722, -0.413704, 1.48167], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.116227, -0.280204, 0.952878, 2.36414], [-0.993156, -0.0438529, 0.108244, 3.41069], [0.0114559, -0.958938, -0.283383, 1.56285], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.263312, -0.229408, 0.937037, 2.22539], [-0.964146, -0.0293715, 0.263739, 3.46174], [-0.0329818, -0.972887, -0.228917, 1.54788], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0771_00"}, {"annotation": [{"question_id": "test-scene0772-0", "question": "The sink is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-1", "question": "What color is the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-2", "question": "To what side of the right sink is the soap dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-3", "question": "What color is the soap dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-4", "question": "What color parts are on the soap dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-5", "question": "Where is the soap dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-6", "question": "What color is the trash bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-7", "question": "The sink is white and what shape?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-8", "question": "The sink is inside what color counter top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-9", "question": "Where is the soap dispenser mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-10", "question": "What shape is the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-11", "question": "Where is the sink mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-12", "question": "What kind of dispenser is hung on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-13", "question": "Where is a soap dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-14", "question": "Where is a paper towel dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-15", "question": "What is the sink on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-16", "question": "What kind of sink is in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-17", "question": "How many sinks?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-19", "question": "What is located in the gray counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-20", "question": "If you face the mirror, where is the sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-21", "question": "How many sinks are on the gray counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-22", "question": "What color is the counter that has two sinks in it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-23", "question": "What is on your left when you face the mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-24", "question": "Where can the metal paper towel dispenser be found?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-25", "question": "The soap dispenser is on the left of the sink when you face what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-26", "question": "What metal metal paper towel dispenser is above the trash bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-27", "question": "Where does the silver metal paper towel dispenser hang?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-28", "question": "Where is metal trash can on wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-29", "question": "Where can you find the silver metal trash bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-30", "question": "What color is the metal trash bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-31", "question": "What shape is the sink on the right of the mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-32", "question": "What color sink is on the gray counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-33", "question": "What color counter is the white sink in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-34", "question": "What is the white sink in the gray counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-35", "question": "What is right of the metal paper towel dispenser on the wall above a silver trash bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-36", "question": "Where is the silver metal paper towel dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-37", "question": "What is on the wall beside the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-38", "question": "What color is the soap dispenser on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-39", "question": "Where is the gray soap dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0772-40", "question": "What is under the paper towel dispenser near the toiletry dispenser?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.880646, -0.0588641, 0.470104, 2.50446], [-0.473425, -0.147488, 0.868399, 5.43573], [0.0182172, -0.987311, -0.157752, 1.54991], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.893802, -0.133835, 0.428027, 2.4901], [-0.448147, -0.230725, 0.863673, 5.45305], [-0.0168329, -0.963771, -0.2662, 1.45739], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.885295, -0.169255, 0.433135, 2.38476], [-0.464409, -0.369928, 0.80466, 5.36607], [0.0240356, -0.913513, -0.406099, 1.36619], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.884151, -0.0687206, 0.462119, 2.29566], [-0.465937, -0.202409, 0.861356, 5.13356], [0.034344, -0.976887, -0.210979, 1.44407], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.931891, 0.0474504, 0.359621, 2.43023], [-0.358598, -0.0288344, 0.933046, 5.01688], [0.054643, -0.998457, -0.00985496, 1.59168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.945131, 0.0963307, 0.312166, 2.48514], [-0.32332, 0.138898, 0.93604, 4.90518], [0.0468104, -0.98561, 0.162422, 1.71291], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.969683, 0.0633053, 0.236024, 2.39601], [-0.244054, 0.202023, 0.948485, 4.77141], [0.012362, -0.977333, 0.211348, 1.74407], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.995673, 0.0608243, 0.0702543, 2.37131], [-0.0753622, 0.0862143, 0.993422, 4.70033], [0.0543673, -0.994418, 0.0904251, 1.60846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.987522, 0.0046617, -0.157413, 2.4143], [0.157339, 0.0134334, 0.987453, 4.62282], [0.00671785, -0.999899, 0.0125324, 1.49931], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.970495, 0.0054455, -0.24106, 2.43266], [0.240224, 0.0643107, 0.968585, 4.71643], [0.0207772, -0.997915, 0.0611051, 1.49559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.924785, -0.00821567, -0.380401, 2.52821], [0.380308, -0.0109282, 0.924795, 4.75358], [-0.0117549, -0.999907, -0.00698172, 1.50471], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.926906, 0.0620555, -0.370127, 2.55511], [0.375194, -0.175897, 0.910104, 4.72277], [-0.00862736, -0.982451, -0.186323, 1.45033], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.96792, 0.0263638, -0.249872, 2.43678], [0.248118, -0.257045, 0.934005, 4.52771], [-0.0396045, -0.96604, -0.25534, 1.461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.944993, 0.0720594, -0.319055, 2.4947], [0.321739, -0.380517, 0.867001, 4.33082], [-0.0589303, -0.921962, -0.38277, 1.50033], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.923235, 0.145945, -0.355439, 2.53706], [0.381352, -0.461162, 0.801187, 4.15358], [-0.0469861, -0.875231, -0.481418, 1.46957], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.920492, 0.178485, -0.347617, 2.50855], [0.387248, -0.535689, 0.750384, 3.93164], [-0.052282, -0.825337, -0.562215, 1.40634], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.882796, 0.242435, -0.402363, 2.53554], [0.46912, -0.499551, 0.728269, 3.82151], [-0.0244434, -0.83167, -0.554733, 1.42329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.841975, 0.169438, -0.512219, 2.62667], [0.538477, -0.32282, 0.778351, 3.77435], [-0.0334724, -0.93117, -0.363045, 1.52486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.802463, 0.181109, -0.568553, 2.60514], [0.596602, -0.260979, 0.758918, 3.69322], [-0.0109334, -0.948203, -0.317476, 1.52387], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.8136, 0.131049, -0.566463, 2.62287], [0.581403, -0.175124, 0.794545, 3.55916], [0.00492282, -0.975786, -0.218674, 1.54765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.791273, 0.0254714, -0.610932, 2.67519], [0.611278, -0.00835976, 0.791372, 3.54309], [0.0150501, -0.999641, -0.0221849, 1.64553], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.766155, -0.0807656, -0.637561, 2.72491], [0.642207, 0.0591123, 0.764249, 3.59155], [-0.0240373, -0.994979, 0.0971574, 1.70648], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.646878, -0.0391234, -0.761589, 2.7412], [0.761923, -0.00869427, 0.647609, 3.59829], [-0.0319581, -0.999197, 0.0241849, 1.59797], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.69016, 0.11567, -0.714352, 2.74735], [0.722282, -0.170921, 0.670145, 3.60867], [-0.0445819, -0.978472, -0.201509, 1.51406], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.689156, 0.261855, -0.675644, 2.70283], [0.72439, -0.225877, 0.651335, 3.52631], [0.0179428, -0.938303, -0.34535, 1.43938], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.815885, 0.22064, -0.534462, 2.63399], [0.578054, -0.289491, 0.762921, 3.29615], [0.0136088, -0.931404, -0.363734, 1.46742], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.832604, 0.204126, -0.514881, 2.64293], [0.553425, -0.343772, 0.758644, 3.13112], [-0.0221427, -0.916599, -0.399194, 1.43946], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.805346, 0.248211, -0.538339, 2.63497], [0.59267, -0.356489, 0.722259, 2.96124], [-0.0126393, -0.900726, -0.434205, 1.44479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.815883, 0.228932, -0.530965, 2.54318], [0.577567, -0.366168, 0.729614, 2.74139], [-0.0273902, -0.901949, -0.430974, 1.44661], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.786967, 0.272274, -0.55367, 2.518], [0.616891, -0.363723, 0.697962, 2.62451], [-0.0113457, -0.890827, -0.454201, 1.45], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.666866, 0.315157, -0.675253, 2.59692], [0.744444, -0.321963, 0.58493, 2.5621], [-0.0330615, -0.892758, -0.449323, 1.44114], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.609515, 0.360298, -0.70617, 2.56864], [0.792419, -0.303555, 0.529081, 2.54863], [-0.0237342, -0.882066, -0.470528, 1.42371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.512457, 0.41263, -0.753076, 2.52611], [0.858007, -0.281581, 0.429576, 2.62639], [-0.0347957, -0.866285, -0.498338, 1.40077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.320335, 0.453412, -0.831747, 2.66247], [0.946141, -0.19663, 0.257202, 2.89434], [-0.0469281, -0.869341, -0.491979, 1.41332], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.0113344, 0.504433, -0.863376, 2.66603], [0.999775, -0.0097776, -0.0188376, 3.02754], [-0.0179441, -0.863395, -0.504209, 1.38134], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.411771, 0.446515, -0.794399, 2.71573], [0.911163, 0.216098, -0.350831, 3.33769], [0.0150164, -0.868289, -0.495831, 1.35866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.647756, 0.398064, -0.649582, 2.69247], [0.761522, 0.313395, -0.567333, 3.61236], [-0.0222591, -0.862165, -0.506138, 1.37358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.855721, 0.233559, -0.461727, 2.53822], [0.516513, 0.438857, -0.735267, 3.83254], [0.030904, -0.867672, -0.496175, 1.40182], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.983983, 0.0966433, -0.149797, 2.36657], [0.177753, 0.468161, -0.86558, 4.07037], [-0.0135237, -0.878342, -0.477841, 1.44938], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.999285, 0.0220349, -0.0307324, 2.32761], [0.0369841, 0.399993, -0.915772, 4.27393], [-0.00788619, -0.916253, -0.400522, 1.51659], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.999863, 0.0124359, -0.0109751, 2.31124], [0.0140216, 0.280275, -0.959817, 4.50863], [-0.00886018, -0.959839, -0.280411, 1.59642], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.999752, -0.0158879, 0.0156277, 2.22634], [-0.0179817, 0.160851, -0.986815, 4.66735], [0.0131647, -0.986851, -0.161097, 1.68644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.999638, -0.0109705, 0.0245875, 2.20917], [-0.0248765, 0.0270413, -0.999325, 4.82643], [0.0102982, -0.999574, -0.0273044, 1.77148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.996881, 0.0570706, 0.0545077, 2.23209], [-0.0599101, -0.0976795, -0.993413, 4.88603], [-0.0513704, -0.99358, 0.100794, 1.76531], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.948466, 0.0784712, 0.307009, 2.09337], [-0.311689, -0.0563956, -0.948509, 4.69535], [-0.0571167, -0.99532, 0.0779479, 1.74068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.927623, 0.0174797, 0.373109, 2.09298], [-0.367945, 0.129156, -0.920834, 4.5093], [-0.0642852, -0.99147, -0.113377, 1.60288], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.932402, -0.0690043, 0.354774, 2.16635], [-0.358714, 0.296619, -0.885066, 4.15888], [-0.0441591, -0.9525, -0.301321, 1.52054], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.818743, -0.230515, 0.525855, 2.10351], [-0.574132, 0.337798, -0.745832, 3.9262], [-0.00570714, -0.912555, -0.408915, 1.45541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.747523, -0.303816, 0.590682, 2.13229], [-0.664202, 0.332918, -0.669329, 3.67797], [0.00670432, -0.892671, -0.450659, 1.41675], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.681514, -0.307288, 0.664163, 2.24379], [-0.730679, 0.235405, -0.640853, 3.42891], [0.0405796, -0.922041, -0.384961, 1.47979], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.54054, -0.297302, 0.787037, 2.29342], [-0.841281, 0.199734, -0.502346, 3.26822], [-0.00784925, -0.933658, -0.358079, 1.52438], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.500182, -0.385703, 0.775275, 2.50062], [-0.864582, 0.172684, -0.471888, 3.20829], [0.0481306, -0.906319, -0.419845, 1.48078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.449393, -0.403789, 0.796869, 2.55878], [-0.893143, 0.184652, -0.41012, 3.24388], [0.0184585, -0.896023, -0.443623, 1.43528], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.362701, -0.475885, 0.801238, 2.33943], [-0.931741, 0.169046, -0.321374, 3.28156], [0.017491, -0.863109, -0.504715, 1.39102], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.243006, -0.417371, 0.875643, 2.18114], [-0.969254, 0.0684919, -0.236339, 3.36555], [0.0386665, -0.906152, -0.421182, 1.44107], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.246574, -0.450117, 0.858251, 2.11296], [-0.969039, 0.102801, -0.224488, 3.52253], [0.0128168, -0.887032, -0.46153, 1.43958], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.351524, -0.438774, 0.826987, 2.15984], [-0.936108, 0.175571, -0.304755, 3.62657], [-0.011476, -0.881279, -0.472458, 1.4377], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.412386, -0.42248, 0.807124, 2.29764], [-0.911008, 0.192597, -0.364651, 3.85434], [-0.0013916, -0.885674, -0.464307, 1.44128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.44405, -0.445938, 0.777148, 2.34821], [-0.895913, 0.233215, -0.378089, 4.13625], [-0.012638, -0.864147, -0.503081, 1.43787], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.325345, -0.484079, 0.812292, 2.39358], [-0.945591, 0.169148, -0.277932, 4.33777], [-0.00285682, -0.85852, -0.512772, 1.42399], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.110583, -0.489103, 0.865187, 2.30616], [-0.993826, 0.0464997, -0.100737, 4.28545], [0.00904013, -0.870986, -0.491226, 1.42315], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.125514, -0.506772, 0.852894, 2.17928], [-0.991961, -0.0501474, 0.116183, 3.98628], [-0.0161078, -0.860621, -0.508992, 1.39092], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.359374, -0.490647, 0.793798, 2.22567], [-0.933053, -0.203662, 0.296535, 3.74741], [0.0161726, -0.847223, -0.530991, 1.36978], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.665176, -0.370603, 0.648224, 2.26141], [-0.746677, -0.325723, 0.57998, 3.40669], [-0.00380124, -0.869803, -0.493384, 1.40121], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.77142, -0.213079, 0.59959, 2.19256], [-0.636302, -0.26649, 0.723949, 3.16341], [0.00552689, -0.93999, -0.341158, 1.45953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.792178, -0.129698, 0.596349, 2.14873], [-0.610279, -0.162399, 0.775362, 3.07646], [-0.00371634, -0.978164, -0.207801, 1.55671], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.795128, -0.0478859, 0.604548, 2.15394], [-0.606298, -0.0844837, 0.790737, 3.17053], [0.0132093, -0.995274, -0.0962085, 1.61538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.750068, -0.0289099, 0.660728, 2.03026], [-0.661354, -0.0370823, 0.749156, 3.29199], [0.00284323, -0.998894, -0.0469339, 1.66447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.676215, -0.0928587, 0.730828, 1.96506], [-0.73666, -0.0960326, 0.66941, 3.39642], [0.00802281, -0.991037, -0.133344, 1.56002], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.710934, -0.109331, 0.694708, 1.89316], [-0.697764, -0.232902, 0.677408, 3.54631], [0.0877373, -0.966335, -0.241865, 1.42049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.610404, -0.189206, 0.769161, 1.90276], [-0.788683, -0.235152, 0.568051, 3.80159], [0.0733915, -0.953365, -0.292761, 1.3785], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.536141, -0.282526, 0.795444, 1.82907], [-0.83711, -0.299217, 0.457948, 4.0388], [0.108628, -0.911399, -0.396928, 1.29088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.49389, -0.270808, 0.826278, 1.82121], [-0.864439, -0.255544, 0.432946, 4.19857], [0.0939057, -0.928095, -0.360307, 1.22857], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.380801, -0.284379, 0.87984, 1.8463], [-0.919913, -0.212782, 0.32937, 4.37251], [0.093548, -0.934801, -0.342632, 1.16372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.244373, -0.269177, 0.931571, 1.75582], [-0.967059, -0.138259, 0.213732, 4.49642], [0.0712667, -0.953115, -0.294097, 1.05695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.250344, -0.237762, 0.938508, 1.74279], [-0.964762, -0.142373, 0.221278, 4.51904], [0.0810067, -0.960832, -0.265027, 1.13888], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.324108, -0.221316, 0.919768, 1.78175], [-0.944826, -0.12455, 0.302969, 4.53675], [0.0475057, -0.967216, -0.249473, 1.28755], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.448163, -0.154037, 0.880581, 1.91044], [-0.893229, -0.116769, 0.434174, 4.53414], [0.0359459, -0.981141, -0.189922, 1.44761], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.478731, -0.0325883, 0.877357, 1.92264], [-0.877625, -0.0454427, 0.477189, 4.48166], [0.0243186, -0.998435, -0.0503552, 1.58927], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.504998, 0.054229, 0.861415, 1.8815], [-0.859926, -0.0541714, 0.507535, 4.43001], [0.0741872, -0.997058, 0.0192765, 1.62657], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.616362, -0.10571, 0.780335, 1.90115], [-0.783673, -0.179448, 0.594689, 4.4739], [0.0771653, -0.978072, -0.193447, 1.52517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.644776, -0.244168, 0.724324, 1.94083], [-0.759945, -0.306607, 0.573128, 4.54705], [0.0821432, -0.919986, -0.383247, 1.39138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.831399, -0.152978, 0.534204, 1.91315], [-0.55193, -0.338781, 0.761971, 4.61516], [0.0644133, -0.928345, -0.366095, 1.37396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.847816, -0.124118, 0.515561, 1.96605], [-0.528073, -0.286425, 0.799437, 4.84874], [0.0484447, -0.950029, -0.308379, 1.42125], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.872854, -0.0626134, 0.483947, 2.08989], [-0.487857, -0.134332, 0.862526, 5.07304], [0.0110039, -0.988956, -0.147799, 1.44386], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.853174, -0.042835, 0.519865, 2.20879], [-0.521239, -0.108426, 0.846495, 5.34059], [0.0201074, -0.993181, -0.114834, 1.498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.733941, -0.186798, 0.653021, 2.19555], [-0.675157, -0.0957334, 0.731435, 5.68075], [-0.074115, -0.977723, -0.196381, 1.51795], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.661965, -0.248281, 0.707219, 2.21939], [-0.747637, -0.15162, 0.646568, 5.86206], [-0.0533021, -0.956749, -0.285991, 1.45275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.522367, -0.388087, 0.75929, 2.11461], [-0.851939, -0.199407, 0.484186, 5.9037], [-0.0364991, -0.899792, -0.43479, 1.41395], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.60108, -0.337621, 0.724372, 2.05667], [-0.79915, -0.2451, 0.548893, 5.7791], [-0.0077741, -0.908811, -0.417135, 1.41045], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.703142, -0.30885, 0.640471, 2.06185], [-0.709862, -0.356952, 0.607191, 5.46333], [0.0410863, -0.881587, -0.470229, 1.37546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.653044, -0.328989, 0.682129, 2.03486], [-0.756149, -0.333319, 0.563149, 5.32799], [0.0420968, -0.883553, -0.466436, 1.38818], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.610949, -0.297257, 0.733743, 2.02993], [-0.791146, -0.262971, 0.552208, 5.27615], [0.0288056, -0.917869, -0.395836, 1.46303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.677475, -0.132905, 0.723439, 2.0646], [-0.735464, -0.137119, 0.663544, 5.34585], [0.0110089, -0.981598, -0.190642, 1.56581], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.627761, -0.0972117, 0.772313, 2.16903], [-0.775297, -0.166685, 0.609205, 5.47069], [0.0695111, -0.981207, -0.180006, 1.61145], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.551243, -0.0813549, 0.830369, 2.17147], [-0.834052, -0.0273665, 0.551007, 5.71385], [-0.0221028, -0.99631, -0.0829398, 1.62862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.542244, 0.0485119, 0.838819, 2.24602], [-0.840116, 0.0155157, 0.542185, 5.82932], [0.0132875, -0.998702, 0.0491689, 1.69373], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.442072, 0.0998608, 0.891403, 2.3285], [-0.895999, 0.00270701, 0.444048, 5.98142], [0.0419298, -0.994998, 0.0906719, 1.68341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.219539, 0.0647661, 0.973451, 2.33633], [-0.975269, -0.0115548, 0.220717, 6.18422], [0.025543, -0.997834, 0.0606276, 1.70267], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.154125, 0.214937, 0.96439, 2.3822], [-0.9867, -0.0175433, 0.1616, 6.30251], [0.0516522, -0.976471, 0.209374, 1.71838], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.0181887, 0.260306, 0.965355, 2.40967], [-0.999834, -0.00444054, -0.0176411, 6.43677], [-0.000305444, -0.965516, 0.260344, 1.74226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.135008, 0.228122, 0.964227, 2.37085], [-0.990171, 0.00481945, -0.139781, 6.50427], [-0.0365341, -0.973621, 0.225229, 1.75329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.260912, 0.11541, 0.958439, 2.28367], [-0.965174, -0.0115932, -0.26135, 6.46002], [-0.019051, -0.99325, 0.114415, 1.7377], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.343629, 0.0862549, 0.935136, 2.2559], [-0.9389, -0.0107214, -0.344023, 6.46931], [-0.0196477, -0.996215, 0.0846689, 1.74145], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.470002, 0.167624, 0.866603, 2.23694], [-0.881782, -0.045245, -0.469482, 6.48901], [-0.0394872, -0.984812, 0.169073, 1.80767], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.480374, 0.302012, 0.823425, 2.18515], [-0.875462, -0.108406, -0.470971, 6.46578], [-0.0529744, -0.94712, 0.316476, 1.84631], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.610082, 0.249169, 0.75214, 2.15627], [-0.79007, -0.119537, -0.601248, 6.3928], [-0.0599035, -0.961055, 0.269788, 1.84837], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.685459, 0.14734, 0.713047, 2.17541], [-0.724585, -0.0417746, -0.687918, 6.37741], [-0.0715704, -0.988203, 0.135395, 1.80115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.69592, 0.0983196, 0.711357, 2.20086], [-0.706668, 0.0824333, -0.702727, 6.36767], [-0.127731, -0.991735, 0.0121124, 1.73662], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.723096, -0.0426006, 0.689432, 2.18795], [-0.687376, 0.142856, -0.712113, 6.33771], [-0.0681534, -0.988826, -0.132582, 1.64892], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.68089, -0.147942, 0.717287, 2.13302], [-0.731466, 0.186421, -0.6559, 6.2986], [-0.036682, -0.971267, -0.235147, 1.55094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.677091, -0.189207, 0.71116, 2.08101], [-0.732239, 0.269489, -0.625461, 6.32449], [-0.0733081, -0.944233, -0.321013, 1.46421], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.712824, -0.321572, 0.623276, 2.09282], [-0.696593, 0.427874, -0.575919, 6.35572], [-0.0814838, -0.844699, -0.529004, 1.35087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.84387, -0.300787, 0.44431, 2.15276], [-0.536548, 0.471594, -0.699797, 6.23767], [0.000956044, -0.828931, -0.55935, 1.36578], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.943539, -0.204298, 0.260763, 2.30256], [-0.329996, 0.510912, -0.79377, 6.01227], [0.0289389, -0.835004, -0.549483, 1.40199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.985995, -0.0538725, 0.157831, 2.32201], [-0.163164, 0.507389, -0.846128, 5.74998], [-0.0344986, -0.860031, -0.509074, 1.42206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.996861, 0.069039, -0.0387602, 2.44973], [0.0665348, 0.465103, -0.882753, 5.54768], [-0.042917, -0.882561, -0.468236, 1.4443], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.988902, 0.0561649, -0.137546, 2.62736], [0.148248, 0.434065, -0.888601, 5.43867], [0.00979567, -0.899129, -0.437574, 1.49461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.998369, -0.00468609, -0.0569074, 2.55094], [0.0538178, 0.255806, -0.965229, 5.33729], [0.0190804, -0.966717, -0.255137, 1.55699], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.99953, 0.021381, 0.021986, 2.45624], [-0.0172835, 0.199491, -0.979747, 5.21903], [-0.025334, -0.979666, -0.199028, 1.60512], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0772_00"}, {"annotation": [{"question_id": "test-scene0773-0", "question": "What is to the left of the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-1", "question": "What is to the left of the wooden cabinet stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-2", "question": "What is next to a black trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-3", "question": "What is placed in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-4", "question": "Where is the black small trsh can placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-5", "question": "Where are kitchen cabinets placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-6", "question": "What is placed next to a dresser/cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-7", "question": "What is placed next to a water cooler?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-8", "question": "What is next to the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-9", "question": "The trash can is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-10", "question": "What is to the right, of the small, brown cabinet, sitting on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-11", "question": "What is the color of the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-12", "question": "What color is the sink in a kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-13", "question": "What type of door is in the right side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-14", "question": "What color are the cabinets on the top of the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-15", "question": "How many cabinets are in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-16", "question": "Where is the refrigerator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-17", "question": "What is a countertop in a kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-18", "question": "What type of door is in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-19", "question": "The wooden door to the room is propped open by what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-20", "question": "Where is the cabinet table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-21", "question": "What color is the refrigerator in the break room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-22", "question": "What type of bin is propping open the door to the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-23", "question": "What type of bin is near the fridge by the table near the fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-24", "question": "In what part of the room is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-25", "question": "What color door is in front of the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-26", "question": "What color is the microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-27", "question": "What is on the refrigerator's sides?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-28", "question": "What is the color of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-29", "question": "What kind of handles do kitchen cabinets have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-30", "question": "What color are the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-31", "question": "What is located beneath the sink ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-32", "question": "What color are the kitchen cabinets ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-33", "question": "What is below the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-34", "question": "Along with the sink, what is above the kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-35", "question": "Where is the hanging ceiling cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-36", "question": "Where is the black and silver water cooler located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-37", "question": "What color is the kitchen counter next to the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-38", "question": "The white kitchen counter is next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-39", "question": "What is near the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-40", "question": "Where does the water cooler sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-41", "question": "Where is the white microwave located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-42", "question": "What part of the kitchen has a sink and a microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-43", "question": "What is propping the wooden door open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-44", "question": "Where is the sink well located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-45", "question": "What are under the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-46", "question": "What is to the left of the fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-47", "question": "Where is the sink in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-48", "question": "What is on the counter to the left of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-49", "question": "What is on the counter to the right of the microwave oven?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-50", "question": "What kind of dispenser is on the wall above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-51", "question": "What is in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-52", "question": "What is to the right of the microwave oven?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-53", "question": "What is to the right of the microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-54", "question": "What is on the counter to the left of the kitchen sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-55", "question": "What kind of dispenser is on the wall above the kitchen sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-56", "question": "Where is the soap dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-57", "question": "What is open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-58", "question": "The table in the kitchen is near what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-59", "question": "What is on the left side of the counter top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-60", "question": "What is under the sink in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-61", "question": "What's to the right of the cabinets under the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-62", "question": "What type of bin is near the entrance of the ktichen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-63", "question": "What is the water dispenser in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-64", "question": "Where is the water dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-65", "question": "What is the unit above the fridge and the counter called?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-66", "question": "Where is the ceiling cabinet unit located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-67", "question": "Where is the top cabinet unit located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0773-68", "question": "What is on the white counter top?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.212188, -0.493425, 0.843509, 1.30952], [-0.976766, -0.133657, 0.167524, 2.55495], [0.0300808, -0.859458, -0.510321, 1.41756], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.205317, -0.531923, 0.821524, 1.28979], [-0.977622, -0.150763, 0.146713, 2.4929], [0.0458152, -0.833264, -0.550974, 1.361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.140801, -0.637752, 0.757263, 1.20618], [-0.990004, -0.0844026, 0.112994, 2.48524], [-0.00814679, -0.765604, -0.643261, 1.27717], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.104605, -0.563079, 0.819756, 1.19511], [-0.994454, -0.068215, 0.0800413, 2.45872], [0.0108502, -0.823583, -0.567092, 1.35971], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.178307, -0.422538, 0.888633, 1.23311], [-0.981752, -0.137059, 0.131821, 2.31888], [0.0660959, -0.895922, -0.439266, 1.42808], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.198148, -0.353293, 0.914287, 1.26192], [-0.980061, -0.0574032, 0.190221, 2.25131], [-0.0147207, -0.93375, -0.357623, 1.51225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.226909, -0.182362, 0.95669, 1.23041], [-0.973835, -0.0551126, 0.22047, 2.22849], [0.0125202, -0.981686, -0.190096, 1.58875], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.337361, -0.126957, 0.932775, 1.18202], [-0.940086, -0.0972771, 0.326765, 2.26843], [0.0492525, -0.987127, -0.152168, 1.59469], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.455402, -0.114991, 0.882828, 1.15623], [-0.888775, -0.116459, 0.4433, 2.30981], [0.0518383, -0.986516, -0.155237, 1.59781], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.49956, -0.0813857, 0.862448, 1.15816], [-0.865474, -0.0897977, 0.492839, 2.33374], [0.0373359, -0.992629, -0.115297, 1.62803], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.50138, -0.000308538, 0.865227, 1.1828], [-0.865007, -0.0227277, 0.501244, 2.32149], [0.0195101, -0.999742, -0.0116621, 1.7972], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.49097, 0.122489, 0.862522, 1.17617], [-0.869006, -0.00097754, 0.4948, 2.29938], [0.0614508, -0.992469, 0.105964, 1.8186], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.526055, 0.244568, 0.814526, 1.13864], [-0.84415, 0.0337954, 0.53504, 2.27746], [0.103327, -0.969043, 0.224231, 1.87656], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.587069, 0.258072, 0.767299, 1.12678], [-0.79872, 0.0302324, 0.600942, 2.27946], [0.131889, -0.965652, 0.223876, 1.86378], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.707039, 0.105398, 0.699276, 1.19481], [-0.697666, -0.0576494, 0.7141, 2.319], [0.115577, -0.992758, 0.0327719, 1.76757], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.691505, -0.102154, 0.715112, 1.34885], [-0.721998, -0.12957, 0.679654, 2.48178], [0.0232273, -0.986294, -0.163353, 1.57501], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.660518, -0.209351, 0.721033, 1.5005], [-0.750549, -0.209429, 0.626749, 2.56328], [0.0197944, -0.95515, -0.29546, 1.47745], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.78058, -0.234592, 0.579362, 1.66156], [-0.624676, -0.325054, 0.710013, 2.50619], [0.021761, -0.916137, -0.400275, 1.41645], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.852819, -0.212731, 0.476911, 1.70285], [-0.521941, -0.376268, 0.765505, 2.60515], [0.0165995, -0.901758, -0.431923, 1.40452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.86432, -0.152417, 0.47929, 1.78671], [-0.502485, -0.302281, 0.810021, 2.75565], [0.0214198, -0.940954, -0.337855, 1.47512], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.897262, -0.0452042, 0.439177, 1.96082], [-0.439998, -0.173462, 0.881086, 2.76141], [0.0363517, -0.983803, -0.175531, 1.60747], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.940662, -0.0170055, 0.338918, 2.08275], [-0.33871, 0.0139554, 0.940787, 2.71295], [-0.0207282, -0.999758, 0.00736737, 1.72959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.948729, 0.012756, 0.315831, 2.11313], [-0.314019, 0.152208, 0.937136, 2.67289], [-0.0361179, -0.988266, 0.14841, 1.77744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.973598, 0.0608125, 0.220017, 2.07015], [-0.228243, 0.245387, 0.942173, 2.61954], [0.00330666, -0.967516, 0.252788, 1.81795], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.982269, 0.0278316, 0.185398, 2.01701], [-0.18721, 0.198184, 0.96212, 2.60526], [-0.00996545, -0.97977, 0.19988, 1.79705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.982586, 0.00978192, 0.18555, 1.86547], [-0.185695, 0.0169797, 0.98246, 2.56644], [0.0064598, -0.999808, 0.0185005, 1.68824], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.981615, 0.00470995, 0.190811, 1.79588], [-0.19022, -0.0581881, 0.980015, 2.51603], [0.0157188, -0.998295, -0.0562225, 1.62995], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.98169, -0.0283821, 0.188356, 1.84691], [-0.190195, -0.200384, 0.961078, 2.47321], [0.0104661, -0.979306, -0.202113, 1.56534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.997216, 0.00179139, 0.074544, 1.93439], [-0.0696853, -0.333336, 0.940229, 2.44114], [0.0265325, -0.942806, -0.332283, 1.47334], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.999162, 0.00766876, 0.0401986, 1.8941], [-0.0336746, -0.404101, 0.914094, 2.48722], [0.0232543, -0.914682, -0.403504, 1.37555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.995793, -0.0364534, 0.0840623, 1.81407], [-0.091489, -0.445754, 0.890468, 2.69489], [0.00501046, -0.894413, -0.447214, 1.37472], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.999647, -0.00232627, 0.0264447, 1.90029], [-0.0255445, -0.355431, 0.934353, 2.91388], [0.00722569, -0.9347, -0.355365, 1.41447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.999188, 0.0376416, 0.0143707, 2.0055], [-0.00175089, -0.315769, 0.948834, 3.16199], [0.0402535, -0.948089, -0.315447, 1.44132], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.996913, 0.015393, 0.0769837, 2.04112], [-0.0701855, -0.264632, 0.961792, 3.37001], [0.0351773, -0.964227, -0.262735, 1.45373], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.989154, 0.0284646, 0.144095, 2.01858], [-0.129284, -0.29687, 0.946125, 3.47192], [0.0697086, -0.954493, -0.289971, 1.43558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.938502, 0.0528314, 0.341208, 1.76677], [-0.320985, -0.230593, 0.918583, 3.64441], [0.12721, -0.971615, -0.199454, 1.42834], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.756971, -0.10074, 0.645636, 1.4462], [-0.642925, -0.291427, 0.70832, 3.7675], [0.1168, -0.951274, -0.28537, 1.42677], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.797027, -0.0870859, 0.597632, 1.28711], [-0.585015, -0.357123, 0.728161, 3.77914], [0.150016, -0.929989, -0.335584, 1.39661], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.899349, -0.0602855, 0.433054, 1.35667], [-0.419778, -0.396089, 0.816639, 3.62509], [0.122297, -0.916231, -0.381529, 1.38813], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.982636, -0.0295998, 0.183168, 1.58915], [-0.181618, -0.355463, 0.916876, 3.47672], [0.03797, -0.934222, -0.354666, 1.43394], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.998818, 0.0366102, -0.0319626, 1.85302], [0.0424257, -0.336032, 0.940894, 3.598], [0.0237059, -0.941139, -0.337188, 1.45788], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.947256, 0.14517, -0.28571, 2.07009], [0.318629, -0.331057, 0.888187, 3.69448], [0.0343512, -0.932377, -0.359852, 1.46897], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.893456, 0.193276, -0.405438, 2.1719], [0.445808, -0.271702, 0.852897, 3.76582], [0.0546862, -0.942774, -0.328918, 1.43702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.838808, 0.226864, -0.494908, 2.28323], [0.542853, -0.27945, 0.791971, 3.71106], [0.0413678, -0.932974, -0.357559, 1.43068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.78338, 0.278011, -0.5559, 2.42171], [0.619336, -0.273871, 0.73581, 3.52762], [0.0523186, -0.920709, -0.386727, 1.4065], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.794695, 0.310205, -0.521759, 2.40454], [0.606142, -0.359612, 0.709416, 3.38905], [0.0324335, -0.88003, -0.47381, 1.36929], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.789043, 0.27092, -0.551373, 2.3417], [0.613059, -0.289374, 0.735133, 3.29632], [0.0396094, -0.918077, -0.394419, 1.39977], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.775366, 0.223299, -0.590715, 2.31737], [0.629569, -0.200024, 0.750754, 3.30619], [0.0494857, -0.954006, -0.295675, 1.45371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.762161, 0.0933853, -0.640616, 2.16165], [0.64729, -0.127017, 0.751586, 3.3193], [-0.0111817, -0.987495, -0.157255, 1.53656], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.736964, 0.0869238, -0.670319, 2.05774], [0.674699, -0.034731, 0.737275, 3.31515], [0.040806, -0.995609, -0.0842429, 1.60509], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.761238, 0.0912376, -0.642021, 2.14734], [0.641167, 0.0422877, 0.766235, 3.30933], [0.0970592, -0.994931, -0.0263076, 1.64936], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.736657, 0.0365981, -0.675276, 2.31843], [0.666486, 0.129922, 0.734109, 3.28136], [0.1146, -0.990849, 0.0713158, 1.69862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.726052, -0.00564068, -0.687616, 2.41636], [0.678785, 0.165829, 0.715368, 3.3044], [0.109991, -0.986139, 0.124229, 1.75006], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.712291, -0.0771835, -0.697627, 2.49183], [0.693165, 0.233535, 0.681897, 3.28931], [0.110289, -0.96928, 0.219846, 1.76668], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.767286, 0.0360168, -0.640292, 2.30634], [0.631544, 0.131094, 0.764177, 3.21882], [0.111462, -0.990716, 0.0778407, 1.67708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.708106, 0.0997518, -0.699023, 2.13175], [0.693425, 0.0885279, 0.715069, 3.07932], [0.133213, -0.991066, -0.00648341, 1.57931], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.575163, 0.151536, -0.80388, 2.19229], [0.816198, -0.0404335, 0.576355, 3.1537], [0.054835, -0.987624, -0.14694, 1.49708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.437503, 0.272918, -0.8568, 2.36528], [0.897698, -0.0772093, 0.433793, 3.35642], [0.0522369, -0.958934, -0.278777, 1.4568], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.307176, 0.367684, -0.877753, 2.58569], [0.950552, -0.0742042, 0.301569, 3.41228], [0.045749, -0.926986, -0.372297, 1.41343], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.203864, 0.377053, -0.903476, 2.76445], [0.978442, -0.047334, 0.201025, 3.51926], [0.0330319, -0.924981, -0.378575, 1.43896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.0683397, 0.342431, -0.937053, 2.83832], [0.995829, 0.0334875, 0.0848638, 3.6512], [0.0604397, -0.938946, -0.338715, 1.47068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.0282309, 0.199065, -0.979579, 2.84301], [0.996692, 0.0691034, 0.042767, 3.63535], [0.0762057, -0.977547, -0.196456, 1.53632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.00114717, 0.0548783, -0.998492, 2.86478], [0.997576, 0.069404, 0.00496066, 3.61984], [0.0695716, -0.996078, -0.0546657, 1.62803], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.00692265, -0.132489, -0.99116, 2.91498], [0.999487, 0.0318944, 0.00271754, 3.66098], [0.0312525, -0.990671, 0.132642, 1.70162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.0339851, -0.271175, -0.96193, 2.97442], [0.99809, 0.0588784, 0.0186644, 3.70267], [0.0515756, -0.960728, 0.272658, 1.77195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.0237704, -0.292976, -0.955824, 2.99117], [0.994896, 0.0868564, -0.051365, 3.68793], [0.0980682, -0.952167, 0.289416, 1.77683], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.183623, -0.136654, -0.973451, 2.96787], [0.980442, 0.0458895, -0.191384, 3.61836], [0.0708246, -0.989555, 0.125555, 1.65781], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.116845, 0.143695, -0.9827, 2.91665], [0.992938, 0.0373255, -0.112605, 3.60804], [0.0204991, -0.988918, -0.147041, 1.55562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.097494, 0.406936, -0.908239, 2.89622], [0.995236, 0.0395554, -0.0891098, 3.65841], [-0.000336178, -0.9126, -0.408854, 1.4434], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.255781, 0.460972, -0.849753, 2.93444], [0.966571, 0.105796, -0.233552, 3.62472], [-0.0177611, -0.881085, -0.472624, 1.43255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.358484, 0.439461, -0.823628, 2.89855], [0.933529, 0.165309, -0.318115, 3.61249], [-0.00364564, -0.88292, -0.46951, 1.41709], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.448122, 0.386019, -0.806334, 2.74742], [0.893921, 0.183901, -0.40876, 3.53965], [-0.0095036, -0.903974, -0.427481, 1.41461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.52404, 0.341146, -0.780385, 2.57389], [0.851679, 0.204665, -0.482445, 3.58321], [-0.00486632, -0.917459, -0.3978, 1.44787], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.528421, 0.260449, -0.808045, 2.52457], [0.84879, 0.182333, -0.496296, 3.61021], [0.0180735, -0.948115, -0.317415, 1.48671], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.428108, 0.187409, -0.884082, 2.57089], [0.903505, 0.110474, -0.414095, 3.63722], [0.0200633, -0.97605, -0.21662, 1.53313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.398392, 0.0446357, -0.916128, 2.58435], [0.916364, 0.0623894, -0.395455, 3.65615], [0.0395053, -0.997053, -0.0657581, 1.60718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.454085, -0.198062, -0.868664, 2.6228], [0.890647, -0.0751414, -0.448444, 3.72378], [0.0235472, -0.977305, 0.210524, 1.67436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.519081, -0.216084, -0.826959, 2.64979], [0.852958, -0.0687793, -0.517428, 3.72501], [0.0549304, -0.973949, 0.220013, 1.66717], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.624269, -0.0871762, -0.77633, 2.61167], [0.780827, -0.0385251, -0.623559, 3.69477], [0.0244512, -0.995448, 0.0921196, 1.61449], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.679919, -0.00252862, -0.733283, 2.50675], [0.732781, 0.0348198, -0.679573, 3.69056], [0.0272512, -0.99939, -0.0218215, 1.59921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.726833, 0.0654832, -0.683685, 2.39374], [0.68635, 0.105823, -0.71953, 3.61108], [0.0252324, -0.992227, -0.12186, 1.56369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.786816, -0.072629, -0.612899, 2.32461], [0.617184, -0.0956851, -0.780979, 3.58865], [-0.00192359, -0.992759, 0.120112, 1.55881], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.847754, -0.162982, -0.504727, 2.22196], [0.530057, -0.226666, -0.817106, 3.73567], [0.0187694, -0.960239, 0.278547, 1.66106], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.869216, -0.218953, -0.443309, 2.19963], [0.492073, -0.295602, -0.81883, 3.84598], [0.0482421, -0.929881, 0.364683, 1.70718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.926273, -0.102397, -0.362674, 2.16537], [0.376528, -0.211566, -0.901923, 3.81015], [0.0156246, -0.971985, 0.234523, 1.65506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.919327, 0.00314535, -0.393481, 2.02598], [0.393396, 0.0297332, -0.918888, 3.68045], [0.00880933, -0.999553, -0.028572, 1.53458], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.931957, 0.105758, -0.3468, 1.87254], [0.36254, 0.260126, -0.894929, 3.58951], [-0.00443432, -0.959766, -0.280768, 1.45869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.96101, 0.0882692, -0.262044, 1.75636], [0.273116, 0.451069, -0.849673, 3.707], [0.0431996, -0.888114, -0.45759, 1.41126], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.95899, 0.143281, -0.244558, 1.795], [0.282468, 0.554503, -0.782776, 3.76208], [0.0234511, -0.819754, -0.572235, 1.37053], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.953158, 0.154947, -0.25977, 1.85523], [0.300612, 0.580348, -0.756854, 3.79645], [0.0334851, -0.799492, -0.599743, 1.37146], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.982511, 0.0699284, -0.172575, 1.64855], [0.18334, 0.52526, -0.830956, 3.75955], [0.0325395, -0.848064, -0.528894, 1.39394], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.989724, 0.0651073, -0.12731, 1.43578], [0.142735, 0.503175, -0.852315, 3.63963], [0.00856718, -0.861728, -0.507298, 1.3965], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.992685, -0.0152913, -0.119754, 1.37741], [0.0975975, 0.482217, -0.870598, 3.40536], [0.0710599, -0.875918, -0.477198, 1.40193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.992753, -0.118854, 0.0177511, 1.34536], [-0.0748976, 0.496435, -0.864836, 3.33138], [0.0939767, -0.859899, -0.501739, 1.36634], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.956972, -0.233568, 0.172192, 1.21659], [-0.270308, 0.501713, -0.821716, 3.25579], [0.105536, -0.832905, -0.543261, 1.35596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.934055, -0.292317, 0.205162, 1.20064], [-0.339199, 0.546423, -0.765745, 3.34127], [0.111735, -0.784839, -0.609543, 1.33483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.885591, -0.365125, 0.287074, 1.22113], [-0.44928, 0.51667, -0.728834, 3.5218], [0.117793, -0.774426, -0.621602, 1.3353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.786694, -0.430651, 0.442326, 1.22464], [-0.61408, 0.472319, -0.632313, 3.49167], [0.063387, -0.76906, -0.636025, 1.33838], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.598776, -0.495847, 0.62897, 1.24272], [-0.800861, 0.361485, -0.47744, 3.27329], [0.00937393, -0.789598, -0.613553, 1.33849], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.446133, -0.535593, 0.717011, 1.30583], [-0.894857, 0.254442, -0.366728, 3.09267], [0.0139793, -0.805232, -0.592795, 1.34752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.206487, -0.570832, 0.794678, 1.38164], [-0.978408, 0.11305, -0.173021, 2.90469], [0.00892708, -0.813247, -0.58185, 1.38418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.0430653, -0.554621, 0.830987, 1.42789], [-0.998791, -0.00418519, 0.0489683, 2.61735], [-0.023681, -0.832092, -0.554132, 1.40317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.0593424, -0.415792, 0.907521, 1.31257], [-0.998093, -0.00926667, 0.0610192, 2.65287], [-0.0169616, -0.909413, -0.415549, 1.47596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.0755512, -0.443811, 0.892929, 1.24224], [-0.996957, -0.0164001, 0.0762017, 2.67709], [-0.0191751, -0.89597, -0.4437, 1.45784], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0773_00"}, {"annotation": [{"question_id": "test-scene0774-0", "question": "What is the u-shaped wooden table surrounded by?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-1", "question": "How many rectangular, brown trash cans are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-2", "question": "What color is the table in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-3", "question": "What is the color of the recycling bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-4", "question": "The trash can is beside what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-5", "question": "What is on the far right against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-6", "question": "What color is the chair on the far right of the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-7", "question": "What is in the center of the conference room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-8", "question": "Where is the chair in a conference room positioned?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-9", "question": "What shape is the table in the middle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-10", "question": "What color is the u shaped desk in a conference room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-11", "question": "What U-shaped object is in the middle of the conference room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-12", "question": "What color is the top of the recycling bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-13", "question": "What is near the corner of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-14", "question": "What is on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-15", "question": "What color is the table at the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-16", "question": "Where is the big brown table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-17", "question": "How many tables are pushed next to each other in center of room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-18", "question": "What color is the chair at the edge of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-19", "question": "Where is the oval table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-20", "question": "What is the position of the black chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-21", "question": "What is in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-22", "question": "What is right of a row of black chairs against a blue wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-23", "question": "What type of table is lying infron of the oval table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-24", "question": "In what part of the room is the chair placed with the other chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-25", "question": "What is on the right side of the tracsh can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-26", "question": "How many trashcans can be seen on the left side of the recycling bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-27", "question": "Where are the brown trash cans located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-28", "question": "How many brown trash cans are there ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-29", "question": "What type of desk is in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-30", "question": "The table is to the left side of the center desk beside what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-31", "question": "What chair is on the left side of the inverted-u-shaped desk in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-32", "question": "What is the last chair to the left side of the inverted-u-shaped center desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-33", "question": "The sixth chair is the last to the left side of what type of center desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-34", "question": "The chair is to the right side of what wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-35", "question": "The chair is against what part of the blue and white wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-36", "question": "How many feet are on the oval wooden side table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-37", "question": "What is pulled away from the horseshoe shaped desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-38", "question": "What color is the top to the trash bin on the right of the twin trash cans?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-39", "question": "How many thrash cans sit against the teal wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-40", "question": "What type of top does the oval table have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-41", "question": "What type of chair are you looking for?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-42", "question": "If you walk through the door and walk to your left, what will the chair be the last one on that side of the desk before it turns?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-43", "question": "What is next to a recycling bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-44", "question": "Where is the brown trash can that sits next to a recycling bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-45", "question": "What is the chair sitting in front of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-46", "question": "How many black chairs sit against the wall separate from the others?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-47", "question": "What are the chairs around?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0774-48", "question": "What color is the rug?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.143074, -0.427723, 0.892514, 6.20148], [-0.988798, -0.0230397, 0.147468, 2.0318], [-0.0425121, -0.903616, -0.426229, 1.52222], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.147139, -0.437546, 0.887075, 6.05264], [-0.988458, -0.0323562, 0.147996, 2.06293], [-0.0360527, -0.898614, -0.437257, 1.46354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.233511, -0.481022, 0.845038, 5.75293], [-0.971993, -0.0917895, 0.216343, 1.98929], [-0.0265, -0.87189, -0.488984, 1.43257], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.273297, -0.486808, 0.829654, 5.51893], [-0.96171, -0.119853, 0.246472, 1.95839], [-0.0205482, -0.865247, -0.500924, 1.41939], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.377901, -0.427463, 0.821259, 5.33985], [-0.925602, -0.194793, 0.324525, 1.88871], [0.021253, -0.882797, -0.469273, 1.43064], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.495725, -0.434845, 0.751775, 5.27879], [-0.868431, -0.239085, 0.434356, 1.69466], [-0.009139, -0.868187, -0.496154, 1.43618], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.395958, -0.400683, 0.826238, 5.48601], [-0.918251, -0.178264, 0.353604, 1.67319], [0.00560527, -0.898707, -0.438513, 1.44058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.487833, -0.285824, 0.824817, 5.7828], [-0.872608, -0.133743, 0.469752, 1.61909], [-0.0239526, -0.948903, -0.314657, 1.50916], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.636648, -0.239373, 0.733061, 6.00275], [-0.769465, -0.134314, 0.624406, 1.60965], [-0.0510053, -0.961593, -0.2697, 1.48966], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.7277, -0.175123, 0.663162, 6.17239], [-0.684933, -0.134338, 0.716114, 1.77223], [-0.0363207, -0.975339, -0.217705, 1.51475], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.840168, -0.157501, 0.518951, 6.34704], [-0.541393, -0.18752, 0.81959, 1.89638], [-0.0317725, -0.969551, -0.242819, 1.48476], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.94082, -0.127715, 0.313921, 6.5191], [-0.337759, -0.277185, 0.899492, 2.02741], [-0.0278648, -0.95229, -0.303919, 1.44953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.986271, -0.0622672, 0.152945, 6.71904], [-0.165078, -0.396103, 0.903245, 2.18994], [0.00433958, -0.916093, -0.400944, 1.42277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.998836, 0.0214332, -0.043197, 7.02438], [0.0482066, -0.421296, 0.90564, 2.08579], [0.00121206, -0.90667, -0.42184, 1.43058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.997542, -0.0601904, 0.0358605, 7.14877], [-0.0568471, -0.396139, 0.916429, 2.1931], [-0.0409544, -0.916216, -0.398587, 1.43702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.997738, -0.0491531, 0.0458388, 7.14509], [-0.0618441, -0.404374, 0.9125, 2.54146], [-0.0263162, -0.913272, -0.406499, 1.46575], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.994113, -0.044834, 0.0986307, 7.19423], [-0.10824, -0.371424, 0.922132, 2.88459], [-0.00470904, -0.92738, -0.374091, 1.50484], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.992765, -0.0235846, 0.117726, 7.05581], [-0.11872, -0.339214, 0.933187, 3.20178], [0.0179257, -0.940413, -0.339561, 1.50836], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.999593, 0.026755, -0.00990883, 7.01033], [0.01931, -0.378758, 0.925294, 3.53762], [0.0210033, -0.925109, -0.37912, 1.50722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.995855, 0.0547384, -0.0726283, 7.00376], [0.0892627, -0.435366, 0.895817, 3.90109], [0.0174157, -0.898588, -0.438448, 1.49484], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.970121, 0.104948, -0.218749, 6.9044], [0.242608, -0.428952, 0.870138, 4.25264], [-0.00251362, -0.89721, -0.441597, 1.50045], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.908433, 0.196799, -0.368808, 6.94534], [0.416639, -0.354324, 0.837177, 4.60338], [0.034078, -0.91418, -0.403874, 1.54201], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.861613, 0.230793, -0.452058, 6.88143], [0.505851, -0.317337, 0.802129, 4.97035], [0.0416713, -0.9198, -0.390169, 1.52727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.734926, 0.291122, -0.612479, 6.9229], [0.677436, -0.27384, 0.682709, 5.31095], [0.0310307, -0.916657, -0.398469, 1.56145], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.726701, 0.310779, -0.612634, 6.90383], [0.685234, -0.264891, 0.678444, 5.60849], [0.0485649, -0.912825, -0.405453, 1.55971], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.725858, 0.295231, -0.621263, 6.88225], [0.687815, -0.303294, 0.659486, 5.88181], [0.00627571, -0.906008, -0.423214, 1.56663], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.603801, 0.397314, -0.69106, 6.9496], [0.797122, -0.305853, 0.520625, 6.14489], [-0.00451082, -0.865214, -0.501382, 1.54583], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.396089, 0.446097, -0.802565, 6.87562], [0.91643, -0.137625, 0.375787, 6.36331], [0.0571848, -0.88434, -0.463329, 1.57118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.206724, 0.447545, -0.870039, 6.90206], [0.977646, -0.0596066, 0.20163, 6.67792], [0.0383788, -0.892272, -0.449863, 1.60533], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.0526016, 0.424241, -0.90402, 6.86244], [0.998419, -0.00439174, 0.0560335, 6.97311], [0.0198016, -0.905539, -0.423802, 1.6114], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.313857, 0.401985, -0.860175, 6.88663], [0.948679, 0.169737, -0.266827, 7.27012], [0.0387432, -0.899776, -0.434629, 1.6274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.521595, 0.459611, -0.718816, 6.98493], [0.853077, 0.294871, -0.430478, 7.49682], [0.0141056, -0.83774, -0.545887, 1.61484], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.535356, 0.451929, -0.71355, 6.87852], [0.843891, 0.321434, -0.429566, 7.52634], [0.0352255, -0.83213, -0.553461, 1.61443], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.489667, 0.417651, -0.765371, 6.5813], [0.87125, 0.268513, -0.410882, 7.51077], [0.033907, -0.868026, -0.49536, 1.64867], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.360812, 0.45324, -0.8151, 6.28529], [0.931971, 0.208269, -0.296737, 7.56069], [0.0352669, -0.866716, -0.497553, 1.66133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.262706, 0.430048, -0.863738, 6.05365], [0.962939, 0.173534, -0.206476, 7.41838], [0.0610936, -0.885971, -0.459699, 1.67826], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.272629, 0.446422, -0.852279, 5.79934], [0.960224, 0.18182, -0.211922, 7.34098], [0.060355, -0.876155, -0.478235, 1.65816], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.2886, 0.396917, -0.871301, 5.46601], [0.957245, 0.138394, -0.254022, 7.42388], [0.0197574, -0.907361, -0.419888, 1.6893], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.170355, 0.32321, -0.930867, 5.13029], [0.983952, 0.106686, -0.143027, 7.40798], [0.053083, -0.940294, -0.336197, 1.71648], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.142193, 0.253128, -0.956925, 4.89398], [0.988988, 0.0763912, -0.12675, 7.42598], [0.0410168, -0.964412, -0.261203, 1.75791], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.0428696, 0.179982, -0.982735, 4.71087], [0.997441, 0.06404, -0.0317825, 7.35781], [0.0572142, -0.981583, -0.182267, 1.80388], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.0406562, 0.112309, -0.992841, 4.60408], [0.997786, 0.0568965, -0.0344226, 7.18933], [0.0526233, -0.992043, -0.114373, 1.85078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.207429, 0.0984274, -0.973285, 4.44765], [0.976908, 0.0729239, -0.200826, 7.29474], [0.051209, -0.992469, -0.111281, 1.78015], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.244593, 0.127798, -0.961167, 4.03735], [0.966505, 0.111605, -0.231113, 7.38871], [0.0777355, -0.985501, -0.150815, 1.97276], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.470871, 0.280547, -0.836405, 3.91425], [0.879904, 0.217729, -0.422329, 7.35329], [0.063627, -0.934819, -0.349377, 1.80323], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.544265, 0.298387, -0.784054, 3.63951], [0.838771, 0.210742, -0.502046, 7.39625], [0.0154289, -0.930888, -0.364978, 1.78908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.596615, 0.136961, -0.790753, 3.39755], [0.797585, 0.210377, -0.565331, 7.30492], [0.0889279, -0.967979, -0.234753, 1.82862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.681597, 0.0825412, -0.727056, 3.10828], [0.725606, 0.204498, -0.657021, 7.26076], [0.0944501, -0.975381, -0.199278, 1.92338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.777383, 0.0527208, -0.626814, 2.9496], [0.625555, 0.169344, -0.761578, 7.12318], [0.0659965, -0.984146, -0.164626, 1.91789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.828321, 0.0329368, -0.559284, 2.85334], [0.559007, 0.115134, -0.82113, 6.97105], [0.037347, -0.992804, -0.11378, 1.8861], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.896124, 0.0236893, -0.44317, 2.65089], [0.441876, 0.140585, -0.885992, 6.80665], [0.0413146, -0.989785, -0.136449, 1.87601], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.941474, 0.0522421, -0.333012, 2.52443], [0.336283, 0.213662, -0.917203, 6.657], [0.0232353, -0.97551, -0.218725, 1.74154], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.955891, 0.0480445, -0.289763, 2.52456], [0.289971, 0.311451, -0.904939, 6.40404], [0.0467695, -0.949047, -0.311645, 1.65248], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.986873, 0.0349592, -0.157663, 2.39335], [0.1582, 0.405424, -0.900335, 6.38136], [0.0324454, -0.91346, -0.405633, 1.58566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.998163, -0.0143577, -0.0588527, 2.23263], [0.0444402, 0.486679, -0.87245, 6.52948], [0.0411687, -0.873463, -0.485147, 1.53466], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.997549, -0.0433333, 0.0549231, 2.06979], [-0.068602, 0.452003, -0.889374, 6.76633], [0.013714, -0.890963, -0.453868, 1.57873], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.962457, -0.115315, 0.245721, 1.80714], [-0.271297, 0.437452, -0.857341, 6.868], [-0.00862738, -0.891817, -0.452314, 1.58799], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.904479, -0.164525, 0.393509, 1.76362], [-0.42618, 0.385351, -0.818459, 6.96516], [-0.0169825, -0.907985, -0.418659, 1.5843], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.789683, -0.244053, 0.562883, 1.84702], [-0.613319, 0.337174, -0.71425, 6.87301], [-0.0154751, -0.909259, -0.415943, 1.55352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.703873, -0.324619, 0.63181, 1.92131], [-0.710072, 0.345276, -0.613662, 6.64497], [-0.0189427, -0.880572, -0.473534, 1.5504], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.609284, -0.405355, 0.681513, 1.92051], [-0.79295, 0.312974, -0.522758, 6.43697], [-0.00139317, -0.858915, -0.512116, 1.56187], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.601729, -0.407018, 0.68721, 2.17354], [-0.798477, 0.286259, -0.529612, 6.29323], [0.0188412, -0.867405, -0.497246, 1.5472], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.44267, -0.450916, 0.775059, 2.3865], [-0.896538, 0.206966, -0.391642, 6.1667], [0.0161868, -0.868239, -0.495882, 1.55292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.276196, -0.456693, 0.845663, 2.45467], [-0.96109, 0.135329, -0.240812, 5.93698], [-0.004466, -0.879271, -0.476301, 1.57419], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.453886, -0.369498, 0.810838, 2.66994], [-0.890059, 0.231106, -0.392917, 5.70685], [-0.0422079, -0.900034, -0.433771, 1.56435], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.566563, -0.364704, 0.738916, 2.83777], [-0.823731, 0.274319, -0.4962, 5.51996], [-0.0217325, -0.889798, -0.455838, 1.56483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.661161, -0.297894, 0.688567, 2.89703], [-0.749445, 0.304575, -0.587848, 5.31771], [-0.0346037, -0.904706, -0.424629, 1.57945], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.768565, -0.268676, 0.58062, 3.01036], [-0.639174, 0.361644, -0.678726, 5.33832], [-0.0276201, -0.892764, -0.449678, 1.57257], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.908428, -0.203944, 0.364916, 2.9789], [-0.417973, 0.45874, -0.784127, 5.35922], [-0.00748351, -0.864849, -0.501976, 1.54675], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.949992, -0.1487, 0.274594, 2.664], [-0.311955, 0.491519, -0.813076, 5.46047], [-0.0140636, -0.858078, -0.513327, 1.53618], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.981541, -0.0619376, 0.180944, 2.42375], [-0.187486, 0.498439, -0.846408, 5.37281], [-0.0377653, -0.864709, -0.500851, 1.53511], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.999764, 0.0164655, 0.0141657, 2.15911], [-0.00417637, 0.494282, -0.869291, 5.0677], [-0.0213152, -0.869146, -0.494096, 1.56335], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.999922, 0.00475607, 0.0115322, 1.91611], [-0.00830143, 0.436327, -0.899749, 4.97556], [-0.00931117, -0.899775, -0.436254, 1.58511], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.995782, -0.0122736, -0.090922, 1.80768], [0.0831701, 0.297615, -0.951056, 4.80988], [0.0387325, -0.954607, -0.295339, 1.60397], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.997403, 0.00830369, -0.071538, 1.80873], [0.0719982, 0.138515, -0.987739, 4.63233], [0.00170717, -0.990326, -0.138754, 1.70137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.962983, -0.0356333, 0.267196, 1.75699], [-0.268703, 0.0478475, -0.962034, 4.33733], [0.0214957, -0.998219, -0.0556511, 1.78538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.95662, -0.0959039, 0.275098, 1.87184], [-0.289426, 0.204895, -0.935013, 4.19126], [0.033305, -0.974074, -0.223764, 1.6093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.891946, -0.191038, 0.409801, 1.78818], [-0.451536, 0.329465, -0.829197, 4.01421], [0.0233929, -0.924639, -0.380125, 1.51818], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.843376, -0.204523, 0.496877, 1.73897], [-0.536554, 0.370009, -0.758421, 3.843], [-0.0287345, -0.906236, -0.421794, 1.49823], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.767402, -0.283213, 0.575225, 1.84254], [-0.641152, 0.344977, -0.685504, 3.56896], [-0.00429595, -0.894864, -0.446318, 1.4714], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.594209, -0.357473, 0.720505, 1.9061], [-0.804225, 0.277039, -0.525804, 3.23913], [-0.011647, -0.891887, -0.452108, 1.47519], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.516318, -0.385086, 0.764934, 2.04521], [-0.856385, 0.227547, -0.463493, 2.9811], [0.0044267, -0.894389, -0.447269, 1.45812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.418434, -0.406529, 0.812186, 2.02293], [-0.9081, 0.203326, -0.366076, 2.67674], [-0.0163179, -0.890726, -0.454248, 1.45111], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.212386, -0.442054, 0.871481, 1.90831], [-0.976957, 0.115323, -0.179594, 2.36404], [-0.0211117, -0.889544, -0.456362, 1.47635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.0102912, -0.431492, 0.902058, 2.07221], [-0.999653, 0.0263101, 0.0011805, 2.11219], [-0.0242426, -0.901733, -0.431613, 1.49253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.1264, -0.436657, 0.890703, 2.25664], [-0.991965, -0.0604046, 0.111158, 1.86189], [0.00526479, -0.897598, -0.440784, 1.49387], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.135174, -0.43162, 0.89187, 2.53817], [-0.990755, -0.0484462, 0.126716, 1.81835], [-0.0114854, -0.900754, -0.434178, 1.50097], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.116087, -0.468235, 0.875945, 2.82156], [-0.993148, -0.0428326, 0.108723, 1.81672], [-0.013389, -0.882565, -0.47, 1.50132], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.155053, -0.451987, 0.878445, 3.14699], [-0.987905, -0.0695864, 0.138568, 1.77028], [-0.00150328, -0.889306, -0.45731, 1.50705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.172981, -0.429211, 0.886484, 3.48937], [-0.98471, -0.0565582, 0.164764, 1.83476], [-0.0205807, -0.901432, -0.432432, 1.50249], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.284591, -0.41267, 0.865281, 3.87119], [-0.958127, -0.0926638, 0.270935, 1.81048], [-0.0316264, -0.906155, -0.421761, 1.48774], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.287672, -0.412861, 0.86417, 4.25717], [-0.957488, -0.103753, 0.269168, 1.81775], [-0.0214689, -0.904865, -0.425157, 1.47382], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.322263, -0.430393, 0.843153, 4.67733], [-0.9456, -0.104418, 0.308118, 1.74393], [-0.0445715, -0.896582, -0.44063, 1.47468], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.295602, -0.416652, 0.859662, 5.06981], [-0.955113, -0.110578, 0.27483, 1.68819], [-0.0194486, -0.902315, -0.430637, 1.4665], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.308595, -0.43114, 0.847872, 5.43857], [-0.951017, -0.122694, 0.283746, 1.74341], [-0.0183055, -0.893904, -0.447885, 1.46438], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.398416, -0.395359, 0.82762, 5.79141], [-0.917026, -0.153924, 0.367926, 1.61031], [-0.0180727, -0.905538, -0.423881, 1.49126], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.454061, -0.300399, 0.838802, 6.08641], [-0.890951, -0.159315, 0.425234, 1.64431], [0.0058943, -0.940414, -0.33998, 1.51463], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.572457, -0.336214, 0.747832, 6.29077], [-0.819929, -0.231556, 0.523543, 1.67218], [-0.00285752, -0.912876, -0.408228, 1.48127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.786071, -0.225075, 0.575701, 6.3951], [-0.616508, -0.352987, 0.703787, 1.66904], [0.0448106, -0.908153, -0.416234, 1.4267], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.866619, -0.152001, 0.475254, 6.59856], [-0.493121, -0.406303, 0.769252, 1.70483], [0.07617, -0.901007, -0.427065, 1.40483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.977492, -0.081117, 0.194751, 6.77222], [-0.210908, -0.397962, 0.892829, 1.61866], [0.00508004, -0.913809, -0.406113, 1.4432], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.990049, -0.0279958, 0.13791, 6.94534], [-0.13354, -0.496019, 0.857981, 1.48661], [0.0443861, -0.86786, -0.494822, 1.42131], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.99345, -0.0315163, 0.109837, 6.95009], [-0.109707, -0.531938, 0.839646, 1.45683], [0.0319638, -0.846197, -0.531911, 1.41705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.998716, 0.0502049, -0.00677276, 6.90366], [0.030927, -0.498345, 0.866427, 1.51964], [0.0401237, -0.865524, -0.499258, 1.43502], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0774_00"}, {"annotation": [{"question_id": "test-scene0775-0", "question": "What is the door on the left of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-1", "question": "What color is the flusher?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-2", "question": "What color is the toilet seat in the middle of two other toilet seats?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-3", "question": "What is on the left and right sides of the counter top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-4", "question": "What is near the counter top with the double well round sink in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-5", "question": "What is above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-6", "question": "On what side of the mirror is the hand soap dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-7", "question": "What is the well in the sink on the left side of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-8", "question": "What is in the second stall from the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-9", "question": "Where are the bathroom stalls located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-10", "question": "What is to the left of the sinks?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-11", "question": "How many bathroom stalls are there ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-12", "question": "On what side of the sink is the soap dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-13", "question": "Where is the soap dispenser located above the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-14", "question": "What is the color of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-15", "question": "What is located on the right inside a bathroom stall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-16", "question": "What color is the bathroom stall door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-17", "question": "How is the bathroom stall door spaced?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-18", "question": "On what side of the room is the toilet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-19", "question": "What is on the wall of the vanity?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-20", "question": "What is on top of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-21", "question": "What is the middle toilet attached to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-22", "question": "The bathroom stall door is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-23", "question": "How many sinks does the counter have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-24", "question": "The toilet is attached to what part of the house?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-25", "question": "What is hung on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-26", "question": "What is open in a bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-27", "question": "Is the white bathroom stall door open or closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-28", "question": "What is a bathroom stall door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-29", "question": "Where is a dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-30", "question": "What is on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-31", "question": "Where is a toilet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-32", "question": "What is on the bathroom surface?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-33", "question": "What kind of dispenser is on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-34", "question": "What is in front of the first open bathroom toilet stall on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-35", "question": "What is behind the open white door in front of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-36", "question": "What shape is the white sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-37", "question": "How many open stalls are in this restroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-38", "question": "Is the sway door to the stall right of the sink open or closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-39", "question": "Where is the left side sink well located in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-40", "question": "What is the last toilet near the left wall in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-41", "question": "How many toilets are in line in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-42", "question": "How many bathroom stalls are on the left ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-43", "question": "What can be seen inside the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-44", "question": "What is seen past the leftmost white stall door when back is against the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-45", "question": "What color is the bathroom stall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-46", "question": "What are on the right and left sides of the washbasins?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-47", "question": "What color is the sink on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-48", "question": "What color is the toilet in the stall second from the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-49", "question": "How does the white bathroom stall door open into the stall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-50", "question": "What type of dispenser can be seen above the bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-51", "question": "What is on the right of the bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-52", "question": "What object is on the left side of the sinks ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-53", "question": "How many sinks are in the bathroom ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-54", "question": "The paper dispenser is hanged on the wall above what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-55", "question": "On the right of the paper dispenser is what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-56", "question": "What is attached to the wall on each side of the sinks?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-57", "question": "What is on the wall to the right of the righthand sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-58", "question": "Where is the bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-59", "question": "How many bathroom stalls have a white metal door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-60", "question": "What do you do when facing the bathroom stalls?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-61", "question": "How many toilets are in this restroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-62", "question": "What is placed between the two sinks?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-63", "question": "What is the toilet in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-64", "question": "What is on the right side of the vanity?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-65", "question": "On what side of the vanity is the foaming soap dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-66", "question": "The swinging door to the bathroom stall nearest the brown rectangular door is which one from the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-67", "question": "What is on the left side of the leftmost sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-68", "question": "What is on the left side of the rightmost sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-69", "question": "Where is the trash bin located in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-70", "question": "Where is the trash bin in relation to the sinks?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-71", "question": "To the left of what is the dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-72", "question": "Where is the trash ben?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-73", "question": "What is to the left of the vanity in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-74", "question": "The trash bin is to the left of what in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-75", "question": "What is on the wall near the toiletry dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-76", "question": "What color is the toiletry dispenser on the wall near a towel dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-77", "question": "If you face the four bathroom stalls, what do you need to find?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0775-78", "question": "What color metal door does a bathroom stall have?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.889676, -0.210762, 0.405038, 3.15668], [-0.456488, -0.429563, 0.779163, 2.06779], [0.00977118, -0.878098, -0.478382, 1.42664], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.895424, -0.193536, 0.400949, 3.17664], [-0.444469, -0.440701, 0.779891, 2.0827], [0.0257623, -0.876542, -0.480635, 1.40703], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.884182, -0.219794, 0.412204, 3.10171], [-0.466166, -0.472141, 0.748179, 2.11088], [0.030173, -0.853682, -0.51992, 1.37591], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.808537, -0.359493, 0.465867, 2.90825], [-0.588445, -0.493041, 0.640814, 2.15734], [-0.000676692, -0.79226, -0.610184, 1.3269], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.765862, -0.343494, 0.543569, 2.94007], [-0.642936, -0.421509, 0.639503, 2.13668], [0.0094533, -0.839251, -0.543662, 1.40842], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.739803, -0.267575, 0.617329, 3.11886], [-0.670751, -0.36527, 0.645501, 2.28784], [0.0527717, -0.891617, -0.449704, 1.50485], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.640042, -0.268934, 0.719737, 3.28659], [-0.767758, -0.260321, 0.585475, 2.34351], [0.029908, -0.927312, -0.373093, 1.54706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.592824, -0.181932, 0.784513, 3.38427], [-0.804119, -0.187184, 0.56423, 2.32334], [0.0441968, -0.965331, -0.257262, 1.60216], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.412511, -0.10815, 0.90451, 3.26357], [-0.90912, -0.11183, 0.401243, 2.32142], [0.0577566, -0.987825, -0.144452, 1.64688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.271385, -0.0189073, 0.962285, 3.13049], [-0.961546, -0.0491463, 0.270211, 2.2405], [0.0421837, -0.998613, -0.031518, 1.73993], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.213387, 0.0475577, 0.975809, 2.99486], [-0.974789, -0.0563084, 0.215908, 2.14362], [0.0652144, -0.99728, 0.0343432, 1.79899], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.128847, 0.0923496, 0.987355, 2.87483], [-0.990631, -0.0334563, 0.132403, 2.17171], [0.0452606, -0.995165, 0.0871736, 1.81977], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.00911629, -0.0901171, 0.99589, 2.83684], [-0.999541, -0.0279488, -0.0116788, 2.28642], [0.0288864, -0.995539, -0.0898209, 1.68852], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.0190624, -0.282218, 0.959161, 3.0362], [-0.999818, 0.00596693, -0.0181147, 2.35613], [-0.000610918, -0.959332, -0.282281, 1.55371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.0384396, -0.379751, 0.92429, 3.20073], [-0.999209, 0.0240758, -0.0316637, 2.44278], [-0.0102286, -0.924775, -0.380376, 1.48978], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.235121, -0.350872, 0.906425, 3.25523], [-0.971635, 0.109192, -0.209769, 2.62067], [-0.0253726, -0.930036, -0.366593, 1.51324], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.341885, -0.312588, 0.88623, 3.30347], [-0.93933, 0.0857405, -0.332127, 2.66181], [0.0278332, -0.946011, -0.322937, 1.56131], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.38206, -0.143893, 0.912866, 3.30106], [-0.923995, 0.0420975, -0.380082, 2.59259], [0.0162618, -0.988698, -0.14904, 1.66736], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.425136, -0.0304073, 0.904619, 3.2926], [-0.900758, -0.0838902, -0.426142, 2.50757], [0.0888466, -0.996011, 0.00827517, 1.7822], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.561699, 0.0044879, 0.82733, 3.39277], [-0.827081, -0.0281423, -0.561377, 2.51749], [0.0207636, -0.999594, 0.0195193, 1.8383], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.623739, -0.116625, 0.772883, 3.51413], [-0.780728, 0.0453928, -0.623221, 2.59017], [0.0375997, -0.992138, -0.119365, 1.71119], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.704583, -0.226628, 0.67246, 3.5606], [-0.707729, 0.155254, -0.689214, 2.61149], [0.0517929, -0.961528, -0.269781, 1.60565], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.70144, -0.222115, 0.677235, 3.67608], [-0.703977, 0.0674598, -0.707012, 2.63204], [0.111352, -0.972684, -0.203683, 1.58529], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.726685, -0.0597091, 0.684371, 3.92343], [-0.685001, -0.0124048, -0.728436, 2.65723], [0.0519837, -0.998139, -0.0318864, 1.70202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.755148, 0.00498585, 0.655535, 4.08174], [-0.654686, -0.0571696, -0.753736, 2.71748], [0.0337186, -0.998352, 0.0464357, 1.76714], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.828989, -0.130957, 0.543717, 4.23048], [-0.554103, 0.0605267, -0.830245, 2.57549], [0.0758169, -0.989539, -0.122739, 1.6472], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.869997, -0.187933, 0.455836, 4.4106], [-0.488874, 0.208615, -0.847043, 2.55051], [0.0640932, -0.959771, -0.27337, 1.5363], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.965635, -0.125746, 0.227459, 4.57958], [-0.257436, 0.342481, -0.903567, 2.557], [0.0357193, -0.931072, -0.363083, 1.4986], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.97069, -0.11977, 0.208365, 4.48673], [-0.239682, 0.418556, -0.875993, 2.56784], [0.0177054, -0.900259, -0.434994, 1.47006], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.996364, -0.0680261, 0.0512981, 4.47114], [-0.0771287, 0.464366, -0.882278, 2.61421], [0.0361969, -0.883027, -0.467925, 1.43444], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.979505, 0.106163, -0.171172, 4.61877], [0.201133, 0.470136, -0.859371, 2.55144], [-0.010759, -0.876186, -0.481853, 1.44885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.950122, 0.160397, -0.267471, 4.6136], [0.311787, 0.467806, -0.827011, 2.57311], [-0.00752562, -0.869155, -0.494482, 1.46005], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.949376, 0.181718, -0.256249, 4.59054], [0.312796, 0.471395, -0.824588, 2.65739], [-0.0290484, -0.862998, -0.504372, 1.44922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.906478, 0.27118, -0.323667, 4.67897], [0.421714, 0.542658, -0.726416, 2.65222], [-0.0213485, -0.794974, -0.606268, 1.44577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.869239, 0.306149, -0.388197, 4.6645], [0.494302, 0.523118, -0.694272, 2.67698], [-0.00947743, -0.795375, -0.606044, 1.45417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.833257, 0.325844, -0.446664, 4.56499], [0.552885, 0.492703, -0.671984, 2.66412], [0.00111027, -0.806889, -0.590702, 1.46486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.791716, 0.363917, -0.490663, 4.40297], [0.61081, 0.45859, -0.645452, 2.66211], [-0.00987765, -0.810716, -0.585356, 1.47559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.731902, 0.391313, -0.557848, 4.2741], [0.68124, 0.401863, -0.611898, 2.6189], [-0.0152648, -0.827877, -0.560702, 1.4914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.693712, 0.361344, -0.623051, 4.06283], [0.720224, 0.355587, -0.59568, 2.57641], [0.00630352, -0.861968, -0.506924, 1.5083], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.731339, 0.303959, -0.610534, 3.85089], [0.681763, 0.301541, -0.666538, 2.67217], [-0.0184992, -0.903705, -0.427756, 1.53592], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.730737, 0.259973, -0.63122, 3.71601], [0.68205, 0.23897, -0.691159, 2.72853], [-0.0288399, -0.935579, -0.351939, 1.58463], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.75367, 0.185376, -0.630569, 3.66855], [0.657193, 0.199648, -0.7268, 2.74717], [-0.00883929, -0.962173, -0.272297, 1.62175], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.788575, 0.183374, -0.586962, 3.67107], [0.614865, 0.220273, -0.757246, 2.73728], [-0.00956739, -0.958047, -0.286451, 1.59444], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.700251, 0.180773, -0.69063, 3.58702], [0.71297, 0.226366, -0.663651, 2.68422], [0.0363645, -0.957121, -0.287399, 1.58055], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.695135, 0.12306, -0.708268, 3.39858], [0.718806, 0.133068, -0.682357, 2.64888], [0.0102765, -0.983438, -0.180956, 1.64374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.74437, 0.0314819, -0.667026, 3.19444], [0.667636, 0.0549567, -0.742457, 2.70019], [0.0132835, -0.997992, -0.0619263, 1.71094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.794129, -0.0183474, -0.607471, 3.15437], [0.607665, -0.007442, -0.794158, 2.72944], [0.0100499, -0.999804, 0.0170589, 1.74253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.777498, 0.119161, -0.617494, 3.06986], [0.628874, 0.141209, -0.764577, 2.68304], [-0.00391239, -0.982782, -0.184727, 1.64076], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.758208, 0.220078, -0.613749, 2.98342], [0.65191, 0.239054, -0.71963, 2.59032], [-0.0116553, -0.945737, -0.324723, 1.57018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.759806, 0.38227, -0.525894, 3.02719], [0.648018, 0.379823, -0.660158, 2.59193], [-0.0526123, -0.84238, -0.536309, 1.45837], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.637483, 0.42012, -0.645844, 3.03338], [0.770166, 0.37082, -0.518978, 2.56323], [0.0214589, -0.828247, -0.559953, 1.47134], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.449075, 0.414892, -0.791326, 3.02886], [0.893315, 0.226239, -0.388336, 2.43487], [0.0179111, -0.881295, -0.472228, 1.55318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.606016, 0.318634, -0.728847, 2.94712], [0.795402, 0.253123, -0.550695, 2.50497], [0.00901763, -0.913456, -0.406838, 1.57094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.522044, 0.208194, -0.827119, 2.88693], [0.850515, 0.199833, -0.48651, 2.48016], [0.063997, -0.957456, -0.281393, 1.62744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.346172, 0.137713, -0.928009, 2.83088], [0.938129, 0.0601391, -0.341023, 2.3383], [0.00884637, -0.988645, -0.150011, 1.67664], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.190727, 0.0229527, -0.981375, 2.75592], [0.975977, 0.111694, -0.187065, 2.26593], [0.10532, -0.993478, -0.0437043, 1.6814], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.0326464, 0.0193133, -0.99928, 2.64213], [0.99399, 0.105154, -0.0304411, 2.2036], [0.104491, -0.994269, -0.0226302, 1.68309], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.255552, 0.0699997, -0.964258, 2.59209], [0.963463, 0.0642968, 0.260009, 2.05258], [0.0801991, -0.995473, -0.051011, 1.66889], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.329505, 0.147867, -0.932503, 2.51012], [0.934544, 0.0894749, 0.344414, 1.97077], [0.134363, -0.984952, -0.108706, 1.59844], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.285068, 0.276069, -0.91789, 2.41102], [0.956285, -0.0167393, 0.291957, 1.97452], [0.0652355, -0.960992, -0.268772, 1.45775], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.271452, 0.457542, -0.84674, 2.46705], [0.961203, -0.0840797, 0.262714, 1.87106], [0.0490091, -0.885204, -0.462615, 1.37803], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.409698, 0.491961, -0.768194, 2.43988], [0.909199, -0.151726, 0.387733, 1.86626], [0.0741944, -0.857295, -0.509452, 1.36352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.471111, 0.336201, -0.81549, 2.24493], [0.877503, -0.0846325, 0.472044, 2.0011], [0.0896849, -0.93798, -0.334889, 1.43811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.57686, 0.221949, -0.786111, 2.13949], [0.806299, -0.000590026, 0.591508, 2.02936], [0.130821, -0.975058, -0.179298, 1.53118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.679131, 0.13031, -0.722358, 2.10691], [0.724845, 0.0360351, 0.687969, 1.9237], [0.115679, -0.990818, -0.0699821, 1.62101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.754313, 0.0711372, -0.65265, 2.13714], [0.645348, 0.102233, 0.757017, 1.9004], [0.120574, -0.992214, 0.0312071, 1.73098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.823337, 0.0869282, -0.560856, 2.17437], [0.548417, 0.132588, 0.825626, 1.8934], [0.146133, -0.987352, 0.0614919, 1.77511], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.879019, 0.0374517, -0.475313, 2.20916], [0.462617, 0.174232, 0.869269, 1.89403], [0.11537, -0.983992, 0.135827, 1.73292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.829329, 0.150517, -0.538107, 2.24911], [0.537983, 0.0450846, 0.841749, 1.90053], [0.150958, -0.987579, -0.0435858, 1.49187], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.78466, 0.218704, -0.580066, 2.38326], [0.611727, -0.121482, 0.781686, 1.83624], [0.10049, -0.9682, -0.229109, 1.49061], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.8274, 0.241739, -0.506924, 2.43343], [0.55793, -0.250589, 0.791151, 1.76384], [0.0642224, -0.937426, -0.34221, 1.41198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.902381, 0.211492, -0.375472, 2.44596], [0.426322, -0.310929, 0.849454, 1.7438], [0.0629074, -0.926604, -0.37074, 1.39997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.97699, 0.141675, -0.15943, 2.47832], [0.199295, -0.340164, 0.919005, 1.80167], [0.0759675, -0.929632, -0.360573, 1.43218], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.998112, 0.0602122, 0.0121138, 2.54166], [0.00733328, -0.312655, 0.949839, 1.82825], [0.0609794, -0.947957, -0.312506, 1.47841], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.998697, -0.037029, 0.0351078, 2.58244], [-0.0463688, -0.371396, 0.927316, 1.86674], [-0.0212986, -0.927736, -0.372629, 1.43855], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.998222, -0.0326033, 0.0498981, 2.58567], [-0.0595883, -0.565877, 0.822333, 1.86516], [0.00142539, -0.823845, -0.566814, 1.34122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.98345, -0.111641, 0.142696, 2.68689], [-0.180126, -0.517703, 0.836384, 1.91149], [-0.0195006, -0.848246, -0.529244, 1.35901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.957065, -0.123603, 0.262199, 2.93095], [-0.289701, -0.438986, 0.850509, 2.04369], [0.00997601, -0.889951, -0.455947, 1.40482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.935677, -0.150292, 0.31925, 3.08484], [-0.352496, -0.439034, 0.826436, 2.14619], [0.0159543, -0.885811, -0.463771, 1.43862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.917743, -0.140468, 0.371505, 3.16671], [-0.394605, -0.428695, 0.812716, 2.14915], [0.0451016, -0.892463, -0.448861, 1.44281], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.980405, -0.076448, 0.181553, 3.38596], [-0.195592, -0.487458, 0.850957, 2.23137], [0.0234456, -0.869793, -0.492859, 1.3888], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.997174, 0.0477461, -0.0580065, 3.71739], [0.0732289, -0.445122, 0.892471, 2.19419], [0.0167921, -0.894197, -0.44736, 1.38917], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.960293, 0.154952, -0.232007, 3.94942], [0.278125, -0.46613, 0.839863, 2.20543], [0.0219929, -0.871041, -0.490717, 1.34195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.909706, 0.238097, -0.340214, 4.16698], [0.413382, -0.441537, 0.796342, 2.22735], [0.03939, -0.865075, -0.500094, 1.3579], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.767274, 0.330575, -0.549554, 4.31555], [0.641305, -0.389851, 0.660866, 2.12218], [0.00422198, -0.859498, -0.511122, 1.37749], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.795941, 0.213122, -0.566619, 4.23036], [0.605243, -0.260692, 0.752144, 2.06783], [0.0125855, -0.941604, -0.336486, 1.45813], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.688272, 0.223123, -0.690288, 3.98709], [0.724002, -0.151125, 0.67304, 1.99209], [0.0458509, -0.963004, -0.265557, 1.46845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.627224, 0.139635, -0.766219, 3.81205], [0.775461, -0.0204321, 0.631065, 2.08309], [0.0724633, -0.989992, -0.121097, 1.51859], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.684376, 0.0323579, -0.728411, 3.60366], [0.725824, 0.0647788, 0.684823, 2.01251], [0.069345, -0.997375, 0.0208468, 1.63681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.64249, -0.0421461, -0.765134, 3.48233], [0.762313, 0.136803, 0.632585, 1.89837], [0.0780118, -0.989701, 0.120023, 1.68636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.635421, -0.0168536, -0.771982, 3.3105], [0.768727, 0.108061, 0.630382, 1.92627], [0.0727973, -0.994002, 0.0816202, 1.61862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.722504, 0.0861252, -0.685982, 3.05023], [0.681805, 0.07569, 0.727608, 1.93988], [0.114587, -0.993405, -0.00403422, 1.57709], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.798953, 0.16939, -0.577046, 2.75425], [0.595287, -0.0863599, 0.798859, 1.8666], [0.0854848, -0.981758, -0.169833, 1.49766], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.873131, 0.191801, -0.448168, 2.56904], [0.476786, -0.144436, 0.867072, 1.95283], [0.101573, -0.970748, -0.21756, 1.46559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.941349, 0.128641, -0.31195, 2.33027], [0.332378, -0.194075, 0.922962, 1.92361], [0.0581894, -0.972515, -0.225451, 1.46029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.997409, 0.0610609, -0.0380377, 2.18142], [0.0486808, -0.183574, 0.9818, 1.9763], [0.052967, -0.981108, -0.186071, 1.46555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.9723, 0.0254375, 0.232347, 2.09874], [-0.216762, -0.273761, 0.937054, 2.13493], [0.0874438, -0.961461, -0.260664, 1.47187], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.835108, -0.203501, 0.511059, 1.79424], [-0.549111, -0.363683, 0.752471, 2.24231], [0.0327352, -0.909023, -0.415459, 1.45393], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.732552, -0.301167, 0.610464, 1.65217], [-0.680483, -0.347188, 0.645293, 2.19408], [0.0176048, -0.888121, -0.459272, 1.4153], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.744199, -0.340474, 0.57467, 1.45682], [-0.667957, -0.381417, 0.639027, 2.14423], [0.00161719, -0.859418, -0.511272, 1.39326], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.732424, -0.352304, 0.582612, 1.20267], [-0.680829, -0.372448, 0.630677, 2.19145], [-0.00519751, -0.858583, -0.512649, 1.39709], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.821364, -0.220548, 0.526041, 1.11841], [-0.570362, -0.328736, 0.752742, 2.10656], [0.0069131, -0.918309, -0.395804, 1.42334], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.864474, -0.109671, 0.490568, 1.20219], [-0.502085, -0.235766, 0.832061, 2.02491], [0.024407, -0.965602, -0.258878, 1.47508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.848305, -0.02461, 0.528936, 1.25917], [-0.528798, -0.0910914, 0.843845, 2.0088], [0.0274146, -0.995538, -0.090287, 1.57309], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.864014, 0.0314847, 0.502483, 1.29646], [-0.50317, 0.0196395, 0.863965, 1.98398], [0.0173331, -0.999311, 0.0328109, 1.6374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.87222, 0.12025, 0.474102, 1.34282], [-0.487313, 0.130543, 0.863414, 1.98686], [0.0419354, -0.984123, 0.172461, 1.69661], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.91252, 0.151253, 0.38004, 1.39555], [-0.408315, 0.281834, 0.868244, 1.96725], [0.0242168, -0.947466, 0.318938, 1.71748], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.949294, 0.206202, 0.237323, 1.41101], [-0.304452, 0.414639, 0.857545, 1.95259], [0.0784237, -0.886316, 0.456393, 1.72956], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.991119, 0.118086, 0.0611438, 1.40452], [-0.111557, 0.488112, 0.865622, 1.94407], [0.0723726, -0.864756, 0.49695, 1.70684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.715807, 0.300636, -0.630269, 1.57425], [0.698038, -0.283388, 0.657598, 2.03898], [0.0190872, -0.910664, -0.412706, 1.3961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.647228, 0.331971, -0.686216, 1.55096], [0.761769, -0.24815, 0.59844, 2.03487], [0.0283802, -0.910064, -0.413494, 1.38087], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0775_00"}, {"annotation": [{"question_id": "test-scene0776-0", "question": "What is to the left of the dishwasher?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-1", "question": "What is in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-2", "question": "What color is the circular cushion in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-3", "question": "How many wheels do the square brown tables have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-4", "question": "What appliance is closest to the fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-5", "question": "The beige trash can is beneath what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-6", "question": "What color is the ping pong table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-7", "question": "What is next to the ping pong table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-8", "question": "Where is the dish washing machine located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-9", "question": "How many doors do white kitchen cabinets have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-10", "question": "What type of bin is near the fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-11", "question": "Where is the green recycling bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-12", "question": "What type of sofa is near the table with the soft drinks on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-13", "question": "What type of chair is near the table with the soft drinks on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-14", "question": "How many elevators are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-15", "question": "What is next to the grey recycling bin that has a green lid?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-16", "question": "What is under the counter top in the break room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-17", "question": "Where is the trash bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-18", "question": "What color is the trash bin near the corner wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-19", "question": "What color is the trash bin near the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-20", "question": "To the left of what is the tack board in the break room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-21", "question": "What is in the top corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-22", "question": "What is the color of the kitchen cabinets on the back wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-23", "question": "What color are the kitchen cabinets on the back wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-24", "question": "What color is the long couch on the far side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-25", "question": "What color are the square pillows on the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-26", "question": "Where is the brown door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-27", "question": "What color is the trash can in front of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-28", "question": "How many trash can are in front of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-29", "question": "What color are the dining tables in the living room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-30", "question": "What is in front of the sofa and next to the cushion?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-31", "question": "Where is the revolving chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-32", "question": "What color is the ping pong table in the middle of a room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-33", "question": "What type of table is next to the blue ping pong table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-34", "question": "What items is on the opposite side of the football table near the ping pong table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-35", "question": "What part of the house is chrome?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-36", "question": "What color is the fridge by the microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-37", "question": "What is the space of the purple table ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-38", "question": "What is next to the purple table ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-39", "question": "What shape are the brown tables ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-40", "question": "What is above the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-41", "question": "What is on the wall next to the refrigerator ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-42", "question": "How many handles does a kitchen cabinet have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-43", "question": "Where is a kitchen cabinet with three handles located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-44", "question": "On what part of the wall are the kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-45", "question": "What is on the left of the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-46", "question": "Where is the refrigerator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-47", "question": "What is on the wall above the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-48", "question": "What color is the bulletin board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-49", "question": "What is in front of the cusion?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-50", "question": "What kind of tables are all around the cusion?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-51", "question": "What shape is the light wood table shaped like?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-52", "question": "What is on top of the table in the center of the room ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-53", "question": "What is the table to the left of the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-54", "question": "What table is to the left of the blue ping pong table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-55", "question": "Where is the black chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-56", "question": "What color is the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-57", "question": "Where is the trash can from the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-58", "question": "What color is the recycling bin on the top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-59", "question": "Where is the recycling bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-60", "question": "What is next to the black or dark brown chair with wheels?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-61", "question": "What is on each side of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-62", "question": "What color is the coffee table next to the cushion?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-63", "question": "What table is to the left of the ping pong table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-64", "question": "What color cushion is on the floor by a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-65", "question": "Where is the brown couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-66", "question": "To what side of the refrigerator are white kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-67", "question": "What is next to the recycling bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-68", "question": "What is on the right side of the long brown sofa by the two round rest chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-69", "question": "Where is the break room located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-70", "question": "What is on top of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-71", "question": "What is the soda bottle on top of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-72", "question": "What container is on top of the square brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-73", "question": "What kind of chairs are near the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-74", "question": "Where is the brown trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-75", "question": "The brown trash can is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-76", "question": "The ping pong table is to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-77", "question": "Where is the couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-78", "question": "The kitchen counter is on top of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-79", "question": "Where is the kitchen counter located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-80", "question": "What is near the brown long sofa with the pillows on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-81", "question": "What type of cabinet has three drawers?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-82", "question": "What is next to the kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-83", "question": "What color is the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-84", "question": "What is in the lounge area?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-85", "question": "What is going through the table to move models that kick a ball?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-86", "question": "What is the color of the ping pong table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-87", "question": "What is in the break room near the doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-88", "question": "What type of table can pull up to the seaters at the brown sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-89", "question": "What color ping pong table is next to the foosball ball table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-90", "question": "The drawers in the corner of the kitchen are to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-91", "question": "What is near the stainless fridge in the employee kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-92", "question": "What color is the chair in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-93", "question": "On what side of the long sofa is the black chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-94", "question": "What is on the wall of the fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-95", "question": "What is to the left of the tack board on the blue wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-96", "question": "What is to the left of the fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-97", "question": "Where is the tack board in the kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-98", "question": "What is in the middle of the room facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-99", "question": "Where is the correct table when standing in the middle of a room facing a long couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-100", "question": "What is beneath the open cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-101", "question": "Counting from the left of the long couch, which cushion has the most pillows on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-102", "question": "How many windows are behind the couch and cushions?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-103", "question": "What is beside the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-104", "question": "What colors are the figures on the wooden foosball table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-105", "question": "How many gray wooden stools are in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-107", "question": "Where is the silver refrigerator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-108", "question": "What color are the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-109", "question": "What type of table is on the right side of the long sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-110", "question": "What white object has a square table and a round gray seat in front of it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-111", "question": "To what side of the dishwasher door is the single cabinet unit in white?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-112", "question": "In what part of the room is the long sofa chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-113", "question": "What is in the kitchen area?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-114", "question": "What type of chair is in the lounge along the right side of the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-115", "question": "Along the right side of what is the round ottoman chair in the lounge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-116", "question": "Where are the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-117", "question": "What type of table is near the trash bins?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-118", "question": "The table is near what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0776-119", "question": "What is the second to last ottoman?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.512511, -0.266743, 0.816199, 11.5373], [-0.856611, -0.224783, 0.464426, 7.44941], [0.0595851, -0.937188, -0.343699, 1.64164], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.542049, -0.357224, 0.760641, 11.6156], [-0.839084, -0.279685, 0.466599, 7.44581], [0.0460598, -0.891161, -0.451344, 1.65344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.5674, -0.401817, 0.71875, 11.6083], [-0.82219, -0.324591, 0.467595, 7.45231], [0.0454119, -0.856261, -0.514543, 1.61543], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.508648, -0.320186, 0.799224, 11.5583], [-0.860837, -0.205738, 0.465437, 7.42641], [0.0154045, -0.924745, -0.380275, 1.70963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.582821, -0.188957, 0.790326, 11.7159], [-0.810222, -0.209488, 0.547408, 7.238], [0.0621273, -0.95938, -0.275192, 1.80287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.595716, -0.0720251, 0.79996, 11.9032], [-0.801688, -0.114309, 0.586711, 7.21065], [0.0491849, -0.990831, -0.125837, 1.88251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.566078, 0.069838, 0.821389, 12.0384], [-0.822271, -0.0229291, 0.568635, 7.24417], [0.0585461, -0.997295, 0.0444461, 2.07534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.375073, 0.0704264, 0.924316, 12.1538], [-0.925346, -0.0310042, 0.377854, 7.19156], [0.0552685, -0.997035, 0.05354, 2.10723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.225726, -0.0619871, 0.972217, 12.143], [-0.974, -0.0341137, 0.223966, 7.3375], [0.0192829, -0.997494, -0.0680757, 1.98647], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.205821, -0.184366, 0.961066, 12.0139], [-0.977633, -0.08217, 0.193607, 7.61239], [0.0432763, -0.979417, -0.197154, 1.83371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.0860013, -0.202931, 0.975409, 11.8653], [-0.993679, -0.0883774, 0.0692256, 7.79537], [0.0721561, -0.975197, -0.209249, 1.77627], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.021598, -0.1203, 0.992503, 11.9153], [-0.998128, -0.0594083, 0.0145197, 8.07411], [0.057216, -0.990959, -0.121358, 1.82146], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.0154598, -0.0456348, 0.998839, 12.0408], [-0.999862, -0.00542467, -0.0157234, 8.19614], [0.00613585, -0.998943, -0.0455447, 1.87197], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.1654, -0.0261477, 0.98588, 12.2136], [-0.98604, 0.0238175, -0.164796, 8.25402], [-0.0191722, -0.999374, -0.0297222, 1.97155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.322261, -0.148554, 0.934923, 12.3309], [-0.945159, 0.105917, -0.30896, 8.46364], [-0.0531271, -0.983216, -0.17454, 1.83795], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.333019, -0.284909, 0.898847, 12.3366], [-0.940515, 0.168418, -0.295072, 8.40753], [-0.0673135, -0.943643, -0.324047, 1.74544], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.250806, -0.258573, 0.932865, 12.2499], [-0.967449, 0.100557, -0.232231, 8.08175], [-0.0337571, -0.960744, -0.275376, 1.77049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.235604, -0.2402, 0.941698, 12.293], [-0.971817, 0.0661849, -0.226258, 7.73169], [-0.00797899, -0.968464, -0.249024, 1.79536], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.171556, -0.23124, 0.957652, 12.2712], [-0.985035, 0.0566163, -0.16279, 7.38749], [-0.0165752, -0.971248, -0.237492, 1.84205], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.225624, -0.214122, 0.950393, 12.2753], [-0.973726, 0.0804806, -0.213031, 7.16497], [-0.0308736, -0.973486, -0.226654, 1.85035], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.334152, -0.226174, 0.91498, 12.2865], [-0.942263, 0.102797, -0.318706, 7.06489], [-0.0219741, -0.968648, -0.247465, 1.88427], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.500158, -0.159343, 0.851148, 12.2792], [-0.865101, 0.135067, -0.483071, 7.10834], [-0.0379882, -0.97794, -0.205403, 1.96618], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.44423, -0.0220245, 0.895642, 12.0614], [-0.894727, 0.0623242, -0.442244, 7.19484], [-0.04608, -0.997813, -0.0473922, 1.99605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.323901, 0.114906, 0.939087, 11.9051], [-0.94488, 0.0109253, -0.327235, 7.35656], [-0.0478613, -0.993316, 0.105034, 2.01908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.393056, 0.118631, 0.91183, 11.8914], [-0.918758, -0.0104329, -0.394685, 7.50696], [-0.0373091, -0.992884, 0.113094, 2.02513], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.508177, 0.100621, 0.855355, 11.8854], [-0.85836, 0.0221666, -0.51257, 7.49769], [-0.0705358, -0.994678, 0.0751047, 2.11284], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.523914, -0.0335763, 0.85111, 12.261], [-0.845902, 0.137613, -0.515279, 7.4576], [-0.0998223, -0.989917, -0.100499, 1.94118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.63909, -0.148859, 0.75459, 12.6313], [-0.76667, 0.201746, -0.609522, 7.46026], [-0.061503, -0.96806, -0.24306, 1.93282], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.792235, -0.135898, 0.594891, 12.8009], [-0.606692, 0.280048, -0.743975, 7.30559], [-0.0654932, -0.950318, -0.304312, 1.94722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.844772, -0.0514484, 0.532649, 12.7541], [-0.528712, 0.233917, -0.815933, 7.0435], [-0.0826168, -0.970895, -0.224807, 1.99031], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.877028, -0.0267191, 0.479697, 12.926], [-0.472201, 0.23206, -0.850397, 6.91642], [-0.0885964, -0.972335, -0.21614, 1.98617], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.795848, -0.13284, 0.590746, 13.1187], [-0.603139, 0.259936, -0.754093, 6.78542], [-0.0533823, -0.956445, -0.28699, 1.91853], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.63123, -0.286466, 0.720754, 13.1453], [-0.774714, 0.277185, -0.56832, 6.51523], [-0.0369779, -0.917118, -0.396897, 1.86491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.467048, -0.237362, 0.851778, 13.0848], [-0.876688, 0.249874, -0.411075, 6.45711], [-0.115264, -0.938735, -0.324795, 1.82541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.283663, -0.25943, 0.923164, 13.0843], [-0.958068, 0.117354, -0.261409, 6.17727], [-0.0405202, -0.958605, -0.28184, 1.79765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.287943, -0.317371, 0.903529, 13.1232], [-0.957518, 0.11094, -0.26618, 6.13027], [-0.0157594, -0.94179, -0.335832, 1.78893], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.233314, -0.268462, 0.934609, 13.1319], [-0.971175, 0.112602, -0.210098, 5.86169], [-0.0488358, -0.956687, -0.286995, 1.79166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.485091, -0.37035, 0.792167, 13.2578], [-0.874454, 0.209816, -0.437388, 5.9253], [-0.00422251, -0.904886, -0.425634, 1.84572], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.797026, -0.209552, 0.566426, 13.3171], [-0.603528, 0.311246, -0.734085, 6.26656], [-0.0224689, -0.926938, -0.374541, 1.95053], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.859585, -0.0834112, 0.50414, 13.2183], [-0.503718, 0.304214, -0.808531, 6.54274], [-0.085926, -0.948945, -0.303513, 2.00272], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.960052, -0.0705299, 0.270787, 13.278], [-0.27891, 0.319249, -0.905699, 6.78413], [-0.0225694, -0.945043, -0.326167, 1.99484], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.990375, 0.0153786, 0.137555, 13.2911], [-0.128728, 0.262865, -0.956207, 7.01095], [-0.0508635, -0.96471, -0.258355, 2.0304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.998085, 0.0617719, -0.00337657, 13.4507], [0.0212897, 0.29172, -0.956267, 7.14308], [-0.0580854, -0.954507, -0.292477, 2.01762], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.983251, 0.105637, -0.148523, 13.6987], [0.176413, 0.346864, -0.921176, 7.10524], [-0.0457926, -0.931948, -0.35969, 2.01031], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.939122, 0.214007, -0.268796, 13.7339], [0.332263, 0.366493, -0.869071, 6.98084], [-0.0874753, -0.905474, -0.415288, 1.95955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.850111, 0.329974, -0.410401, 13.9306], [0.518064, 0.384259, -0.76417, 6.90321], [-0.0944562, -0.862243, -0.49761, 1.93215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.785859, 0.357864, -0.50434, 14.0331], [0.617178, 0.402491, -0.676087, 6.92148], [-0.0389548, -0.842576, -0.537167, 1.94927], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.777197, 0.327722, -0.537181, 13.8461], [0.627119, 0.333075, -0.704119, 7.05045], [-0.0518338, -0.884115, -0.464386, 1.98255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.750894, 0.285163, -0.595685, 13.7043], [0.658212, 0.249391, -0.710325, 6.98244], [-0.0539998, -0.925465, -0.374964, 2.04894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.643642, 0.351926, -0.679613, 13.6594], [0.76522, 0.281118, -0.579147, 6.87603], [-0.0127658, -0.892817, -0.45024, 1.995], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.501313, 0.422633, -0.755029, 13.7505], [0.864982, 0.222399, -0.449829, 7.05461], [-0.0221948, -0.87859, -0.477061, 1.96135], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.316639, 0.518589, -0.794234, 13.8562], [0.948456, 0.161475, -0.272689, 7.07], [-0.0131649, -0.839638, -0.542987, 1.94666], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.00937781, 0.542864, -0.839769, 13.9115], [0.999283, -0.0257208, -0.0277863, 6.88842], [-0.0366837, -0.839427, -0.542233, 1.95563], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.249567, 0.550811, -0.796444, 13.7801], [0.968218, -0.127962, 0.214895, 6.76995], [0.0164524, -0.824762, -0.56524, 1.90472], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.490333, 0.515761, -0.702542, 13.6141], [0.869868, -0.239762, 0.431098, 6.63856], [0.0539001, -0.8225, -0.566206, 1.88926], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.67003, 0.465054, -0.578606, 13.5165], [0.731769, -0.28275, 0.620134, 6.4006], [0.124795, -0.838914, -0.529763, 1.91037], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.763021, 0.349598, -0.543673, 13.3347], [0.642575, -0.319203, 0.696568, 6.40004], [0.0699765, -0.880847, -0.468201, 1.92796], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.882084, 0.277556, -0.380646, 13.2433], [0.455858, -0.299069, 0.838303, 6.43016], [0.118837, -0.912973, -0.39033, 1.97317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.954697, 0.199183, -0.221089, 13.13], [0.266602, -0.242436, 0.932818, 6.34669], [0.132202, -0.9495, -0.284556, 1.94106], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.9901, 0.139603, 0.0146208, 13.2127], [0.00533421, -0.141506, 0.989923, 6.38125], [0.140265, -0.980044, -0.14085, 1.98243], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.981471, 0.107361, 0.15871, 13.2553], [-0.13814, -0.177545, 0.974369, 6.43765], [0.132788, -0.978239, -0.159424, 2.01325], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.977977, 0.0500524, 0.202622, 13.2791], [-0.177777, -0.308843, 0.934351, 6.59497], [0.109345, -0.949795, -0.293143, 1.86932], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.988372, 0.145295, 0.0448339, 13.1687], [0.0249282, -0.445694, 0.894839, 6.70574], [0.149998, -0.883316, -0.444133, 1.80805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.942254, 0.294777, -0.158946, 13.0246], [0.29126, -0.487038, 0.823385, 6.65734], [0.165302, -0.822132, -0.54477, 1.77917], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.861472, 0.363274, -0.354823, 13.0407], [0.492569, -0.427901, 0.757811, 6.76416], [0.123464, -0.827607, -0.547562, 1.79631], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.79085, 0.403105, -0.460505, 13.1064], [0.607739, -0.42851, 0.668605, 6.96952], [0.0721867, -0.808632, -0.583869, 1.80254], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.686171, 0.423609, -0.591377, 12.9581], [0.721765, -0.295092, 0.626081, 7.13483], [0.0907031, -0.856433, -0.508229, 1.81962], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.57373, 0.433784, -0.694741, 12.8059], [0.81433, -0.211224, 0.540604, 7.29558], [0.0877596, -0.875908, -0.474429, 1.82957], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.503366, 0.352599, -0.788859, 12.6177], [0.859169, -0.107102, 0.500358, 7.38108], [0.0919369, -0.929625, -0.356853, 1.89206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.561297, 0.244297, -0.790737, 12.4601], [0.82453, -0.0826525, 0.559749, 7.24439], [0.0713886, -0.966172, -0.247823, 1.94502], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.543505, 0.306179, -0.781573, 12.2102], [0.838241, -0.148936, 0.524566, 7.17317], [0.0442073, -0.940251, -0.337599, 1.79283], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.536387, 0.459744, -0.707761, 11.9766], [0.83441, -0.162998, 0.52649, 7.04349], [0.126687, -0.872964, -0.471045, 1.70162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.541755, 0.55439, -0.631786, 11.8297], [0.82882, -0.227279, 0.511275, 6.89275], [0.139854, -0.800622, -0.582619, 1.65846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.642511, 0.476347, -0.600228, 11.582], [0.760037, -0.296398, 0.578353, 6.97315], [0.0975901, -0.827793, -0.55248, 1.65053], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.706836, 0.422854, -0.567079, 11.3489], [0.697818, -0.285466, 0.656932, 6.98957], [0.115905, -0.86006, -0.496853, 1.67243], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.735956, 0.377624, -0.561934, 11.1648], [0.663913, -0.239951, 0.708268, 6.89945], [0.132622, -0.894329, -0.427303, 1.70742], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.670271, 0.342359, -0.658428, 10.9809], [0.738004, -0.214211, 0.639895, 6.98024], [0.0780311, -0.914824, -0.396242, 1.70004], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.586341, 0.427111, -0.688318, 10.7891], [0.806966, -0.233709, 0.54239, 7.005], [0.0707943, -0.873474, -0.481697, 1.63682], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.74472, 0.426537, -0.513283, 10.5972], [0.656678, -0.331168, 0.677571, 6.85061], [0.119026, -0.841662, -0.526725, 1.60021], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.814354, 0.350104, -0.462878, 10.3531], [0.570967, -0.340308, 0.74712, 6.81293], [0.104049, -0.872707, -0.477028, 1.58783], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.906253, 0.257966, -0.334904, 10.0788], [0.413646, -0.377709, 0.828392, 6.81413], [0.0872007, -0.889264, -0.449006, 1.58179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.932555, 0.250129, -0.260339, 9.78862], [0.342192, -0.382511, 0.858249, 6.69916], [0.11509, -0.88945, -0.442305, 1.5945], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.848362, 0.317907, -0.423342, 9.6383], [0.516791, -0.323678, 0.792566, 6.73546], [0.114935, -0.891161, -0.438887, 1.57237], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.681179, 0.357981, -0.638628, 9.65156], [0.729108, -0.252684, 0.636045, 6.99802], [0.0663214, -0.898889, -0.433129, 1.56263], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.625917, 0.337864, -0.702906, 9.49365], [0.777749, -0.203671, 0.594665, 7.18973], [0.0577548, -0.918894, -0.390254, 1.58329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.506549, 0.34978, -0.788076, 9.29774], [0.858915, -0.124859, 0.496664, 7.28811], [0.0753246, -0.928474, -0.363678, 1.59019], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.423214, 0.345576, -0.837537, 9.02819], [0.905436, -0.127843, 0.404775, 7.42411], [0.0328068, -0.929642, -0.367001, 1.57302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.465475, 0.323772, -0.823714, 8.7399], [0.884847, -0.149768, 0.441152, 7.43903], [0.0194665, -0.934206, -0.356202, 1.55214], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.299164, 0.408155, -0.862503, 8.46532], [0.953424, -0.0913723, 0.287461, 7.36006], [0.0385198, -0.908328, -0.41648, 1.51391], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.213503, 0.398486, -0.891979, 8.25163], [0.976539, -0.0607824, 0.206589, 7.41573], [0.028106, -0.915158, -0.402114, 1.53071], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.357471, 0.319685, -0.877506, 7.92574], [0.933334, -0.0888878, 0.347831, 7.4433], [0.0331968, -0.943345, -0.330148, 1.55558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.475202, 0.359088, -0.803268, 7.56159], [0.878661, -0.145691, 0.454674, 7.57306], [0.0462391, -0.921862, -0.38475, 1.54323], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.418547, 0.438243, -0.795464, 7.24651], [0.905424, -0.132972, 0.403146, 7.68678], [0.0709012, -0.888967, -0.45245, 1.49232], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.367911, 0.284499, -0.88527, 6.91195], [0.92747, -0.0440307, 0.371298, 7.76981], [0.066655, -0.957665, -0.280064, 1.61919], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.296173, 0.148151, -0.943575, 6.61874], [0.954712, -0.0165358, 0.297072, 7.85803], [0.0284088, -0.988827, -0.146339, 1.71557], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.160236, 0.217035, -0.962923, 6.53113], [0.986764, -0.010583, 0.161818, 7.78668], [0.0249296, -0.976107, -0.215858, 1.62937], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.0151229, 0.328384, -0.944424, 6.43993], [0.999186, 0.0403055, -0.00198542, 7.57129], [0.0374134, -0.943684, -0.328725, 1.50866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.188111, 0.478584, -0.857655, 6.43872], [0.979998, 0.149206, -0.131686, 7.52908], [0.0649447, -0.865272, -0.497079, 1.42589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.403815, 0.393113, -0.826073, 6.48343], [0.914546, 0.196412, -0.353595, 7.70242], [0.023248, -0.898268, -0.438834, 1.4858], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.37684, 0.239109, -0.894885, 6.39505], [0.925442, 0.138254, -0.352766, 7.66447], [0.0393718, -0.9611, -0.273381, 1.57217], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.39129, 0.139096, -0.909695, 6.2732], [0.920186, 0.0722845, -0.38475, 7.55812], [0.0122395, -0.987637, -0.156279, 1.62769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.549185, 0.186004, -0.814739, 6.1923], [0.834819, 0.166888, -0.52462, 7.4281], [0.0383884, -0.968272, -0.246932, 1.53994], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.65727, 0.258139, -0.708069, 6.26229], [0.751773, 0.290931, -0.591775, 7.33396], [0.0532387, -0.921262, -0.385282, 1.46225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.716951, 0.29616, -0.631086, 6.40273], [0.693335, 0.397178, -0.601279, 7.27001], [0.072579, -0.868642, -0.490095, 1.3956], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.728358, 0.346466, -0.591148, 6.34703], [0.684464, 0.407804, -0.604323, 7.20343], [0.0316952, -0.844782, -0.534171, 1.38332], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.668807, 0.326533, -0.667888, 6.24542], [0.741986, 0.349288, -0.572238, 7.02225], [0.0464305, -0.878279, -0.475888, 1.41558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.546404, 0.253065, -0.798375, 6.33725], [0.834672, 0.243111, -0.494186, 6.71344], [0.0690327, -0.936406, -0.344063, 1.48704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.481166, 0.236747, -0.844056, 6.28972], [0.874923, 0.189744, -0.445542, 6.37697], [0.0546736, -0.952863, -0.298433, 1.48865], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.308726, 0.230072, -0.922907, 6.28965], [0.950392, 0.113402, -0.28965, 5.99597], [0.0380194, -0.966544, -0.253668, 1.51049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.178988, 0.221404, -0.958616, 6.30348], [0.981352, 0.109595, -0.157921, 5.57629], [0.0700948, -0.969004, -0.236891, 1.4808], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.0821467, 0.290506, -0.953341, 6.29487], [0.992164, 0.114202, -0.050692, 5.13969], [0.0941469, -0.950034, -0.297611, 1.4357], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.0452914, 0.363747, -0.930396, 6.27086], [0.993913, 0.0772186, 0.0785727, 4.72414], [0.100424, -0.928292, -0.358036, 1.39985], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.111583, 0.431642, -0.895117, 6.0426], [0.993709, -0.0397483, 0.104705, 4.49173], [0.00961585, -0.901169, -0.433362, 1.386], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.0101294, 0.404962, -0.914278, 5.86075], [0.99983, 0.0100093, 0.0155105, 4.31792], [0.0154324, -0.914279, -0.404791, 1.41059], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.0868317, 0.395984, -0.914143, 5.49947], [0.995942, 0.0562999, -0.070214, 4.45065], [0.0236625, -0.91653, -0.399265, 1.4197], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.199532, 0.375605, -0.905046, 5.19129], [0.978125, 0.131786, -0.160951, 4.54551], [0.0588178, -0.917362, -0.393684, 1.43658], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.420732, 0.337264, -0.842163, 4.94862], [0.905924, 0.205136, -0.370434, 4.72533], [0.047824, -0.918789, -0.391842, 1.45756], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.42039, 0.357838, -0.833802, 4.64271], [0.907318, 0.15884, -0.389287, 4.79407], [-0.0068605, -0.920175, -0.391447, 1.47791], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.445916, 0.264517, -0.855097, 4.31743], [0.895042, 0.140017, -0.423433, 4.63241], [0.00772212, -0.954162, -0.29919, 1.55032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.539659, 0.1734, -0.823834, 4.0414], [0.841774, 0.127011, -0.524677, 4.60569], [0.013657, -0.976627, -0.214506, 1.59618], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.556728, 0.104577, -0.824087, 3.8045], [0.830693, 0.0679484, -0.552569, 4.51927], [-0.00179086, -0.992193, -0.1247, 1.68938], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.706494, 0.0573064, -0.705396, 3.68537], [0.707538, 0.0345914, -0.705829, 4.42596], [-0.0160479, -0.997757, -0.064985, 1.62838], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.776753, 0.110484, -0.62004, 3.51183], [0.629268, 0.17684, -0.756803, 4.49495], [0.0260334, -0.978019, -0.206885, 1.53185], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.814081, 0.134857, -0.564878, 3.42149], [0.574806, 0.325941, -0.750574, 4.39033], [0.0828972, -0.935722, -0.342859, 1.45572], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.920389, 0.148719, -0.361618, 3.36669], [0.389109, 0.439337, -0.809677, 4.43803], [0.0384577, -0.885927, -0.462228, 1.40128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.990023, 0.0654192, -0.124801, 3.37173], [0.140758, 0.418436, -0.897273, 4.57646], [-0.00647786, -0.905887, -0.423469, 1.43462], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[-0.999181, 0.0258298, -0.0311643, 3.40197], [0.0390173, 0.409728, -0.911373, 4.48424], [-0.0107718, -0.911842, -0.4104, 1.44158], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.988109, -0.0727627, 0.135448, 3.15387], [-0.153616, 0.429785, -0.889768, 4.30924], [0.00652859, -0.899995, -0.435852, 1.44637], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[-0.955914, -0.150353, 0.252236, 2.88085], [-0.291859, 0.391793, -0.872535, 4.15851], [0.0323644, -0.907685, -0.418402, 1.44479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[-0.868297, -0.222945, 0.443121, 2.50486], [-0.494756, 0.324887, -0.806018, 4.0667], [0.0357331, -0.9191, -0.392402, 1.47976], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[-0.75874, -0.291466, 0.582548, 2.25079], [-0.650522, 0.292774, -0.700789, 4.07119], [0.0337012, -0.910676, -0.411744, 1.44263], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.657747, -0.411077, 0.631178, 2.25094], [-0.750471, 0.285868, -0.59588, 3.93929], [0.0645189, -0.865619, -0.49653, 1.37867], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.428226, -0.418736, 0.800802, 2.27509], [-0.902518, 0.153411, -0.402401, 3.85352], [0.0456482, -0.895056, -0.443611, 1.3868], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.513836, -0.387096, 0.765591, 2.40147], [-0.85274, 0.132838, -0.505162, 3.83564], [0.0938466, -0.91242, -0.39835, 1.43198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[-0.528718, -0.305631, 0.791863, 2.68297], [-0.845509, 0.107595, -0.523009, 4.16221], [0.0746474, -0.946051, -0.315301, 1.43229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[-0.562252, -0.248106, 0.78887, 3.05469], [-0.821779, 0.0609511, -0.566538, 4.32878], [0.092479, -0.966814, -0.238158, 1.44441], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[-0.657649, -0.147799, 0.738684, 3.45532], [-0.748656, 0.0192283, -0.66268, 4.56526], [0.0837398, -0.988831, -0.123296, 1.51814], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[-0.703005, -0.0554707, 0.709019, 3.81149], [-0.705468, -0.0717746, -0.705099, 4.57904], [0.0900018, -0.995877, 0.0113252, 1.60926], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[-0.716133, -0.0565173, 0.695672, 4.23177], [-0.693829, -0.0506868, -0.718354, 4.70755], [0.0758608, -0.997114, -0.00291482, 1.63338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[-0.631802, -0.143112, 0.761805, 4.56919], [-0.774405, 0.0740365, -0.628343, 4.70427], [0.0335222, -0.986933, -0.157603, 1.53171], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[-0.59705, -0.215868, 0.772614, 4.84881], [-0.802192, 0.155354, -0.576501, 4.66022], [0.00441933, -0.963985, -0.265922, 1.44695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[-0.64471, -0.296173, 0.70472, 5.16298], [-0.763594, 0.206472, -0.611796, 4.66644], [0.0356924, -0.932551, -0.35927, 1.42176], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.516271, -0.288921, 0.806219, 5.43339], [-0.856329, 0.159991, -0.491024, 4.52571], [0.0128792, -0.94389, -0.33001, 1.4557], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.539571, -0.263281, 0.799717, 5.72045], [-0.83949, 0.0958251, -0.534859, 4.41715], [0.0641854, -0.959948, -0.272726, 1.51086], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.502589, -0.163689, 0.848888, 6.07408], [-0.863933, 0.0587375, -0.50017, 4.37718], [0.0320109, -0.984762, -0.170937, 1.54211], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.567702, -0.128868, 0.813086, 6.45571], [-0.820886, 0.0140516, -0.570921, 4.33002], [0.0621481, -0.991562, -0.113763, 1.63971], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.67985, -0.0920086, 0.727557, 6.75838], [-0.726575, -0.0500587, -0.685262, 4.47416], [0.0994705, -0.994499, -0.0328187, 1.73966], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.744287, 0.00856431, 0.667806, 7.07895], [-0.666953, -0.0616563, -0.742545, 4.52279], [0.034815, -0.998061, 0.0516019, 1.77889], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[-0.82138, -0.104445, 0.560738, 7.45532], [-0.568771, 0.0761516, -0.818963, 4.70801], [0.0428353, -0.991611, -0.121954, 1.73036], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[-0.765967, -0.15464, 0.624005, 7.74355], [-0.642645, 0.157917, -0.749713, 4.70349], [0.0173942, -0.975269, -0.220338, 1.64067], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[-0.723296, -0.201092, 0.66061, 8.05178], [-0.690057, 0.174762, -0.702339, 4.62119], [0.0257847, -0.963857, -0.265169, 1.61018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[-0.648308, -0.250925, 0.718842, 8.38242], [-0.761168, 0.19141, -0.619666, 4.58975], [0.0178962, -0.948893, -0.315089, 1.60225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[-0.454485, -0.326637, 0.828705, 8.55886], [-0.890691, 0.155567, -0.427163, 4.37297], [0.010608, -0.932259, -0.361636, 1.61584], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[-0.356381, -0.289679, 0.888301, 8.80436], [-0.931621, 0.0376808, -0.361472, 4.12548], [0.071239, -0.956382, -0.2833, 1.68327], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[-0.15115, -0.239216, 0.95913, 8.99009], [-0.98477, -0.0478946, -0.167136, 3.83764], [0.0859185, -0.969785, -0.228333, 1.77022], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[-0.289772, -0.15657, 0.944203, 9.13647], [-0.953818, -0.0343436, -0.298417, 3.70256], [0.0791504, -0.98707, -0.139387, 1.85795], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[-0.503878, -0.099664, 0.858006, 9.24337], [-0.862889, 0.0131017, -0.505224, 3.95656], [0.0391112, -0.994935, -0.0926006, 1.9362], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[-0.508962, -0.0230415, 0.860481, 9.20924], [-0.860303, 0.0472142, -0.507592, 4.29972], [-0.0289312, -0.998619, -0.0438529, 1.95987], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[-0.394427, -0.0478827, 0.917679, 9.28213], [-0.918377, 0.0551024, -0.391852, 4.63886], [-0.0318034, -0.997332, -0.0657082, 1.88731], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[-0.326114, -0.168447, 0.930202, 9.45441], [-0.945261, 0.0700288, -0.318712, 4.81382], [-0.0114548, -0.98322, -0.182064, 1.84921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[-0.317455, -0.248163, 0.915226, 9.51501], [-0.948095, 0.0643288, -0.311414, 4.99399], [0.0184059, -0.96658, -0.255703, 1.83319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[-0.336273, -0.306527, 0.890484, 9.49908], [-0.94168, 0.12212, -0.313569, 5.0632], [-0.0126283, -0.943996, -0.329716, 1.81616], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[-0.284041, -0.364911, 0.886657, 9.62106], [-0.956043, 0.0375578, -0.290811, 5.10149], [0.0728194, -0.930285, -0.359538, 1.80308], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[-0.328866, -0.327581, 0.885742, 9.77942], [-0.937328, -0.00115631, -0.348447, 5.46154], [0.115169, -0.944823, -0.30667, 1.82777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[-0.452873, -0.277763, 0.847204, 10.0466], [-0.889201, 0.0713999, -0.451913, 5.74508], [0.0650344, -0.957993, -0.279322, 1.84588], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[-0.608752, -0.23262, 0.758491, 10.2123], [-0.792576, 0.135786, -0.594463, 6.12892], [0.0352919, -0.963042, -0.267029, 1.87869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[-0.696458, -0.262936, 0.667691, 10.4493], [-0.70991, 0.116616, -0.694572, 6.35109], [0.104764, -0.95774, -0.267879, 1.86686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[-0.75874, -0.213402, 0.615446, 10.7858], [-0.645231, 0.116563, -0.755043, 6.5054], [0.0893895, -0.969986, -0.226134, 1.94672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[-0.796992, -0.116953, 0.592559, 11.0645], [-0.603303, 0.107351, -0.790255, 6.63089], [0.0288106, -0.987319, -0.156116, 2.05304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[-0.762805, -0.0177873, 0.646384, 11.3611], [-0.645956, 0.0665622, -0.760468, 6.58718], [-0.0294981, -0.997624, -0.0622637, 2.08681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[-0.670921, -0.00923855, 0.741472, 11.8318], [-0.741363, 0.0295729, -0.670453, 6.77852], [-0.0157334, -0.99952, -0.0266901, 2.07448], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[-0.439787, -0.00246347, 0.898099, 12.1551], [-0.895711, 0.0741313, -0.438414, 6.84513], [-0.0654972, -0.997245, -0.0348085, 2.0164], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[-0.321442, -0.0922806, 0.942423, 12.5041], [-0.946476, 0.0621144, -0.316742, 7.04231], [-0.0293089, -0.993794, -0.107307, 1.91936], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3460", "pose": [[-0.150335, -0.248847, 0.956805, 12.7863], [-0.988118, 0.0691367, -0.137274, 7.20716], [-0.0319901, -0.966072, -0.256283, 1.86789], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0776_00"}, {"annotation": [{"question_id": "test-scene0777-0", "question": "What is next to a wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-1", "question": "What is next to the air hockey table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-2", "question": "How many seats are on a couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-3", "question": "What type of table has a chair on either side of it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-4", "question": "How many chairs are at each white coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-5", "question": "What is near the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-6", "question": "What is in the corner of the room and by an air hockey table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-7", "question": "What color is the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-8", "question": "What sits in the corner near the hockey table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-9", "question": "What color is the table next to the gaming table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-10", "question": "What color cabinet is on the left of a small table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-11", "question": "What is the color of the couches cushions?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-12", "question": "How many seats does the couch have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-13", "question": "What type of chair is beside the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-14", "question": "What kind of wood is the air hockey table made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-15", "question": "What shape is the dark grey footstool between the couch and the reclined back chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-16", "question": "What type of piece is the dark grey footstool?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-17", "question": "What is the chair leaning against?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-18", "question": "What is on the black sofa beneath the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-19", "question": "What color is the chair on the right of the round footstool?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-20", "question": "What color is the chair to the left of the sofa and to the right of a footstool?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-21", "question": "The wood lap desk opens towards what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-22", "question": "What is the back of the light brown chair at the round table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-23", "question": "What object is next to the trash can ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-24", "question": "The brown table is beside what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-25", "question": "Where is the black couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-26", "question": "Where is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-27", "question": "What color table is located at the right end of a long brown table below a white board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-28", "question": "The table is located at the right end of a long brown table below what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-29", "question": "What color are the cushions on the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-30", "question": "What is to the right of the gray couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-31", "question": "What is near the trash bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-32", "question": "What is in the corner near the ski table game?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-33", "question": "In what color is the pillow in the chair that has a small brown table to its left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-34", "question": "Where is the ski ball table game located in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-35", "question": "How many multi-seated couches are in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-36", "question": "Where is the three seated couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-37", "question": "What is under the left side of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-38", "question": "What is on top of each bucket chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-39", "question": "What are the pillows sitting on in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-40", "question": "What is in the right corner of the wall with tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-41", "question": "Where is the trash bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-42", "question": "Where is the long light colored wood table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-43", "question": "What is sitting on the white bucket chair that is flush against window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-44", "question": "What is against the wall to the left of the TV?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-45", "question": "What kind of chair is closest to the air hockey table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-46", "question": "The light wooden chair is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-47", "question": "What color is the top of the air hockey table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-48", "question": "What color are the legs of the air hockey table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-49", "question": "The circular cushion table is on the ground by what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-50", "question": "Where is the dark circular cushion table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-51", "question": "What color is the chair facing table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-52", "question": "What is the cushion touching?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-53", "question": "What type of table is next to the trash can ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-54", "question": "What is next to the air hockey table ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-55", "question": "Where is the book on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-56", "question": "The chair is on the wall across from the tall circular table and closer to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-57", "question": "What kind of table is under the television?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-58", "question": "What is to the right of a table in the upper left corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-59", "question": "What is the look of the chair on the right of a table in the upper left corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-60", "question": "What color is the pillow on the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-61", "question": "Where is the chair closest to an arched doorway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-62", "question": "What is next to the chair with the pillow on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-63", "question": "Where is the cabinet to the left of the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-64", "question": "What color is the cabinet to the left of the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-65", "question": "What is the position of a high chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-66", "question": "What kind of cabinet is along the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-67", "question": "Where is the brown cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-68", "question": "What color are the non wooden chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-69", "question": "What kind of chair is next to the air hockey table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-70", "question": "In what part of the room is the air hockey table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-71", "question": "What does the beige leather chair have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-72", "question": "What color is the leather chair with a small rectangular pillow?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-73", "question": "Where does the beige leather chair sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-74", "question": "How many wooden chairs are around the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-75", "question": "What color are the legs of the light wood chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-76", "question": "The light wood chair is located closest to what round table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-77", "question": "The wooden chair is located closest to what table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-78", "question": "Where can you find the wooden chair with silver legs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-79", "question": "What is above the small rectangualr cabinet across the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-80", "question": "Which side of the brown long rectagular cabinet is a blue book located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-81", "question": "Wher are the two beige armchairs located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-82", "question": "What is sitting beside the beige leather chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-83", "question": "Where does the cushion sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-84", "question": "How many wooden chairs are sitting around the white round table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-85", "question": "The white chairs are pressed against what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-86", "question": "What color is the tall round table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-87", "question": "The table is to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-88", "question": "What color pattern is on the cushion?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-89", "question": "The pillow rests on the chair closer to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0777-90", "question": "What type of chair is facing the table?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.754158, -0.309218, 0.579337, 1.55366], [-0.65405, 0.27459, -0.704854, 2.92833], [0.0588737, -0.910486, -0.409328, 1.458], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.776851, -0.302956, 0.552015, 1.64787], [-0.625686, 0.272754, -0.730837, 2.87835], [0.0708472, -0.913139, -0.401445, 1.45231], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.773402, -0.280945, 0.56826, 1.77672], [-0.627471, 0.21177, -0.749289, 2.88967], [0.090169, -0.936068, -0.340068, 1.48562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.821619, -0.25478, 0.509931, 1.7523], [-0.560688, 0.199848, -0.803549, 2.98826], [0.10282, -0.946123, -0.307051, 1.54451], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.79234, -0.257454, 0.553097, 1.39731], [-0.604969, 0.214455, -0.766826, 3.01236], [0.0788077, -0.942193, -0.325673, 1.56834], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.791501, -0.296073, 0.534666, 1.23788], [-0.608716, 0.303607, -0.732999, 3.14746], [0.0546932, -0.905629, -0.420529, 1.4975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.809115, -0.222324, 0.543973, 1.13697], [-0.584566, 0.209766, -0.783761, 3.22638], [0.0601417, -0.95214, -0.299688, 1.59513], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.789799, -0.0992807, 0.605278, 1.0381], [-0.610313, 0.028855, -0.791635, 3.16554], [0.0611287, -0.994641, -0.0833819, 1.7195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.844328, -0.0211517, 0.53541, 0.93259], [-0.531871, -0.0881227, -0.842228, 3.14194], [0.0649963, -0.995885, 0.0631545, 1.84998], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.909353, -0.0331635, 0.414703, 0.863976], [-0.412229, -0.0625458, -0.908931, 3.15387], [0.0560812, -0.997491, 0.0432052, 1.88602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.951489, -0.0861519, 0.295375, 0.71247], [-0.293585, -0.0330526, -0.955362, 3.18648], [0.092069, -0.995734, 0.00615638, 1.91229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.948575, -0.0712864, 0.308423, 0.571353], [-0.311202, 0.0316112, -0.949818, 3.238], [0.0579595, -0.996955, -0.05217, 1.87546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.931238, -0.0894498, 0.353263, 0.599483], [-0.362789, 0.136189, -0.921866, 3.29383], [0.0343501, -0.986636, -0.159276, 1.75227], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.928793, -0.11834, 0.351199, 0.634858], [-0.370601, 0.297332, -0.879914, 3.31115], [-0.000294209, -0.947412, -0.320017, 1.59878], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.881052, -0.233481, 0.411382, 0.811012], [-0.472844, 0.458494, -0.752464, 3.34946], [-0.0129303, -0.857479, -0.514356, 1.44154], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.792544, -0.295849, 0.533242, 1.0477], [-0.609754, 0.372082, -0.699825, 3.19844], [0.00863289, -0.879789, -0.475287, 1.45455], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.72868, -0.295164, 0.617984, 1.23003], [-0.684454, 0.283003, -0.671887, 3.02084], [0.0234253, -0.912572, -0.408245, 1.46638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.615074, -0.32817, 0.716931, 1.52805], [-0.78711, 0.20218, -0.582736, 2.88241], [0.0462872, -0.922728, -0.382662, 1.44341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.576514, -0.325504, 0.749453, 1.95509], [-0.813183, 0.139005, -0.565165, 2.86551], [0.0797862, -0.935267, -0.344832, 1.47886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.448929, -0.258611, 0.855326, 2.34425], [-0.890164, 0.0459679, -0.453316, 2.78543], [0.0779151, -0.964887, -0.250843, 1.50222], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.511439, -0.217299, 0.831392, 2.61536], [-0.857938, 0.0742752, -0.508356, 2.82302], [0.0487133, -0.973275, -0.224416, 1.50743], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.522787, -0.324792, 0.788165, 2.85087], [-0.851761, 0.16149, -0.498422, 2.92687], [0.0346026, -0.931897, -0.36107, 1.38343], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.511697, -0.234723, 0.826482, 3.13685], [-0.858298, 0.0964095, -0.504014, 2.9817], [0.0386235, -0.967269, -0.250795, 1.47383], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.541204, -0.160473, 0.825438, 3.41369], [-0.839466, 0.0459588, -0.541466, 3.12035], [0.0489548, -0.98597, -0.159585, 1.53315], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.55705, -0.136224, 0.819231, 3.60781], [-0.82809, 0.0163324, -0.560358, 3.05107], [0.0629543, -0.990543, -0.121904, 1.52803], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.636506, -0.270892, 0.722134, 3.86218], [-0.767242, 0.126801, -0.628699, 3.01704], [0.0787421, -0.954222, -0.288549, 1.43885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.664599, -0.309207, 0.680221, 4.16611], [-0.741831, 0.164103, -0.650198, 3.09084], [0.0894194, -0.936729, -0.338441, 1.41139], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.59513, -0.344678, 0.72596, 4.52421], [-0.802054, 0.198214, -0.563401, 3.06852], [0.0502967, -0.917556, -0.394413, 1.37294], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.626043, -0.275045, 0.729672, 4.9514], [-0.779027, 0.17924, -0.600825, 3.07271], [0.0344671, -0.944576, -0.326479, 1.42448], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.653029, -0.203422, 0.729503, 5.35725], [-0.756522, 0.130634, -0.640788, 2.98151], [0.0350523, -0.970337, -0.239201, 1.49326], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.667258, -0.164857, 0.726353, 5.73787], [-0.743602, 0.0915437, -0.662326, 2.96103], [0.0426964, -0.98206, -0.183672, 1.53985], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.676128, -0.255211, 0.691172, 6.01452], [-0.733669, 0.14703, -0.66341, 3.056], [0.0676867, -0.955641, -0.286651, 1.49433], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.585165, -0.34624, 0.733281, 6.13724], [-0.81043, 0.218456, -0.54358, 2.93988], [0.0280197, -0.912357, -0.408436, 1.42428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.5066, -0.364812, 0.781197, 6.29975], [-0.861473, 0.177467, -0.475783, 2.75625], [0.0349347, -0.914012, -0.404181, 1.41961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.553673, -0.311387, 0.772325, 6.58369], [-0.83228, 0.176274, -0.525584, 2.69479], [0.0275194, -0.933791, -0.356759, 1.468], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.521295, -0.23142, 0.8214, 6.76133], [-0.853365, 0.136386, -0.503156, 2.52523], [0.00441292, -0.963247, -0.268583, 1.50638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.536285, -0.176168, 0.825448, 6.82097], [-0.844011, 0.104315, -0.526083, 2.46591], [0.00657254, -0.978817, -0.20463, 1.54693], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.547811, -0.154978, 0.822123, 6.59247], [-0.836547, 0.0901461, -0.540429, 2.59495], [0.00964344, -0.983797, -0.179029, 1.56649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.420055, -0.130376, 0.898085, 6.30008], [-0.90747, 0.0682353, -0.414539, 2.62122], [-0.00723493, -0.989114, -0.146975, 1.53015], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.327924, -0.219689, 0.918805, 6.1515], [-0.944379, 0.101746, -0.312724, 2.55616], [-0.0247825, -0.97025, -0.240834, 1.48067], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.20416, -0.311748, 0.927972, 6.27866], [-0.978654, 0.08782, -0.185807, 2.37983], [-0.0235694, -0.946098, -0.323023, 1.46653], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.0312999, -0.405195, 0.913695, 6.42767], [-0.999347, 0.0291989, -0.0212852, 2.13331], [-0.0180542, -0.913764, -0.405844, 1.46325], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.0157943, -0.422503, 0.906224, 6.61206], [-0.999798, -0.0179673, 0.00904845, 2.16032], [0.0124595, -0.906184, -0.422701, 1.46635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.163878, -0.397195, 0.902984, 6.75151], [-0.986283, -0.0843057, 0.141912, 2.31704], [0.01976, -0.913854, -0.405562, 1.46243], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.177352, -0.385591, 0.905465, 6.98911], [-0.983664, -0.0982815, 0.150815, 2.44594], [0.0308375, -0.917421, -0.396722, 1.45219], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.192525, -0.425919, 0.884041, 7.24362], [-0.981288, -0.0861278, 0.172209, 2.51369], [0.00279364, -0.900653, -0.434531, 1.46122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.288105, -0.330881, 0.898618, 7.54199], [-0.952454, -0.196163, 0.233136, 2.30493], [0.0991353, -0.923059, -0.371664, 1.46885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.479951, -0.271019, 0.834384, 7.84965], [-0.87529, -0.212201, 0.434556, 2.12738], [0.0592841, -0.938893, -0.339066, 1.49272], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.59545, -0.181007, 0.782736, 8.14687], [-0.799211, -0.232736, 0.554163, 1.96528], [0.0818632, -0.955547, -0.283245, 1.52286], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.659459, -0.207153, 0.722635, 8.4721], [-0.749786, -0.250525, 0.61242, 1.82328], [0.0541732, -0.945688, -0.320532, 1.50902], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.756604, -0.127049, 0.641412, 8.80881], [-0.649565, -0.258457, 0.715028, 1.79786], [0.0749336, -0.957632, -0.278076, 1.50612], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.871181, -0.0550897, 0.487862, 9.20835], [-0.481743, -0.287584, 0.82778, 1.71362], [0.0946992, -0.95617, -0.277077, 1.51318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.927413, 0.00364906, 0.374021, 9.55371], [-0.353197, -0.32058, 0.878908, 1.69594], [0.123111, -0.947214, -0.296021, 1.49824], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.985178, 0.0880987, 0.147186, 9.84999], [-0.111422, -0.323729, 0.939566, 1.50971], [0.130423, -0.942039, -0.309115, 1.4929], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.995141, 0.0956066, -0.0235343, 9.9965], [0.0528799, -0.31734, 0.946836, 1.27718], [0.0830554, -0.94348, -0.320854, 1.50056], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.967177, 0.171326, -0.187662, 10.1094], [0.231605, -0.290523, 0.928416, 1.10497], [0.104541, -0.941405, -0.320667, 1.4949], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.922647, 0.190163, -0.335502, 10.2429], [0.377387, -0.266126, 0.886993, 1.13303], [0.0793873, -0.944995, -0.317305, 1.49367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.877726, 0.201029, -0.434954, 10.136], [0.47656, -0.27174, 0.836091, 1.2407], [0.0498847, -0.94114, -0.334316, 1.47194], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.762902, 0.269292, -0.587762, 10.0645], [0.644851, -0.251754, 0.721656, 1.42643], [0.0463645, -0.929571, -0.365716, 1.45172], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.621129, 0.331812, -0.710001, 9.90631], [0.779833, -0.171686, 0.601984, 1.55204], [0.0778487, -0.927591, -0.365397, 1.43643], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.734512, 0.207294, -0.646159, 9.71379], [0.673131, -0.101963, 0.732461, 1.63745], [0.0859498, -0.972951, -0.214429, 1.54538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.695522, 0.128161, -0.706983, 9.71369], [0.71167, 0.0125245, 0.702403, 1.72824], [0.0988753, -0.991674, -0.0824973, 1.56495], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.590408, 0.245029, -0.769012, 9.57363], [0.798771, -0.0408242, 0.600248, 1.87212], [0.115684, -0.968656, -0.219825, 1.49706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.614735, 0.284866, -0.735495, 9.2799], [0.773867, -0.0376378, 0.632229, 1.84805], [0.152418, -0.957828, -0.243586, 1.46277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.547182, 0.345302, -0.762469, 9.09623], [0.825299, -0.0707053, 0.560252, 1.83567], [0.139546, -0.935824, -0.323666, 1.41696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.497299, 0.356772, -0.790828, 8.93828], [0.856842, -0.0590046, 0.512192, 1.85794], [0.136073, -0.932326, -0.33504, 1.40408], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.565304, 0.270825, -0.779158, 8.64242], [0.821647, -0.101284, 0.560926, 1.71667], [0.0729968, -0.957286, -0.279778, 1.44764], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.469919, 0.263206, -0.842556, 8.42005], [0.871546, 0.0129809, 0.490142, 1.80084], [0.139945, -0.964653, -0.223296, 1.48278], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.476671, 0.261072, -0.83942, 8.16901], [0.868872, 0.005187, 0.495009, 1.97053], [0.133587, -0.965305, -0.224366, 1.4864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.493534, 0.3136, -0.811221, 7.7807], [0.854632, -0.00184372, 0.519231, 1.99708], [0.161335, -0.949553, -0.268923, 1.49062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.38097, 0.286366, -0.879123, 7.51714], [0.914825, 0.0210584, 0.403301, 2.09878], [0.134005, -0.957889, -0.253952, 1.49668], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.308601, 0.337804, -0.889187, 7.29306], [0.939065, 0.040597, 0.341334, 2.14032], [0.151402, -0.940341, -0.304692, 1.46616], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.223689, 0.356398, -0.907163, 7.14466], [0.968893, 0.0197977, 0.246688, 2.26685], [0.105879, -0.934125, -0.340882, 1.45344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.0902352, 0.357528, -0.929533, 7.03557], [0.994923, 0.00939688, 0.100197, 2.54318], [0.044558, -0.933855, -0.354865, 1.46554], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.0786133, 0.361052, -0.929226, 6.78646], [0.993345, 0.0503368, 0.103596, 2.58805], [0.0841778, -0.931186, -0.354692, 1.46522], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.0211445, 0.337824, -0.940972, 6.4848], [0.996398, 0.0701939, 0.0475904, 2.69131], [0.0821276, -0.938588, -0.335122, 1.45958], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.129389, 0.333563, -0.933807, 6.13619], [0.983588, 0.0762518, 0.163524, 2.75662], [0.12575, -0.939639, -0.318222, 1.4729], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.391472, 0.223544, -0.892625, 5.75613], [0.910142, 0.0489023, 0.411401, 2.63418], [0.135618, -0.973466, -0.184313, 1.55474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.339284, 0.118869, -0.933144, 5.41792], [0.934676, 0.069337, 0.348673, 2.68389], [0.106148, -0.990486, -0.0875792, 1.59967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.461381, 0.154294, -0.873683, 4.9694], [0.87676, 0.0713511, 0.475607, 2.64561], [0.135721, -0.985445, -0.102359, 1.58961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.292111, 0.218691, -0.931046, 4.61474], [0.948251, 0.0604671, 0.311711, 2.57156], [0.124466, -0.973919, -0.18971, 1.54032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.274724, 0.197306, -0.941062, 4.30948], [0.952944, 0.0745794, 0.293829, 2.57081], [0.128158, -0.977501, -0.167533, 1.56103], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.1948, 0.0760826, -0.977888, 4.05618], [0.974954, 0.0940698, 0.201534, 2.60248], [0.107323, -0.992654, -0.0558522, 1.64595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.0699565, 0.193249, -0.978653, 3.84744], [0.985586, 0.138096, 0.097721, 2.81909], [0.154032, -0.971383, -0.180803, 1.56414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.0385393, 0.277866, -0.959847, 3.77834], [0.992566, 0.121623, -0.00464446, 2.90532], [0.115449, -0.95289, -0.280487, 1.5287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.0468495, 0.2822, -0.958211, 3.73756], [0.98934, 0.145521, -0.00551467, 2.92053], [0.137883, -0.948255, -0.28601, 1.51508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.122796, 0.284837, -0.950678, 3.88739], [0.985542, 0.147682, -0.0830523, 3.09413], [0.116741, -0.947132, -0.298854, 1.52832], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.10825, 0.326934, -0.938827, 4.08902], [0.987565, 0.143669, -0.0638392, 3.12013], [0.114009, -0.934063, -0.33842, 1.50869], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.208049, 0.302756, -0.930083, 4.26146], [0.973445, 0.156932, -0.166665, 3.14984], [0.0955009, -0.940059, -0.327366, 1.52242], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.377857, 0.241899, -0.893706, 4.28238], [0.92545, 0.127534, -0.356759, 3.23322], [0.0276778, -0.961884, -0.272055, 1.54015], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.418068, 0.313749, -0.852515, 4.24933], [0.906901, 0.19832, -0.371752, 3.07219], [0.052434, -0.928564, -0.36745, 1.47453], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.537528, 0.329071, -0.776387, 4.07491], [0.842688, 0.243129, -0.480381, 3.03111], [0.0306824, -0.912469, -0.407993, 1.44385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.678442, 0.324729, -0.658991, 3.78351], [0.734648, 0.303671, -0.606693, 3.01394], [0.00310522, -0.895732, -0.444584, 1.41414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.878644, 0.203725, -0.431835, 3.56077], [0.477052, 0.412725, -0.775938, 2.95448], [0.0201507, -0.887781, -0.459825, 1.38635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.957538, 0.111731, -0.265779, 3.23613], [0.287021, 0.456469, -0.842173, 3.04198], [0.0272229, -0.882696, -0.469155, 1.40946], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.992786, 0.0367847, -0.114119, 2.92028], [0.118333, 0.454043, -0.883087, 2.96432], [0.019331, -0.89022, -0.45512, 1.40479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.989852, -0.0873876, 0.112059, 2.69934], [-0.138235, 0.409353, -0.901843, 2.90217], [0.0329381, -0.908182, -0.417279, 1.37997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.902934, -0.190706, 0.385151, 2.3994], [-0.429531, 0.430883, -0.793627, 2.82945], [-0.0146054, -0.882027, -0.470973, 1.37298], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.733942, -0.342302, 0.586651, 2.1095], [-0.679212, 0.368754, -0.63458, 2.76679], [0.0008881, -0.864205, -0.503139, 1.37855], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.620155, -0.389702, 0.680838, 1.81491], [-0.784058, 0.279452, -0.554221, 2.90225], [0.0257194, -0.877519, -0.478852, 1.40649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.682204, -0.3589, 0.637016, 1.77156], [-0.730393, 0.294551, -0.616252, 3.10542], [0.0335399, -0.885681, -0.463082, 1.42545], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.689623, -0.315706, 0.651728, 1.63163], [-0.722838, 0.245561, -0.645914, 3.16416], [0.0438805, -0.916531, -0.397549, 1.45072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.804602, -0.210124, 0.555396, 1.41619], [-0.593769, 0.29627, -0.748106, 3.14121], [-0.00735253, -0.931704, -0.363144, 1.49876], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0777_00"}, {"annotation": [{"question_id": "test-scene0778-0", "question": "What is the object of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-1", "question": "What's in the dispenser over the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-2", "question": "Where is the paper towel dispenser located when looking at the mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-3", "question": "The paper towel dispenser is located above what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-4", "question": "What is on the wall next to the doors handle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-5", "question": "Where is the trash bin located when looking at the mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-6", "question": "On what surface is the oval sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-7", "question": "What color is the dispenser on the far wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-8", "question": "What color is the soap dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-9", "question": "Where is the oval sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-10", "question": "What is in front of the vanity mirror in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-11", "question": "What is on the left side of the vanity?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-12", "question": "What kind of sink is in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-13", "question": "Where is the stainless steel sink well located in the bathroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-14", "question": "What is in the bathroom near the checked wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-15", "question": "What is in the bathroom that is to the right of the vanity mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-16", "question": "What color is the paper towel dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-17", "question": "What is mounted on the white tile to the side of the bathroom sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-18", "question": "What color is the metal trash bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-19", "question": "Where is the trash bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-20", "question": "What is mounted on the wall near the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-21", "question": "What metal is the trash bin made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-22", "question": "What metal is the bathroom sink made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-23", "question": "Where is the bathroom sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-24", "question": "Where is sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-25", "question": "What is in the bathroom vanity?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-26", "question": "Where is the foaming soap dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-27", "question": "What is on the wall to the right of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-28", "question": "Where is the paper towel dispenser tacked?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-29", "question": "What is on the wall left to the hand dryer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-30", "question": "What type of dispenser is above the trash bin near the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0778-31", "question": "What is in the bathroom near the doorway?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.905356, -0.1938, 0.377852, 0.663324], [-0.424167, -0.455291, 0.78281, 0.770581], [0.0203241, -0.868995, -0.494404, 1.37744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.905068, -0.205773, 0.372169, 0.632568], [-0.424935, -0.472148, 0.772339, 0.777628], [0.0167923, -0.857167, -0.514766, 1.3182], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.892829, -0.252382, 0.373042, 0.529786], [-0.449992, -0.534918, 0.715102, 0.79868], [0.0190678, -0.806329, -0.59116, 1.26812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.793059, -0.293888, 0.53356, 0.419016], [-0.609046, -0.366809, 0.703217, 0.895265], [-0.0109524, -0.882656, -0.469892, 1.3504], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.80392, -0.197789, 0.560885, 0.429197], [-0.594634, -0.284885, 0.751832, 0.910517], [0.0110834, -0.937934, -0.346637, 1.43066], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.816134, -0.173311, 0.55126, 0.530183], [-0.577545, -0.213019, 0.788077, 0.961875], [-0.0191539, -0.961554, -0.273947, 1.49543], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.750191, -0.100105, 0.6536, 0.540903], [-0.660981, -0.140168, 0.737195, 0.963086], [0.0178169, -0.985054, -0.171321, 1.57626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.643017, -0.24286, 0.726326, 0.44195], [-0.765765, -0.189533, 0.614559, 1.04865], [-0.0115889, -0.951366, -0.307846, 1.50081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.533263, -0.290852, 0.794378, 0.398951], [-0.845942, -0.187237, 0.499323, 1.13652], [0.00350776, -0.938268, -0.345891, 1.43186], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.529157, -0.287343, 0.79839, 0.375901], [-0.847279, -0.229875, 0.478826, 1.29343], [0.0459426, -0.929834, -0.3651, 1.37436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.479589, -0.358617, 0.800867, 0.327509], [-0.871854, -0.298042, 0.38864, 1.41299], [0.0993192, -0.884627, -0.4556, 1.3275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.51304, -0.430538, 0.742581, 0.287801], [-0.85743, -0.297411, 0.419953, 1.46092], [0.0400464, -0.852164, -0.52174, 1.30251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.379404, -0.510487, 0.771658, 0.342446], [-0.924846, -0.23331, 0.300377, 1.39787], [0.0266973, -0.827629, -0.560641, 1.30994], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.356119, -0.564066, 0.744989, 0.394218], [-0.934389, -0.206549, 0.290268, 1.32676], [-0.00985321, -0.799479, -0.600613, 1.33622], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.494765, -0.484259, 0.721596, 0.447485], [-0.86815, -0.238125, 0.435445, 1.15021], [-0.0390384, -0.841896, -0.538226, 1.38765], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.628007, -0.360745, 0.689544, 0.50885], [-0.776723, -0.235862, 0.584012, 0.910851], [-0.048042, -0.902348, -0.428322, 1.47163], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.633033, -0.247113, 0.733625, 0.510725], [-0.773874, -0.177871, 0.60785, 0.884327], [-0.0197171, -0.952522, -0.303832, 1.5582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.660575, -0.142746, 0.737065, 0.500127], [-0.750675, -0.140375, 0.645586, 0.861649], [0.0113102, -0.979754, -0.199884, 1.62235], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.673383, -0.039931, 0.738215, 0.458016], [-0.737922, -0.0971062, 0.667863, 0.839233], [0.0450168, -0.994473, -0.0948557, 1.66382], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.670645, 0.0500521, 0.740088, 0.443004], [-0.738899, -0.0427501, 0.672459, 0.798496], [0.0652967, -0.997831, 0.00831333, 1.68259], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.667009, 0.121599, 0.73506, 0.440072], [-0.743589, 0.0468897, 0.666991, 0.760967], [0.0466383, -0.991471, 0.121695, 1.74003], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.590118, 0.0646171, 0.804727, 0.475129], [-0.806759, 0.0101347, 0.590794, 0.754087], [0.0300196, -0.997859, 0.058111, 1.70932], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.63028, -0.0889228, 0.771258, 0.485759], [-0.776158, -0.0952885, 0.623297, 0.777317], [0.0180666, -0.99147, -0.129077, 1.58474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.577861, -0.308855, 0.755437, 0.514451], [-0.816097, -0.209705, 0.538525, 0.796557], [-0.00790706, -0.927703, -0.373236, 1.48372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.46576, -0.46289, 0.754188, 0.579223], [-0.884491, -0.217286, 0.41287, 0.792136], [-0.0272389, -0.859372, -0.510626, 1.42591], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.372929, -0.475999, 0.79646, 0.621674], [-0.927778, -0.202708, 0.313269, 0.817244], [0.0123332, -0.855766, -0.517217, 1.43043], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.242758, -0.493053, 0.835444, 0.678974], [-0.969671, -0.148542, 0.194095, 0.910067], [0.0283994, -0.857225, -0.514159, 1.44528], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.0767484, -0.593551, 0.801129, 0.670765], [-0.995845, -0.0851299, 0.0323303, 1.13864], [0.0490104, -0.800281, -0.597618, 1.39398], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.100322, -0.613433, 0.783349, 0.745769], [-0.993388, 0.0175886, -0.113447, 1.34541], [0.0558144, -0.789551, -0.611142, 1.36359], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.415057, -0.484369, 0.770139, 0.769175], [-0.909629, 0.204755, -0.361456, 1.571], [0.0173885, -0.850566, -0.525582, 1.41311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.570809, -0.383963, 0.725775, 0.799803], [-0.818532, 0.196477, -0.539817, 1.73153], [0.0646716, -0.902202, -0.426437, 1.44878], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.584078, -0.2978, 0.755095, 0.80253], [-0.809481, 0.144996, -0.568961, 1.72417], [0.0599508, -0.943553, -0.325752, 1.48182], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.631013, -0.243256, 0.736647, 0.767958], [-0.772626, 0.111627, -0.624971, 1.70855], [0.0697981, -0.963518, -0.258384, 1.50825], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.711111, -0.179009, 0.679909, 0.747003], [-0.70096, 0.105484, -0.705356, 1.67022], [0.0545458, -0.978176, -0.200489, 1.55694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.74459, -0.117215, 0.65715, 0.730336], [-0.663234, 0.0185026, -0.748183, 1.64198], [0.0755396, -0.992934, -0.0915182, 1.61577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.688199, -0.0300214, 0.7249, 0.71563], [-0.72275, -0.0588853, -0.688597, 1.64286], [0.0633586, -0.997813, 0.0188269, 1.63928], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.686525, 0.0493974, 0.725426, 0.684349], [-0.72293, -0.153149, -0.673734, 1.65883], [0.0778175, -0.986968, 0.140851, 1.68151], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.77273, -0.00984938, 0.634658, 0.685774], [-0.620866, -0.19615, -0.758981, 1.64378], [0.131964, -0.980525, 0.145456, 1.68947], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.801714, -0.101638, 0.589003, 0.711022], [-0.590888, -0.0136637, -0.806638, 1.55323], [0.0900328, -0.994728, -0.0491023, 1.62875], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.815324, -0.221302, 0.535044, 0.78222], [-0.571504, 0.159319, -0.804985, 1.58368], [0.0929019, -0.962103, -0.256372, 1.52715], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.819003, -0.280824, 0.500372, 0.808518], [-0.569949, 0.297438, -0.765956, 1.7438], [0.0662693, -0.912507, -0.403658, 1.45693], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.840377, -0.325798, 0.433153, 0.712608], [-0.53655, 0.387005, -0.749894, 1.76991], [0.0766821, -0.862602, -0.500037, 1.41815], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.93937, -0.263687, 0.219207, 0.727548], [-0.325354, 0.483501, -0.812633, 1.7722], [0.108294, -0.834683, -0.539978, 1.40293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.991969, -0.126291, 0.00690962, 0.90084], [-0.0732624, 0.529201, -0.845328, 1.82718], [0.1031, -0.839045, -0.534203, 1.4302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.994456, -0.10499, 0.0059057, 0.962944], [-0.0482306, 0.405489, -0.912827, 1.76031], [0.0934429, -0.908051, -0.408304, 1.48379], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.9923, -0.123832, 0.00245209, 1.01976], [-0.03644, 0.272967, -0.961333, 1.6829], [0.118374, -0.95402, -0.275378, 1.55873], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.992636, -0.0691282, -0.0994758, 1.17688], [0.0848405, 0.189415, -0.978225, 1.70484], [0.0864652, -0.979461, -0.182155, 1.60147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.989519, -0.093003, -0.110463, 1.16417], [0.103351, 0.0781009, -0.991574, 1.72923], [0.100847, -0.992598, -0.0676705, 1.65945], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.992439, -0.11661, -0.0383031, 1.13711], [0.0519966, -0.116752, -0.9918, 1.7615], [0.111182, -0.986292, 0.121933, 1.71607], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.980641, -0.153123, -0.122049, 1.12205], [0.15511, -0.227025, -0.961458, 1.78911], [0.119513, -0.961776, 0.246381, 1.79423], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.941034, -0.106227, -0.3212, 1.07095], [0.334817, -0.156342, -0.929223, 1.76857], [0.0484914, -0.981974, 0.18269, 1.77831], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.920797, -0.0380443, -0.388181, 1.07822], [0.38687, 0.0375673, -0.921368, 1.71895], [0.0496357, -0.99857, -0.0198739, 1.69116], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.932731, 0.0712041, -0.353473, 1.20981], [0.359442, 0.261185, -0.89587, 1.64905], [0.0285321, -0.962659, -0.269209, 1.54769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.954506, 0.0441436, -0.294905, 1.27443], [0.287083, 0.403454, -0.868797, 1.64224], [0.0806286, -0.913935, -0.397772, 1.47316], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.945646, 0.0692067, -0.317749, 1.32361], [0.305222, 0.526058, -0.79379, 1.6432], [0.112219, -0.847628, -0.518588, 1.39682], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.893704, 0.150989, -0.422486, 1.29954], [0.437635, 0.500814, -0.746767, 1.59205], [0.0988337, -0.852284, -0.513658, 1.39786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.848274, 0.182291, -0.497194, 1.27828], [0.52609, 0.397371, -0.751882, 1.41952], [0.060509, -0.89937, -0.432981, 1.44883], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.766252, 0.136618, -0.627849, 1.28651], [0.630529, 0.347932, -0.693814, 1.42056], [0.123661, -0.927512, -0.352745, 1.55625], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.749028, 0.0150076, -0.662368, 1.24483], [0.657034, 0.145431, -0.7397, 1.70144], [0.0852274, -0.989255, -0.118792, 1.76997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.667233, -0.0378361, -0.743887, 1.24488], [0.740779, 0.070557, -0.668034, 1.74143], [0.0777622, -0.99679, -0.0190497, 1.72648], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.60795, -0.0481132, -0.792516, 1.21055], [0.79368, -0.00960138, -0.60826, 1.77252], [0.0216561, -0.998796, 0.0440236, 1.72321], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.534204, -0.0718511, -0.842297, 1.17745], [0.845348, -0.0496955, -0.5319, 1.79096], [-0.00364079, -0.996177, 0.0872867, 1.73352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.557138, -0.255175, -0.790243, 1.25312], [0.825727, -0.0691983, -0.55981, 1.78759], [0.088166, -0.964416, 0.249258, 1.77952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.503214, -0.29157, -0.813488, 1.27102], [0.859676, -0.0731157, -0.50558, 1.79779], [0.087933, -0.953751, 0.287448, 1.80604], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.394473, -0.205858, -0.895552, 1.21507], [0.918719, -0.0686377, -0.3889, 1.83037], [0.0185898, -0.976172, 0.216202, 1.75964], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.331816, -0.0486067, -0.942091, 1.16682], [0.94, 0.0669851, -0.334535, 1.8344], [0.0793667, -0.996569, 0.0234636, 1.72415], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.285693, 0.13914, -0.948166, 1.10336], [0.956701, 0.0989219, -0.273748, 1.81805], [0.0557049, -0.98532, -0.161377, 1.61324], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.053331, 0.227353, -0.972351, 1.02895], [0.997037, 0.0661891, -0.0392089, 1.64184], [0.0554448, -0.97156, -0.23021, 1.5759], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.294366, 0.053131, -0.954215, 0.979197], [0.955429, -0.0398426, 0.292522, 1.41836], [-0.0224765, -0.997793, -0.0624912, 1.67389], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.585778, -0.101862, -0.804045, 0.929312], [0.810351, 0.0564773, 0.583217, 1.26031], [-0.0139973, -0.993194, 0.115627, 1.73117], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.785408, -0.0767198, -0.614205, 0.871679], [0.616253, 0.0039078, 0.787539, 1.09444], [-0.0580196, -0.997045, 0.050348, 1.73926], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.829268, 0.013931, -0.558678, 0.940561], [0.558624, -0.049234, 0.827959, 1.01126], [-0.0159717, -0.99869, -0.0486103, 1.63672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.82221, 0.1087, -0.558709, 0.966121], [0.569182, -0.154026, 0.807656, 0.934446], [0.00173602, -0.982069, -0.188512, 1.49346], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.916015, 0.105011, -0.387156, 0.886798], [0.399364, -0.329581, 0.855503, 0.843356], [-0.0377616, -0.938269, -0.343839, 1.38132], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.967637, 0.0700092, -0.24244, 0.873198], [0.247658, -0.447789, 0.859157, 0.822669], [-0.0484131, -0.891394, -0.450636, 1.34143], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.999396, -0.0344998, -0.00412515, 0.854829], [-0.0147512, -0.528788, 0.848626, 0.971519], [-0.0314587, -0.848053, -0.528978, 1.31578], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.962912, -0.17031, 0.209274, 0.643356], [-0.266093, -0.470999, 0.841044, 1.06788], [-0.0446705, -0.865537, -0.498848, 1.33486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.87504, -0.198087, 0.441664, 0.522391], [-0.483997, -0.371722, 0.792193, 1.02306], [0.00725294, -0.906965, -0.421145, 1.38263], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.895235, -0.163541, 0.414499, 0.476587], [-0.443368, -0.234038, 0.865246, 0.873079], [-0.0444949, -0.958374, -0.282028, 1.47464], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.924357, -0.0890452, 0.370991, 0.464285], [-0.38023, -0.134862, 0.915007, 0.812911], [-0.0314442, -0.986855, -0.158519, 1.5128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.874054, -0.0468819, 0.483562, 0.506286], [-0.485694, -0.0608474, 0.872009, 0.763805], [-0.0114579, -0.997045, -0.0759542, 1.56047], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.860859, 0.000384867, 0.508844, 0.521198], [-0.50844, 0.0405074, 0.860144, 0.746783], [-0.0202809, -0.999179, 0.0350669, 1.64139], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.88144, 0.00745092, 0.472236, 0.508853], [-0.471742, 0.0622607, 0.879536, 0.747407], [-0.0228484, -0.998032, 0.058394, 1.64514], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0778_00"}, {"annotation": [{"question_id": "test-scene0779-0", "question": "What is built in to the bathroom wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-1", "question": "What is on your left when you open the bathroom door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-2", "question": "The sink is on the wall in between the paper towel dispenser and what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-3", "question": "Where is the bathroom sink located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-4", "question": "What shape is the white soap dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-5", "question": "Where is the paper towel dispenser attached?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-6", "question": "What's under the soap dispenser?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-7", "question": "How many sides is the grey counter attached to the recessed wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-8", "question": "On what side of the washbasin is the dispenser located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-9", "question": "What is fixed to the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-10", "question": "What is the trash can placed below?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-11", "question": "What type of door can be seen on the left side of the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-12", "question": "What kind of dispenser is hanging above the trash bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-13", "question": "What kind of dispenser is in the bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-14", "question": "What is the color of the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-15", "question": "What type of dispenser is placed on the wall to the left of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-16", "question": "What is placed on the wall and to the left of the soap dispenser and sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-17", "question": "Where is the soap dispenser relative to the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-18", "question": "What kind of dispenser is on the wall and to the left of the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-19", "question": "What color is the toilet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-20", "question": "What color is the soap dispenser on the white tile wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-21", "question": "Where is the soap dispenser ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-22", "question": "What is on the counter that is under a mirror?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-23", "question": "What is the counter that has a bathroom sink in it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-24", "question": "What is under the counter that has a bathroom sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-25", "question": "Where is the gray counter located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0779-26", "question": "Where is the dispenser located on the wall?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.393872, -0.443888, 0.804878, 1.37905], [-0.918072, -0.232679, 0.320943, 1.3018], [0.0448159, -0.865346, -0.499167, 1.46534], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.405252, -0.484945, 0.774983, 1.4055], [-0.913439, -0.249485, 0.321538, 1.31976], [0.0374187, -0.838203, -0.544072, 1.41975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.436301, -0.47408, 0.764781, 1.31899], [-0.898807, -0.269555, 0.345668, 1.31248], [0.0422761, -0.838205, -0.543714, 1.3934], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.458736, -0.433363, 0.77573, 1.13694], [-0.886244, -0.286306, 0.364144, 1.31326], [0.0642895, -0.854532, -0.515404, 1.4215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.511471, -0.381414, 0.770014, 1.21055], [-0.859141, -0.24428, 0.449672, 1.27626], [0.0165878, -0.891544, -0.45263, 1.44093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.730144, -0.303003, 0.612437, 1.45493], [-0.683256, -0.314273, 0.659086, 1.19238], [-0.0072327, -0.899678, -0.436493, 1.40847], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.604008, -0.360428, 0.710822, 1.56867], [-0.795747, -0.322317, 0.512737, 1.20304], [0.0443054, -0.875331, -0.481491, 1.40801], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.54234, -0.351528, 0.763084, 1.52957], [-0.837107, -0.303451, 0.455159, 1.19646], [0.0715577, -0.885633, -0.45884, 1.45288], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.443897, -0.304263, 0.842841, 1.44589], [-0.892106, -0.238521, 0.383738, 1.21126], [0.0842778, -0.922243, -0.377313, 1.54792], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.249167, -0.297632, 0.921592, 1.20964], [-0.962482, -0.181678, 0.201549, 1.30891], [0.107445, -0.937234, -0.331734, 1.59967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.217273, -0.261858, 0.940332, 1.08475], [-0.967698, -0.183994, 0.172359, 1.26297], [0.127881, -0.947405, -0.293376, 1.61348], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.156825, -0.277039, 0.947975, 1.01832], [-0.977309, -0.18191, 0.108516, 1.2474], [0.142383, -0.943482, -0.299281, 1.63507], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.0907152, -0.385877, 0.91808, 1.07319], [-0.988217, -0.079239, -0.13095, 1.48531], [0.123278, -0.919141, -0.374142, 1.57811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.209085, -0.453834, 0.866209, 1.20922], [-0.971806, -0.00228592, -0.235772, 1.69654], [0.108981, -0.891083, -0.440561, 1.43858], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.402204, -0.43979, 0.803005, 1.34534], [-0.912514, 0.121185, -0.390683, 1.83874], [0.0745058, -0.889887, -0.450056, 1.48088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.577262, -0.416401, 0.70241, 1.37535], [-0.812591, 0.208233, -0.544367, 1.95223], [0.0804101, -0.885014, -0.458568, 1.51286], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.611806, -0.420563, 0.669941, 1.25257], [-0.78131, 0.189077, -0.594816, 1.95063], [0.123487, -0.887343, -0.444268, 1.54152], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.65026, -0.28001, 0.706228, 1.21048], [-0.756606, 0.154702, -0.635308, 1.89741], [0.0686374, -0.94745, -0.312453, 1.65756], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.644785, -0.161533, 0.747101, 1.1992], [-0.761241, 0.0474371, -0.646732, 1.88258], [0.0690282, -0.985726, -0.153552, 1.74179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.610454, -0.0771038, 0.78829, 1.15757], [-0.787623, -0.0460156, -0.614438, 1.89183], [0.083649, -0.995961, -0.0326383, 1.80043], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.559938, 0.00355216, 0.828527, 1.11009], [-0.825084, -0.0935664, -0.55721, 1.90534], [0.0755429, -0.995607, 0.0553222, 1.83657], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.559502, -0.0420272, 0.827763, 1.10876], [-0.826379, -0.0484482, -0.561027, 1.89403], [0.0636819, -0.997941, -0.00762348, 1.78806], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.624271, -0.188179, 0.758205, 1.14523], [-0.774694, 0.0240414, -0.63188, 1.88347], [0.100678, -0.98184, -0.16079, 1.70777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.653409, -0.322102, 0.68506, 1.18115], [-0.753914, 0.195179, -0.627312, 1.88262], [0.0683486, -0.926367, -0.370369, 1.59523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.720918, -0.329217, 0.609831, 1.22938], [-0.683049, 0.1888, -0.705549, 1.86655], [0.117143, -0.925187, -0.36098, 1.56469], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.862433, -0.205483, 0.462587, 1.51999], [-0.489979, 0.109596, -0.864818, 1.87948], [0.127007, -0.972505, -0.195201, 1.65949], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.914004, -0.170584, 0.3681, 1.67713], [-0.387325, 0.0968954, -0.916837, 1.86093], [0.120731, -0.980567, -0.154634, 1.64523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.977942, -0.149755, 0.145614, 1.94165], [-0.161095, 0.0969865, -0.982162, 1.80001], [0.132961, -0.983955, -0.118972, 1.63884], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.978673, -0.0337603, -0.202635, 2.18087], [0.197442, 0.11777, -0.973215, 1.7615], [0.0567203, -0.992467, -0.108592, 1.69449], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.886766, -0.060215, -0.458281, 2.26874], [0.455805, 0.0506918, -0.888636, 1.65685], [0.0767402, -0.996897, -0.0175054, 1.67691], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.744552, -0.0608879, -0.664783, 2.40728], [0.663172, 0.0466013, -0.747016, 1.51532], [0.076464, -0.997056, 0.00568214, 1.70121], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.374671, -0.0269195, -0.926767, 2.40722], [0.927077, 0.00232507, -0.374864, 1.22485], [0.0122459, -0.999635, 0.0240853, 1.44023], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.326607, -0.125728, -0.936761, 2.40466], [0.944985, -0.0243399, -0.326208, 1.22963], [0.0182126, -0.991766, 0.12676, 1.4929], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.231899, -0.135346, -0.963278, 2.3888], [0.972503, -0.0104065, -0.232658, 1.27353], [0.0214649, -0.990744, 0.134037, 1.57347], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.0634114, -0.0899917, -0.993922, 2.31771], [0.996523, 0.0482167, -0.0679431, 1.3586], [0.054038, -0.994775, 0.0866213, 1.59842], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.0888687, 0.0996285, -0.991049, 2.19359], [0.9949, 0.03879, 0.0931136, 1.3916], [0.0477195, -0.994268, -0.0956731, 1.55229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.219681, 0.195422, -0.955798, 2.14948], [0.975152, -0.0727274, 0.209259, 1.20012], [-0.0286188, -0.978019, -0.206543, 1.4557], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.297968, 0.297348, -0.907083, 2.19214], [0.954492, -0.105435, 0.278979, 1.10071], [-0.0126849, -0.94893, -0.315232, 1.35095], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.394988, 0.346145, -0.850981, 2.3026], [0.918326, -0.174715, 0.35518, 1.11562], [-0.0257354, -0.921769, -0.386884, 1.32506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.546561, 0.307097, -0.779079, 2.20457], [0.8373, -0.18469, 0.514605, 1.12128], [0.0141453, -0.933585, -0.358077, 1.3755], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.615783, 0.24401, -0.749181, 2.06797], [0.787914, -0.188104, 0.586353, 1.07846], [0.00215161, -0.951355, -0.308089, 1.41866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.62125, 0.192565, -0.759584, 2.02014], [0.783613, -0.152195, 0.602319, 1.08122], [0.000381112, -0.96941, -0.245447, 1.48368], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.611328, 0.0858414, -0.786708, 2.0281], [0.791376, -0.0641781, 0.607953, 1.12198], [0.00169799, -0.99424, -0.107167, 1.59178], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.614309, 0.00542076, -0.789048, 2.04831], [0.789064, -0.00183868, 0.614309, 1.15699], [0.00187916, -0.999984, -0.00540684, 1.65563], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.619152, -0.056944, -0.783204, 2.05363], [0.784112, 0.0990095, 0.612671, 1.16487], [0.0426567, -0.993456, 0.105952, 1.72232], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.691028, 0.0151707, -0.72267, 1.97454], [0.72265, -0.0367612, 0.690237, 1.17995], [-0.0160948, -0.999209, -0.0363661, 1.6569], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.659452, 0.138179, -0.738939, 1.86822], [0.751205, -0.158458, 0.640768, 1.20671], [-0.0285498, -0.977649, -0.208296, 1.49802], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.664783, 0.206498, -0.71793, 1.84213], [0.745574, -0.243524, 0.620336, 1.28977], [-0.0467344, -0.947657, -0.31585, 1.40886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.680338, 0.241263, -0.69205, 1.78896], [0.730067, -0.306039, 0.611019, 1.24958], [-0.0643778, -0.920941, -0.384348, 1.36961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.745955, 0.208703, -0.632452, 1.61169], [0.665708, -0.261666, 0.698831, 1.18307], [-0.0196432, -0.942324, -0.334126, 1.40539], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.771932, 0.21156, -0.59947, 1.47425], [0.635384, -0.226763, 0.738151, 1.17394], [0.0202262, -0.950695, -0.309467, 1.41139], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.82451, 0.195511, -0.530998, 1.3171], [0.565722, -0.265042, 0.780841, 1.167], [0.011926, -0.944208, -0.329135, 1.41872], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.943463, 0.150845, -0.295169, 1.20531], [0.331051, -0.474064, 0.815885, 1.12702], [-0.016857, -0.867473, -0.497199, 1.36098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.95606, 0.087545, -0.279798, 1.28198], [0.283997, -0.51347, 0.80975, 1.13475], [-0.0727782, -0.85363, -0.51577, 1.35663], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.973307, 0.0386246, -0.226234, 1.37119], [0.211482, -0.53387, 0.818694, 1.15036], [-0.0891577, -0.844684, -0.527787, 1.35875], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.995954, -0.0411724, -0.0798784, 1.41598], [0.0425746, -0.566607, 0.822888, 1.16618], [-0.07914, -0.822959, -0.562562, 1.35339], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.977829, -0.14585, 0.150262, 1.24965], [-0.206544, -0.553502, 0.806831, 1.23722], [-0.0345061, -0.819978, -0.571355, 1.34457], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.925124, -0.219484, 0.309795, 1.14718], [-0.379594, -0.550603, 0.743469, 1.31119], [0.0073947, -0.805396, -0.59269, 1.34199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.911826, -0.238295, 0.33435, 1.13664], [-0.410556, -0.537781, 0.736367, 1.41082], [0.00433466, -0.808707, -0.588195, 1.35252], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.77753, -0.327308, 0.536951, 0.991547], [-0.628649, -0.425925, 0.650683, 1.50011], [0.0157268, -0.843479, -0.536931, 1.41392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.757334, -0.29703, 0.581565, 1.01136], [-0.652497, -0.308312, 0.692236, 1.42462], [-0.0263112, -0.903724, -0.427307, 1.47574], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.753422, -0.249566, 0.608337, 1.0078], [-0.657312, -0.261599, 0.706758, 1.32174], [-0.0172427, -0.932354, -0.361136, 1.49906], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.726663, -0.200829, 0.656985, 1.01879], [-0.68688, -0.194954, 0.700135, 1.28803], [-0.0125251, -0.960032, -0.279611, 1.54832], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.676433, -0.154352, 0.720149, 1.03931], [-0.73645, -0.153695, 0.658802, 1.27041], [0.00899644, -0.975988, -0.217637, 1.58114], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.671555, -0.173638, 0.720322, 1.0338], [-0.740843, -0.140414, 0.656838, 1.27229], [-0.012909, -0.974748, -0.222934, 1.584], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.612859, -0.374235, 0.695954, 1.0803], [-0.787937, -0.222922, 0.573988, 1.25926], [-0.0596632, -0.900141, -0.431493, 1.49843], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.579601, -0.478322, 0.659752, 1.15031], [-0.813118, -0.285934, 0.507032, 1.25246], [-0.0538787, -0.830331, -0.554659, 1.42512], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.535131, -0.478055, 0.69649, 1.17169], [-0.844661, -0.289599, 0.450201, 1.25087], [-0.0135179, -0.829214, -0.558768, 1.42122], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.458616, -0.505984, 0.730515, 1.19494], [-0.888568, -0.271198, 0.369999, 1.23195], [0.0109012, -0.818799, -0.573977, 1.42607], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.346188, -0.498932, 0.794495, 1.23247], [-0.937567, -0.214241, 0.273989, 1.22991], [0.0335116, -0.839743, -0.541949, 1.46266], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.263131, -0.448021, 0.854424, 1.23098], [-0.961063, -0.199188, 0.191526, 1.34293], [0.0843834, -0.871551, -0.482988, 1.48751], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0779_00"}, {"annotation": [{"question_id": "test-scene0780-0", "question": "What is next to a washing machine?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-1", "question": "What color bin is next to another bin of its kind?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-2", "question": "What is the window placed next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-3", "question": "What are placed side by side on the ground?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-4", "question": "Where are washing machines placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-5", "question": "What are placed side by side next to a window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-6", "question": "What is at the end of the laundry machine?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-7", "question": "What color is the circular bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-8", "question": "What is located on floor in the middle of the house?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-9", "question": "What color is the door to the laundry machine?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-10", "question": "What is the door closest to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-11", "question": "What is on the wall to the right of the garbage can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-12", "question": "What is the window on the far wall to the right of the garbage can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-13", "question": "What is placed on top of the middle washer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-14", "question": "What is on the left wall of the room near the washing machines?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-15", "question": "What color is the garbage bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-16", "question": "How many washing machines are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-17", "question": "What is next to the far wall between the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-18", "question": "What color is the garbage can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-19", "question": "What is in the laundry room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-20", "question": "Where is the trash can in the laundry room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-21", "question": "What color is the bin next to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-22", "question": "What's located between the two windows on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-23", "question": "How many clothes dryers are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-24", "question": "What is on top of the washing machines when standing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-25", "question": "In what part of the room is the table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-26", "question": "What shape is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-27", "question": "In what part of the room is the door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-28", "question": "What is the color of the bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-29", "question": "How many windows are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-30", "question": "Where are the windows located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-31", "question": "What is between the windows ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-32", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-33", "question": "Towards what side of the wall is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-34", "question": "What is the color of the laundry hamper?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-35", "question": "On what side of the room is the laundry hamper spaced?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-36", "question": "On which side of the room is the bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-37", "question": "What is on the wall to the right of the clothing basket over the washing machines?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-38", "question": "What is in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-39", "question": "How many drying machines are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-40", "question": "What is stacked on each other?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-41", "question": "Along the wall is a row of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-42", "question": "What is in front of washing machines at the middle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-43", "question": "What is on top of the washing machine?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-44", "question": "What is on the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-45", "question": "Where is a laundry hamper located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-46", "question": "What is a rectangular shape?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-47", "question": "What shape is a white table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-48", "question": "What is next to the washing machine?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-49", "question": "What is next to a window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-50", "question": "Where are the clothes dryers located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-51", "question": "What is in front of door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-52", "question": "What is in the left corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-53", "question": "Where is the tall window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-54", "question": "The tall window is closer to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-55", "question": "Where is the white door that is open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-56", "question": "What shape is the brown and cream laundry hamper?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-57", "question": "What color is the rectangular laundry hamper?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-58", "question": "Where can the brown and cream laundry hamper be found?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-59", "question": "What kind of machines are in the row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-60", "question": "Some of the white washing machines have what kind of doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-61", "question": "What type of bin is located at the end of the dryers closest to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0780-62", "question": "Where is the cylindrical bin located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.0268104, -0.325593, 0.94513, 2.68267], [-0.99943, 0.01064, 0.0320161, 5.82805], [-0.0204804, -0.94545, -0.325122, 1.4781], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.0744652, -0.410532, 0.9088, 2.70841], [-0.997023, -0.0123999, 0.0760927, 5.82827], [-0.0199694, -0.911762, -0.410234, 1.4305], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.0902827, -0.285257, 0.954189, 2.60765], [-0.99574, 0.00787217, -0.0918608, 6.03675], [0.0186923, -0.958419, -0.284753, 1.51304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.257216, -0.163856, 0.95236, 2.46046], [-0.966353, 0.0448958, -0.253271, 6.08093], [-0.00125717, -0.985462, -0.16989, 1.56676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.333477, -0.0887085, 0.938575, 2.35931], [-0.942463, 0.0562427, -0.329543, 6.1606], [-0.0235549, -0.994468, -0.10236, 1.62392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.482803, -0.0548578, 0.874008, 2.47811], [-0.873179, 0.106254, -0.475676, 6.29448], [-0.0667726, -0.992825, -0.0992007, 1.61156], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.529794, -0.229812, 0.816397, 2.58426], [-0.844839, 0.227665, -0.484164, 6.40513], [-0.0745983, -0.946232, -0.31477, 1.49645], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.551149, -0.272994, 0.788485, 2.63526], [-0.831354, 0.26042, -0.49095, 6.33884], [-0.0713111, -0.926097, -0.370485, 1.43516], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.700184, -0.270002, 0.66094, 2.91443], [-0.712994, 0.216224, -0.666998, 6.51153], [0.0371796, -0.938268, -0.343906, 1.44354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.701508, -0.302259, 0.645388, 3.13855], [-0.710024, 0.218592, -0.66939, 6.51855], [0.0612525, -0.927824, -0.367956, 1.42955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.834749, -0.238993, 0.496061, 3.279], [-0.550522, 0.344327, -0.760503, 6.42178], [0.0109477, -0.907921, -0.418998, 1.47522], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.881254, -0.187822, 0.43372, 3.12587], [-0.47264, 0.347393, -0.809894, 6.29762], [0.00144482, -0.918717, -0.394915, 1.53429], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.828987, -0.182952, 0.528497, 2.91368], [-0.558971, 0.301822, -0.772305, 6.0816], [-0.0182175, -0.935645, -0.352472, 1.5713], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.80229, -0.187756, 0.566637, 2.90078], [-0.596502, 0.288263, -0.749059, 5.66227], [-0.0227002, -0.938963, -0.343268, 1.5692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.777304, -0.199481, 0.596661, 2.80071], [-0.628956, 0.268324, -0.729668, 5.34172], [-0.0145434, -0.942449, -0.334034, 1.5771], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.825312, -0.198984, 0.528456, 2.9189], [-0.56441, 0.261912, -0.782843, 5.16455], [0.0173641, -0.944356, -0.328468, 1.55498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.808642, -0.158749, 0.566477, 3.03919], [-0.588214, 0.201643, -0.783162, 4.89351], [0.0101001, -0.966508, -0.256436, 1.57997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.870639, -0.0931864, 0.483014, 3.23325], [-0.4918, 0.186664, -0.850464, 4.65948], [-0.0109097, -0.977994, -0.208346, 1.56733], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.931781, -0.091609, 0.351271, 3.3133], [-0.36298, 0.220605, -0.905306, 4.47405], [0.00544193, -0.971052, -0.238808, 1.57255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.960418, -0.0305053, 0.276888, 3.21768], [-0.276839, 0.214946, -0.936567, 4.687], [-0.0309456, -0.976149, -0.214883, 1.55715], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.99268, -0.0427617, 0.112948, 3.25557], [-0.119419, 0.207946, -0.970823, 4.19023], [0.0180269, -0.977205, -0.21153, 1.55699], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.992688, -0.0700546, 0.0982947, 3.2033], [-0.106005, 0.116518, -0.987515, 3.74543], [0.0577269, -0.990715, -0.123092, 1.54762], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.992078, -0.058541, -0.111143, 3.24259], [0.106161, 0.0822688, -0.990939, 3.40714], [0.0671543, -0.994889, -0.0754023, 1.58513], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.98543, -0.0393494, -0.165467, 3.37409], [0.159428, 0.125189, -0.979239, 3.14265], [0.0592472, -0.991352, -0.117092, 1.51558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.974003, -0.0144301, -0.226072, 3.53754], [0.21536, 0.250542, -0.943847, 2.92902], [0.0702604, -0.967998, -0.240922, 1.43169], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.881506, 0.136055, -0.452145, 3.72549], [0.466569, 0.398065, -0.789846, 2.8642], [0.0725204, -0.907212, -0.414376, 1.37635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.84046, 0.188415, -0.508061, 3.67227], [0.539244, 0.383077, -0.749979, 3.05595], [0.053319, -0.904296, -0.423562, 1.38523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.720388, 0.221988, -0.657086, 3.61736], [0.691543, 0.302284, -0.656042, 3.16429], [0.0529936, -0.927009, -0.371276, 1.4046], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.60729, 0.195211, -0.770124, 3.56968], [0.793411, 0.199284, -0.575139, 3.02546], [0.0412001, -0.960301, -0.275906, 1.46966], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.566864, 0.215215, -0.795203, 3.53647], [0.822727, 0.197405, -0.533058, 3.12037], [0.0422547, -0.956407, -0.288965, 1.45532], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.624704, 0.276808, -0.730152, 3.53788], [0.780856, 0.224877, -0.582832, 3.46596], [0.00286147, -0.934242, -0.356629, 1.43849], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.626567, 0.345675, -0.698514, 3.63423], [0.778204, 0.326435, -0.536505, 3.56834], [0.0425628, -0.879743, -0.47354, 1.3696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.783173, 0.240708, -0.573323, 3.60692], [0.617488, 0.409519, -0.671567, 3.8597], [0.0731351, -0.879974, -0.469359, 1.36403], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.710963, 0.143084, -0.688519, 3.57486], [0.700701, 0.227088, -0.67635, 3.83705], [0.0595795, -0.963306, -0.26171, 1.46688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.633435, 0.134831, -0.761958, 3.57217], [0.773433, 0.140485, -0.618115, 3.60884], [0.0237023, -0.980859, -0.193271, 1.5373], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.578712, 0.0517861, -0.813886, 3.45127], [0.815397, 0.0548498, -0.576297, 3.47206], [0.0147972, -0.997151, -0.0739685, 1.58944], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.409938, 0.043889, -0.911057, 3.43361], [0.912061, 0.00900859, -0.409955, 3.41316], [-0.00978515, -0.998996, -0.0437223, 1.63976], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.295154, 0.146722, -0.944116, 3.43595], [0.955153, 0.0698898, -0.287744, 3.45913], [0.0237659, -0.986706, -0.16077, 1.57222], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.375369, 0.232945, -0.897125, 3.46494], [0.92656, 0.119536, -0.356647, 3.7259], [0.0241598, -0.965115, -0.260708, 1.47648], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.501946, 0.233901, -0.83267, 3.3612], [0.864304, 0.171353, -0.472881, 3.88786], [0.0320725, -0.957041, -0.288172, 1.48556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.487191, 0.138715, -0.862208, 3.32893], [0.873225, 0.0899135, -0.47895, 4.0656], [0.0110866, -0.986242, -0.164935, 1.53336], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.310246, 0.0761321, -0.947603, 3.40139], [0.950608, 0.0348186, -0.308432, 4.30299], [0.00951264, -0.99649, -0.0831742, 1.50782], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.212412, -0.0142775, -0.977075, 3.28346], [0.977111, 0.00874022, -0.212548, 4.55057], [0.0115745, -0.99986, 0.0120942, 1.61748], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.2795, 0.167128, -0.945488, 3.27929], [0.95991, 0.0268136, -0.279023, 4.64399], [-0.0212808, -0.98557, -0.167923, 1.49314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.377796, 0.210117, -0.901732, 3.34773], [0.925887, 0.0875094, -0.367525, 4.81783], [0.00168674, -0.973752, -0.227605, 1.46007], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.362356, 0.113494, -0.925104, 3.1191], [0.931216, 0.0858062, -0.354223, 5.02541], [0.0391773, -0.989826, -0.13678, 1.46729], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.456311, 0.107168, -0.883343, 2.96703], [0.889406, 0.0851947, -0.449108, 5.25876], [0.0271263, -0.990584, -0.134191, 1.48477], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.419102, 0.0550637, -0.906268, 2.83614], [0.905856, 0.0929324, -0.413265, 5.40716], [0.0614658, -0.994149, -0.088828, 1.47939], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.505632, -0.00704095, -0.862721, 2.63438], [0.862623, 0.0129684, -0.50568, 5.50479], [0.0147486, -0.999891, -0.000483423, 1.52882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.574649, 0.021221, -0.818124, 2.54329], [0.816308, 0.0862764, -0.571136, 5.64897], [0.0584647, -0.996045, -0.0669017, 1.47499], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.746323, 0.05696, -0.663141, 2.57803], [0.660084, 0.191157, -0.726462, 5.79316], [0.0853848, -0.979905, -0.180263, 1.40527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.755674, 0.0551418, -0.652622, 2.71462], [0.648666, 0.200679, -0.734138, 5.80227], [0.0904857, -0.978104, -0.187417, 1.37523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.709853, 0.0273061, -0.70382, 2.81968], [0.701756, 0.11309, -0.703384, 5.84402], [0.0603886, -0.993209, -0.0994397, 1.46667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.608703, 0.018856, -0.793173, 2.88379], [0.789983, 0.107046, -0.603711, 6.03706], [0.0735225, -0.994075, -0.0800554, 1.51961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.515779, 0.00162432, -0.856719, 2.97409], [0.850691, 0.119405, -0.511924, 6.21867], [0.101465, -0.992844, -0.0629685, 1.53], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.364896, 0.0985577, -0.925817, 3.25726], [0.926805, 0.133274, -0.351098, 6.08899], [0.088784, -0.986166, -0.139975, 1.52802], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.343179, 0.0556327, -0.937621, 3.38594], [0.93883, 0.050872, -0.340603, 5.99515], [0.02875, -0.997154, -0.0696878, 1.51955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.129287, 0.0985678, -0.986696, 3.42831], [0.991607, 0.0131682, -0.128616, 5.68427], [0.000315703, -0.995043, -0.099443, 1.53973], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.04996, 0.106155, -0.993093, 3.41998], [0.998612, 0.0112787, 0.0514432, 5.39673], [0.0166617, -0.994286, -0.105444, 1.5286], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.312728, 0.116357, -0.942689, 3.24281], [0.949584, -0.0151388, 0.313147, 5.0918], [0.0221658, -0.993092, -0.115225, 1.56981], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.440754, 0.0628749, -0.895422, 3.16373], [0.897018, -0.0675916, 0.436794, 4.71676], [-0.0330598, -0.99573, -0.0861913, 1.60141], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.653013, 0.105998, -0.749891, 3.22982], [0.754287, -0.179921, 0.631409, 4.47426], [-0.0679929, -0.977953, -0.197444, 1.59925], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.725308, 0.144229, -0.673146, 3.13441], [0.687848, -0.1918, 0.700055, 4.06433], [-0.0281417, -0.970778, -0.238322, 1.50356], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.830247, 0.180942, -0.527209, 3.04792], [0.557095, -0.238323, 0.795516, 3.74976], [0.0182962, -0.954181, -0.298669, 1.47096], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.911333, 0.129713, -0.3907, 3.07055], [0.410108, -0.36864, 0.834216, 3.53477], [-0.0358187, -0.920478, -0.38915, 1.44254], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.946498, 0.114009, -0.301899, 3.01576], [0.32219, -0.386886, 0.864009, 3.28333], [-0.0182956, -0.915052, -0.40292, 1.45206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.941988, 0.134798, -0.30739, 3.14154], [0.335644, -0.37416, 0.864492, 3.10466], [0.00151846, -0.917515, -0.397698, 1.45735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.959069, 0.104083, -0.263351, 3.21002], [0.283032, -0.381668, 0.879899, 3.17019], [-0.0089303, -0.91842, -0.395505, 1.44937], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.993807, -0.0210908, -0.109101, 3.1975], [0.0904674, -0.416558, 0.904596, 3.56493], [-0.0645258, -0.908864, -0.41207, 1.44164], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.985937, 0.0535763, -0.158293, 3.28124], [0.166985, -0.353005, 0.920599, 3.88271], [-0.00655589, -0.934086, -0.356987, 1.46458], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.993571, 0.0205263, -0.111335, 3.20952], [0.113057, -0.231175, 0.96632, 4.24967], [-0.00590286, -0.972696, -0.23201, 1.48698], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.984981, 0.0306085, -0.169925, 3.30352], [0.172308, -0.111525, 0.978709, 4.53792], [0.0110059, -0.99329, -0.115125, 1.43339], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.988285, 0.0421362, -0.146689, 3.43626], [0.146563, 0.00607792, 0.989182, 4.66857], [0.0425719, -0.999093, -0.000168905, 1.56646], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.990981, 0.0231897, 0.131978, 3.39068], [-0.13005, -0.0709376, 0.988966, 4.61496], [0.032296, -0.997211, -0.0672822, 1.62131], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.97572, -0.00827337, 0.218865, 3.22392], [-0.209746, -0.323011, 0.922859, 4.55807], [0.0630606, -0.946359, -0.316904, 1.49416], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.935258, -0.0747649, 0.345979, 3.20873], [-0.347408, -0.381157, 0.856753, 4.59311], [0.0678173, -0.921482, -0.382454, 1.46585], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.874244, -0.108628, 0.473178, 3.25553], [-0.481216, -0.322887, 0.814969, 4.77503], [0.0642549, -0.940183, -0.334556, 1.46314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.787121, -0.0967645, 0.609161, 3.24598], [-0.608308, -0.285085, 0.740734, 5.02415], [0.101986, -0.953605, -0.28326, 1.47075], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.729071, -0.0383616, 0.683361, 3.28063], [-0.679478, -0.160537, 0.715917, 5.27568], [0.0822411, -0.986284, -0.143109, 1.48975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.54922, -0.0734592, 0.832443, 3.3321], [-0.83516, -0.0833005, 0.543662, 5.49031], [0.0294061, -0.993813, -0.107101, 1.52081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.253485, -0.271012, 0.9286, 3.00717], [-0.966551, -0.109699, 0.23183, 5.74614], [0.0390377, -0.956305, -0.289754, 1.50392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.132824, -0.396599, 0.908332, 2.71277], [-0.988995, 0.00721405, 0.147769, 5.70972], [-0.0651578, -0.917964, -0.391276, 1.44179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.000494063, -0.464837, 0.885396, 2.43757], [-0.999859, 0.0150475, 0.00734209, 5.83732], [-0.0167359, -0.885268, -0.464779, 1.4269], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.00860995, -0.514504, 0.857444, 2.18693], [-0.99984, 0.0178302, 0.000659116, 5.74476], [-0.0156275, -0.857302, -0.514576, 1.40943], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.0673039, -0.457251, 0.886787, 2.08337], [-0.997673, -0.0211462, 0.0648162, 5.69588], [-0.0108852, -0.889086, -0.457611, 1.43447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.292355, -0.416541, 0.860826, 2.06006], [-0.95626, -0.11822, 0.267562, 5.56817], [-0.0096837, -0.901397, -0.432884, 1.4169], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.402054, -0.350647, 0.845812, 1.99821], [-0.915603, -0.158802, 0.369395, 5.46651], [0.00478896, -0.922946, -0.384901, 1.4508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.269073, -0.35067, 0.897012, 1.99972], [-0.962541, -0.13019, 0.237834, 5.61353], [0.033381, -0.927406, -0.372565, 1.43738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.0072033, -0.306978, 0.951689, 2.09745], [-0.999129, -0.0369118, -0.0194687, 5.81027], [0.0411051, -0.951, -0.306445, 1.4457], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.307647, -0.283378, 0.908322, 2.21457], [-0.951322, 0.110078, -0.287868, 6.11922], [-0.0184109, -0.95267, -0.303449, 1.46514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.504046, -0.316655, 0.803534, 2.28678], [-0.863646, 0.177003, -0.472, 6.46925], [0.00723322, -0.93188, -0.362695, 1.46459], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.617219, -0.300977, 0.726947, 2.47847], [-0.786788, 0.238416, -0.569316, 6.54708], [-0.0019649, -0.923347, -0.383961, 1.4697], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.678083, -0.236432, 0.695919, 2.5148], [-0.734547, 0.250683, -0.630554, 6.73519], [-0.0253716, -0.938753, -0.343654, 1.51597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.797444, -0.152282, 0.58386, 2.41754], [-0.601642, 0.274315, -0.750185, 6.81684], [-0.0459219, -0.949506, -0.31037, 1.57982], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.857352, -0.206986, 0.471278, 2.26824], [-0.514458, 0.374281, -0.771522, 6.92983], [-0.0166962, -0.90392, -0.427376, 1.48816], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.910969, -0.175164, 0.373434, 2.21837], [-0.410541, 0.472611, -0.779804, 6.88276], [-0.0398952, -0.863688, -0.502446, 1.44822], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.976086, -0.0546034, 0.210414, 2.34646], [-0.214955, 0.386699, -0.896804, 6.54395], [-0.0323982, -0.920588, -0.389189, 1.52643], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0780_00"}, {"annotation": [{"question_id": "test-scene0781-0", "question": "What type of cabinet is in the far corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-1", "question": "How many sofa chairs are behind the square brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-2", "question": "In what part of the room is the brown coffee table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-3", "question": "What is the table on the far wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-4", "question": "Where is the long table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-5", "question": "Where is the white door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-6", "question": "What type of cabinet is in the far corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-7", "question": "What color painting is near the corner of the sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-8", "question": "Where is the brown sofa chair located in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-9", "question": "How many sofa are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-10", "question": "What is in front of the windowed doorway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-11", "question": "Where is the armchair sit that isn't touching another armchair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-12", "question": "What is near the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-13", "question": "Where is the couch that faces a blue painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-14", "question": "What color is the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-15", "question": "What is the 3 seater couch facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-16", "question": "What is the arm chair in front of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-17", "question": "Where is the cabinet located in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-18", "question": "What is above the cabinet in the left corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-19", "question": "What color is the cabinet in the left corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-20", "question": "Where are the couches located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-21", "question": "What color is the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-22", "question": "What part of the couch is facing the grey tile?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-23", "question": "What color is the piano?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-24", "question": "What is on the right side of the room near the large piano?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-25", "question": "Where is the double long sofa chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-26", "question": "In what corner of the room is the black sofa chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-27", "question": "Where are three black sofa chairs located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-28", "question": "What is against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-29", "question": "What color is the painting above the black chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-30", "question": "What color frame does the glass door have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-31", "question": "Where do the chairs sit against the wall with a blue painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-32", "question": "Where do the couches sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-33", "question": "Where is the black piano with a bench located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-34", "question": "How many chairs are sitting next to one another in front of a long folding table with a plastic top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-35", "question": "What is to the right of the long folding table towards the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-36", "question": "How many doors does the wooden cabinet have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-37", "question": "The sofa chair next to a piano has how many other chairs in its row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-38", "question": "How many of the same chairs is the sofa chair in a line?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-39", "question": "What color is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-40", "question": "What is at the left end of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-41", "question": "Where is the table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-42", "question": "What is sitting in the middle of the seating area?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-43", "question": "How many patterned chairs are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-44", "question": "Which couch is close to door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-45", "question": "What type of piano is found against the wall behind the seating?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-46", "question": "What is located in front of the doorways?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-47", "question": "What type of door is closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-48", "question": "What is in front of the sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-49", "question": "What is on the wall above and to the left of the sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-50", "question": "Where is the correct piano located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-51", "question": "How many sofa chairs are on the same wall as the piano?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-52", "question": "To which side of the sofa chairs is the piano located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-53", "question": "What is the shape of the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-54", "question": "When facing the wall with the painting, which chair is closest to the piano but still against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-55", "question": "Where is the piano when facing the wall with the blue painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-56", "question": "How many sofas are on the same wall as the piano?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-57", "question": "What type of chair is next to the brown rectangular cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-58", "question": "What kind of arms do patterned chairs have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-59", "question": "What color is the painting on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-60", "question": "How many chairs are on the wall with a blue painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-61", "question": "What are the three chairs on the wall with a blue painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-62", "question": "Where does the long patterned couch face?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-63", "question": "Where does the couch sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-64", "question": "What color are the metal and glass doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-65", "question": "What kind of buckets are under the long table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-66", "question": "What is in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-67", "question": "Where is the chair in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-68", "question": "What type of cabinet is in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-69", "question": "What is under the painting on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-70", "question": "The second chair is in the middle of the room near what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0781-71", "question": "The second chair is in front of what?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.409284, -0.231949, 0.882432, 3.75654], [-0.912405, -0.10186, 0.396412, 4.1251], [-0.00206289, -0.96738, -0.253321, 1.57919], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.398311, -0.193742, 0.896556, 3.50356], [-0.91652, -0.123068, 0.380586, 4.13599], [0.036602, -0.973303, -0.226588, 1.64253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.543103, -0.0925895, 0.834546, 3.39067], [-0.839653, -0.0543207, 0.5404, 4.00818], [-0.00470222, -0.994222, -0.107245, 1.6685], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.622681, 0.00488273, 0.782461, 3.30166], [-0.782476, 0.00436536, 0.622665, 3.95478], [-0.000375349, -0.999979, 0.00653887, 1.70553], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.717059, -0.0218104, 0.696671, 3.31321], [-0.696763, -0.049162, 0.715615, 4.12524], [0.018642, -0.998553, -0.0504488, 1.6039], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.73182, -0.0932943, 0.675081, 3.51331], [-0.681159, -0.131354, 0.720256, 4.38022], [0.0214792, -0.986936, -0.159676, 1.51706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.82239, -0.159241, 0.546184, 3.77755], [-0.568829, -0.212511, 0.794527, 4.37003], [-0.0104515, -0.964096, -0.265347, 1.45721], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.82108, -0.171929, 0.544304, 3.9673], [-0.570537, -0.276793, 0.773222, 4.42277], [0.0177199, -0.945424, -0.325361, 1.41508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.841528, -0.22333, 0.491889, 4.0087], [-0.540141, -0.332892, 0.772936, 4.4521], [-0.00887372, -0.916137, -0.400767, 1.39027], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.863084, -0.234811, 0.447157, 3.96993], [-0.504665, -0.365943, 0.78192, 4.30591], [-0.0199698, -0.900527, -0.434341, 1.3791], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.835489, -0.235263, 0.496598, 3.84337], [-0.549414, -0.340924, 0.762834, 4.09059], [-0.0101644, -0.910177, -0.414095, 1.40603], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.725874, -0.265318, 0.634597, 3.55831], [-0.687815, -0.274409, 0.672019, 3.99056], [-0.00415993, -0.924287, -0.381676, 1.43933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.679527, -0.175305, 0.712398, 3.43775], [-0.73365, -0.163805, 0.659489, 3.84818], [0.0010828, -0.970791, -0.239923, 1.50098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.638695, -0.179108, 0.748324, 3.24206], [-0.76733, -0.220556, 0.602129, 3.88352], [0.0572014, -0.958789, -0.278303, 1.45292], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.567243, -0.260494, 0.781267, 3.02114], [-0.818908, -0.278999, 0.501547, 3.94295], [0.0873225, -0.924285, -0.371581, 1.41943], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.513235, -0.34001, 0.788025, 3.03693], [-0.854643, -0.286545, 0.432986, 3.94363], [0.0785852, -0.895704, -0.437652, 1.40178], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.634924, -0.317199, 0.704454, 3.19229], [-0.772506, -0.272793, 0.573427, 3.98415], [0.0102794, -0.908278, -0.418241, 1.39785], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.700449, -0.242766, 0.671146, 3.59951], [-0.713702, -0.239524, 0.658223, 3.97794], [0.000961699, -0.94005, -0.341037, 1.44704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.794206, -0.145277, 0.590027, 3.95493], [-0.607605, -0.178133, 0.774006, 4.06038], [-0.0073422, -0.973223, -0.229745, 1.49254], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.947628, -0.0933989, 0.305414, 4.29126], [-0.318784, -0.218407, 0.92232, 4.04622], [-0.0194392, -0.971378, -0.236742, 1.48862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.973074, 0.00674141, 0.230392, 4.50375], [-0.224148, -0.205215, 0.952704, 4.19882], [0.0537026, -0.978694, -0.198179, 1.50398], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.998353, 0.0249487, 0.051652, 4.67679], [-0.0498898, -0.0667302, 0.996523, 4.29876], [0.0283087, -0.997459, -0.0653757, 1.6219], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.98795, 0.00913297, -0.154506, 4.79019], [0.15471, -0.0873426, 0.984091, 4.35078], [-0.00450721, -0.996137, -0.0877031, 1.56129], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.978864, 0.0530161, -0.197523, 4.7486], [0.2045, -0.242472, 0.94836, 4.60572], [0.00238456, -0.968709, -0.248189, 1.47447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.950557, 0.120932, -0.286037, 4.68654], [0.310231, -0.328007, 0.892283, 4.80679], [0.0140835, -0.936903, -0.349307, 1.41951], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.914046, 0.140422, -0.380529, 4.75473], [0.404917, -0.370758, 0.835811, 5.03232], [-0.0237179, -0.918052, -0.395749, 1.36513], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.895264, 0.202131, -0.397045, 4.71609], [0.444837, -0.35568, 0.821956, 5.21724], [0.0249217, -0.912489, -0.408343, 1.37081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.834638, 0.222021, -0.504069, 4.92485], [0.550597, -0.31158, 0.774442, 5.39843], [0.0148844, -0.923918, -0.382301, 1.40296], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.72646, 0.184169, -0.662071, 4.94407], [0.686911, -0.222997, 0.691683, 5.41159], [-0.0202532, -0.957264, -0.288507, 1.44914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.773865, 0.181726, -0.60672, 4.71382], [0.632204, -0.164025, 0.757241, 5.45265], [0.0380938, -0.969573, -0.241821, 1.46795], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.714349, 0.129183, -0.687762, 4.55575], [0.698583, -0.0739534, 0.711697, 5.57952], [0.0410767, -0.988859, -0.143073, 1.52784], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.648643, 0.0858508, -0.756235, 4.45784], [0.76042, -0.0313338, 0.648675, 5.67154], [0.0319936, -0.995815, -0.0856072, 1.54117], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.648461, 0.228121, -0.726264, 4.36715], [0.758088, -0.106682, 0.643367, 5.54823], [0.0692862, -0.967771, -0.242115, 1.46081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.649236, 0.303201, -0.697539, 4.35875], [0.752928, -0.126386, 0.645853, 5.41041], [0.107664, -0.944508, -0.310343, 1.40454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.593161, 0.294478, -0.749295, 4.24504], [0.803447, -0.1572, 0.574248, 5.49302], [0.0513139, -0.942641, -0.329842, 1.38226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.496384, 0.286423, -0.819491, 4.07281], [0.867798, -0.138698, 0.477167, 5.66571], [0.0230096, -0.948011, -0.317405, 1.40057], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.463207, 0.238586, -0.853532, 3.95393], [0.884912, -0.0716089, 0.46022, 5.73455], [0.0486814, -0.968478, -0.244297, 1.43938], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.39563, 0.247139, -0.884533, 4.04652], [0.917721, -0.0690769, 0.391174, 5.83624], [0.0355737, -0.966515, -0.254134, 1.45178], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.333462, 0.259627, -0.906309, 4.25841], [0.942611, -0.0745168, 0.325472, 5.9434], [0.0169662, -0.96283, -0.269576, 1.4499], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.301752, 0.276318, -0.912466, 4.45709], [0.953375, -0.0920149, 0.287417, 5.86766], [-0.0045419, -0.956651, -0.291201, 1.44829], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.229433, 0.263944, -0.936853, 4.46348], [0.973324, -0.0612102, 0.221119, 6.09964], [0.00101809, -0.962594, -0.270946, 1.44868], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.179472, 0.256218, -0.949811, 4.47233], [0.983631, -0.0309355, 0.177518, 6.47078], [0.0161005, -0.966124, -0.257577, 1.45958], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.0243179, 0.155994, -0.987459, 4.47589], [0.999639, 0.0150675, -0.0222374, 6.8324], [0.0114096, -0.987643, -0.156304, 1.55849], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.209969, 0.0556908, -0.97612, 4.35488], [0.97763, 0.0245412, -0.208894, 7.10873], [0.0123217, -0.998147, -0.059598, 1.62855], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.284513, 0.0727306, -0.955909, 4.0431], [0.956445, 0.0894689, -0.277865, 7.06938], [0.0653149, -0.993331, -0.0950179, 1.62336], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.42699, 0.151531, -0.891469, 3.71332], [0.903773, 0.103726, -0.415252, 7.14238], [0.0295449, -0.982995, -0.181239, 1.54307], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.44363, 0.14889, -0.883756, 3.40649], [0.892456, 0.163563, -0.42044, 6.97795], [0.0819507, -0.975233, -0.205439, 1.4985], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.554439, 0.24154, -0.796402, 3.22063], [0.829538, 0.237234, -0.505557, 6.88502], [0.066821, -0.940946, -0.331898, 1.42552], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.576861, 0.300593, -0.759523, 3.2524], [0.814654, 0.279731, -0.508025, 6.94219], [0.0597535, -0.911808, -0.406245, 1.40676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.502468, 0.314451, -0.805386, 3.61499], [0.863716, 0.224581, -0.451174, 6.91256], [0.0390018, -0.922325, -0.384441, 1.41555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.492915, 0.334625, -0.803157, 3.89369], [0.870002, 0.2017, -0.449903, 6.93058], [0.0114479, -0.920513, -0.390545, 1.42663], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.447135, 0.259308, -0.856054, 4.36072], [0.894407, 0.118587, -0.431246, 6.80783], [-0.0103082, -0.958487, -0.284952, 1.46179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.368468, 0.267525, -0.890316, 4.57806], [0.928656, 0.149992, -0.339265, 6.56257], [0.0427789, -0.951805, -0.303706, 1.41757], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.283201, 0.310477, -0.907415, 4.61288], [0.958624, 0.120205, -0.258054, 6.21471], [0.0289555, -0.94295, -0.331672, 1.43148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.213937, 0.264191, -0.940443, 4.59713], [0.976493, 0.0837594, -0.198608, 5.84882], [0.0263006, -0.960827, -0.2759, 1.45887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.175699, 0.266339, -0.947731, 4.54646], [0.983591, 0.0875682, -0.157738, 5.48938], [0.0409793, -0.959893, -0.277354, 1.44926], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.179176, 0.309147, -0.933983, 4.59246], [0.983384, 0.0281195, -0.179346, 5.22689], [-0.0291812, -0.950598, -0.309049, 1.4247], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.232973, 0.392517, -0.88975, 4.52402], [0.972411, 0.0828279, -0.218077, 5.28391], [-0.0119027, -0.916008, -0.400984, 1.37417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.353565, 0.449934, -0.820092, 4.42096], [0.934107, 0.123572, -0.334924, 5.52378], [-0.0493531, -0.884471, -0.463978, 1.35684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.324748, 0.375765, -0.867951, 4.2295], [0.945784, 0.123596, -0.300361, 5.66822], [-0.00559044, -0.918436, -0.39553, 1.42613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.490106, 0.328213, -0.80751, 4.21389], [0.870377, 0.133958, -0.473814, 5.7731], [-0.0473398, -0.935057, -0.351322, 1.4557], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.618616, 0.252659, -0.743961, 4.45086], [0.785521, 0.179029, -0.592373, 5.7486], [-0.0164778, -0.950848, -0.309219, 1.45116], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.730366, 0.221242, -0.646233, 4.71763], [0.681673, 0.296271, -0.668989, 5.67303], [0.0434517, -0.929127, -0.3672, 1.43094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.765223, 0.198049, -0.612544, 4.65705], [0.642774, 0.287842, -0.709922, 5.63286], [0.035717, -0.936976, -0.347564, 1.44148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.766169, 0.184243, -0.615661, 4.32627], [0.642639, 0.219115, -0.734169, 5.60633], [-0.000364542, -0.958146, -0.286281, 1.48629], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.765539, 0.0874258, -0.637422, 4.03553], [0.643137, 0.131779, -0.754327, 5.46965], [0.0180509, -0.987417, -0.157108, 1.57847], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.825129, 0.0855493, -0.55843, 3.85695], [0.564244, 0.0755879, -0.822141, 5.46476], [-0.028123, -0.993463, -0.11064, 1.61529], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.933826, 0.144612, -0.327195, 3.67098], [0.35612, 0.289159, -0.888575, 5.57029], [-0.0338869, -0.946295, -0.321523, 1.46455], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.981101, 0.0222324, -0.192211, 3.44338], [0.181612, 0.448535, -0.875119, 5.52991], [0.0667576, -0.893489, -0.444096, 1.36733], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.997641, 0.0233952, -0.0645373, 3.19698], [0.0685339, 0.39341, -0.916805, 5.59241], [0.0039407, -0.919066, -0.394085, 1.39956], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.999769, 0.00727045, -0.0202488, 2.7886], [0.0214794, 0.391108, -0.920094, 5.76545], [0.00122991, -0.920316, -0.391174, 1.40786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.996057, -0.0582573, 0.066904, 2.40235], [-0.0848918, 0.406964, -0.909491, 5.64306], [0.025757, -0.911585, -0.410305, 1.40807], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.94884, -0.136768, 0.284601, 2.09913], [-0.315703, 0.394024, -0.863179, 5.43753], [0.00591591, -0.908867, -0.417043, 1.40688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.905789, -0.204703, 0.371002, 2.08504], [-0.421439, 0.344336, -0.838941, 4.98778], [0.0439844, -0.916259, -0.398165, 1.39724], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.800953, -0.268066, 0.535364, 2.08876], [-0.598658, 0.344977, -0.722911, 4.59626], [0.0090991, -0.899517, -0.436791, 1.38018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.702191, -0.317721, 0.637167, 2.1317], [-0.711468, 0.278908, -0.644998, 4.23342], [0.0272181, -0.906236, -0.421895, 1.40345], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.544575, -0.319279, 0.775564, 2.08011], [-0.838531, 0.226509, -0.49554, 3.90281], [-0.0174571, -0.920193, -0.391076, 1.40173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.544247, -0.307303, 0.780615, 2.19925], [-0.837636, 0.250619, -0.485341, 3.51065], [-0.0464896, -0.918017, -0.393807, 1.41454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.394282, -0.298279, 0.869236, 2.26106], [-0.91748, 0.181953, -0.353728, 3.11124], [-0.0526505, -0.936975, -0.345406, 1.4228], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.297927, -0.321404, 0.898854, 2.43393], [-0.954439, 0.083644, -0.286442, 2.73707], [0.0168798, -0.943241, -0.33168, 1.3976], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.11633, -0.368744, 0.922223, 2.61299], [-0.993206, 0.0404638, -0.109105, 2.33755], [0.00291508, -0.92865, -0.370946, 1.40064], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.0857454, -0.339058, 0.93685, 2.78739], [-0.995804, -0.0593507, 0.0696612, 1.89808], [0.0319835, -0.938891, -0.342724, 1.41964], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.271094, -0.343162, 0.899304, 2.98296], [-0.96058, -0.156238, 0.229947, 1.54347], [0.0615962, -0.926191, -0.37199, 1.45669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.444818, -0.345085, 0.82647, 3.12318], [-0.895621, -0.170856, 0.410697, 1.13609], [-0.000517516, -0.922889, -0.385065, 1.47225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.564161, -0.316554, 0.762572, 3.37634], [-0.825132, -0.249341, 0.506939, 0.890102], [0.0296672, -0.915217, -0.401867, 1.48186], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.702729, -0.270832, 0.657892, 3.59038], [-0.711449, -0.271958, 0.64798, 0.557737], [0.00342496, -0.923412, -0.383796, 1.50841], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.768551, -0.231855, 0.596299, 3.8674], [-0.638227, -0.342925, 0.689252, 0.425998], [0.0446795, -0.9103, -0.411531, 1.50322], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.858208, -0.161485, 0.487238, 4.09211], [-0.512793, -0.311947, 0.799832, 0.17667], [0.0228313, -0.936275, -0.350524, 1.57653], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.94896, -0.0787085, 0.305417, 3.96547], [-0.311741, -0.381073, 0.870403, 0.121121], [0.0478782, -0.921188, -0.38616, 1.5418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.960515, -0.0331937, 0.276241, 3.82437], [-0.261564, -0.446178, 0.855868, 0.146621], [0.094843, -0.894329, -0.437243, 1.48705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.994707, -0.0085155, 0.102396, 3.84923], [-0.0950678, -0.454363, 0.88573, 0.418662], [0.0389826, -0.890776, -0.452767, 1.47562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.977991, -0.034565, 0.205766, 3.83182], [-0.201258, -0.416432, 0.886611, 0.697018], [0.0550417, -0.90851, -0.414223, 1.47027], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.967943, -0.0617746, 0.243456, 3.87809], [-0.247686, -0.395676, 0.88436, 1.04476], [0.0416988, -0.91631, -0.398293, 1.45971], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.950254, -0.0681291, 0.303934, 3.73857], [-0.308222, -0.346363, 0.88602, 1.37461], [0.0449076, -0.935624, -0.350132, 1.45528], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.886321, -0.10648, 0.450662, 3.4597], [-0.456923, -0.359145, 0.813779, 1.65941], [0.0752016, -0.927188, -0.366971, 1.44543], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.802961, -0.188641, 0.565392, 3.17075], [-0.595613, -0.28951, 0.749286, 1.94511], [0.0223407, -0.938402, -0.344822, 1.46871], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.716378, -0.152372, 0.680871, 2.90959], [-0.692951, -0.269186, 0.668848, 2.31722], [0.0813671, -0.950959, -0.298425, 1.45141], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.674233, -0.214789, 0.706594, 2.85258], [-0.735474, -0.282073, 0.616046, 2.72666], [0.0669909, -0.935041, -0.348154, 1.44864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.687709, -0.20522, 0.696377, 2.6664], [-0.723157, -0.278242, 0.632159, 3.01549], [0.06403, -0.938332, -0.339756, 1.45178], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.758336, -0.212891, 0.616121, 2.60129], [-0.64851, -0.342147, 0.679978, 3.12634], [0.0660428, -0.915212, -0.397524, 1.37939], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.739972, -0.245128, 0.626381, 2.75292], [-0.67223, -0.30192, 0.675982, 3.34269], [0.0234148, -0.92128, -0.388195, 1.41317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.622613, -0.256269, 0.739378, 2.79953], [-0.77962, -0.284552, 0.557873, 3.65527], [0.0674255, -0.923773, -0.376958, 1.41961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.549193, -0.200769, 0.81122, 2.90711], [-0.833035, -0.208912, 0.512258, 3.82256], [0.0666285, -0.957104, -0.281981, 1.48955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.553787, -0.131049, 0.822281, 3.18444], [-0.832605, -0.0982765, 0.545078, 3.92797], [0.0093789, -0.986493, -0.163537, 1.5954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.611326, -0.0991131, 0.785148, 3.4244], [-0.791356, -0.0689742, 0.607452, 4.14559], [-0.00605144, -0.992683, -0.120599, 1.58175], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.789948, -0.127044, 0.599868, 3.66278], [-0.612083, -0.105073, 0.783782, 4.25233], [-0.0365447, -0.986316, -0.160763, 1.51415], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.884041, -0.0883382, 0.458986, 3.9482], [-0.467404, -0.171929, 0.867164, 4.18082], [0.00230938, -0.981141, -0.193282, 1.47058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.970008, -0.045944, 0.238691, 4.17866], [-0.24307, -0.178504, 0.953443, 4.1823], [-0.00119755, -0.982866, -0.184318, 1.47024], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.999508, 0.0208559, 0.0234399, 4.42354], [-0.0161164, -0.299712, 0.953893, 4.08937], [0.0269195, -0.953802, -0.299228, 1.44323], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.9952, 0.0858772, -0.0469255, 4.52785], [0.079944, -0.436863, 0.895969, 3.89427], [0.0564433, -0.89542, -0.441631, 1.36498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.976781, 0.101606, -0.188614, 4.70775], [0.213862, -0.410115, 0.886605, 3.7517], [0.0127313, -0.906357, -0.422322, 1.36958], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.986328, 0.0620825, -0.15265, 4.92981], [0.164175, -0.290115, 0.942804, 3.56019], [0.0142455, -0.954976, -0.296341, 1.46155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.978779, 0.0657374, -0.19409, 4.96125], [0.204475, -0.250895, 0.946172, 3.29622], [0.0135029, -0.96578, -0.259012, 1.47234], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.919424, 0.123264, -0.37345, 5.10501], [0.393266, -0.286211, 0.873742, 3.1823], [0.0008156, -0.950205, -0.311624, 1.44473], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.829717, 0.186048, -0.526266, 5.07251], [0.55811, -0.291806, 0.776764, 3.06285], [-0.00905204, -0.938209, -0.345952, 1.40553], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[0.767208, 0.302084, -0.565807, 4.92893], [0.640745, -0.321161, 0.697353, 3.04974], [0.0289443, -0.897553, -0.439956, 1.38036], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.755096, 0.239231, -0.610408, 4.84731], [0.655552, -0.262742, 0.707967, 3.33814], [0.00898789, -0.934738, -0.355224, 1.42368], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[0.729761, 0.227686, -0.644676, 4.70124], [0.683395, -0.214685, 0.697769, 3.46803], [0.0204699, -0.949773, -0.312269, 1.45033], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0781_00"}, {"annotation": [{"question_id": "test-scene0782-0", "question": "What color is the door on the left wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-1", "question": "How many identical chairs are beside each other?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-2", "question": "How many identical chairs face the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-3", "question": "What is the sofa chair facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-4", "question": "What is to the right of the sofa couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-5", "question": "What is located to the left of the sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-6", "question": "What color is the coffee table in the living room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-7", "question": "What is located directly across the room from the coffee table and the longer sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-8", "question": "What color does the door appear to be?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-9", "question": "Where is the door located from the longer sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-10", "question": "What color is the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-11", "question": "From what room is the door visible?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-12", "question": "What is the closest to the door for the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-13", "question": "What shape is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-14", "question": "What color frame does the single arm chair have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-15", "question": "What's the name of the chair that's located closest to the biggest couch in room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-16", "question": "What type of chair is in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-17", "question": "What is in the room in the middle of all three couches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-18", "question": "In what part of the room is the coffee table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-19", "question": "What is on the wall to the side of two armchairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-20", "question": "What is in the room near the painting on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-21", "question": "What is on the wall next to the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0782-22", "question": "What is between the three chairs?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.357003, -0.11674, 0.92678, 1.34276], [-0.933668, -0.0748873, 0.350224, 2.64162], [0.028519, -0.990335, -0.135731, 1.60478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.494704, -0.14033, 0.857657, 1.4066], [-0.868925, -0.0623648, 0.490999, 2.57434], [-0.0154145, -0.988139, -0.152789, 1.56804], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.519065, -0.234856, 0.821836, 1.40782], [-0.854725, -0.137897, 0.50043, 2.594], [-0.00419996, -0.962199, -0.272315, 1.4653], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.509877, -0.323542, 0.797086, 1.17349], [-0.860089, -0.173977, 0.479561, 2.6683], [-0.0164839, -0.930082, -0.366982, 1.44066], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.561141, -0.352795, 0.74877, 0.997361], [-0.827562, -0.221414, 0.515866, 2.53882], [-0.0162063, -0.909127, -0.416204, 1.42743], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.54724, -0.263589, 0.794386, 0.98776], [-0.836883, -0.158137, 0.524042, 2.27003], [-0.0125102, -0.951585, -0.307132, 1.4964], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.543225, -0.200863, 0.815206, 1.14814], [-0.838171, -0.0733804, 0.540448, 2.10216], [-0.0487357, -0.976867, -0.208219, 1.54914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.581124, -0.158331, 0.798264, 1.24366], [-0.81299, -0.0687965, 0.578199, 1.86311], [-0.0366291, -0.984987, -0.168701, 1.56915], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.50202, -0.176867, 0.846578, 1.38836], [-0.863794, -0.0540554, 0.500937, 1.65146], [-0.0428369, -0.982749, -0.179913, 1.54758], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.423298, -0.170763, 0.889752, 1.48531], [-0.905956, -0.0711738, 0.417347, 1.58384], [-0.00794043, -0.982738, -0.184831, 1.5401], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.577066, -0.250321, 0.77739, 1.47015], [-0.816348, -0.148918, 0.558033, 1.39172], [-0.0239205, -0.956642, -0.290284, 1.50021], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.628024, -0.281006, 0.725687, 1.4011], [-0.778074, -0.243103, 0.579225, 1.36616], [0.013651, -0.928405, -0.371318, 1.45661], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.542559, -0.384518, 0.746844, 1.16895], [-0.839956, -0.237551, 0.487898, 1.45624], [-0.0101921, -0.892029, -0.451863, 1.43527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.525704, -0.405717, 0.747683, 1.09731], [-0.850665, -0.248348, 0.463349, 1.38903], [-0.002303, -0.879612, -0.475686, 1.44254], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.606626, -0.397389, 0.68854, 1.04438], [-0.794961, -0.296128, 0.529477, 1.32478], [-0.00651247, -0.868557, -0.495547, 1.44056], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.622313, -0.354412, 0.697939, 0.882362], [-0.782356, -0.310567, 0.539877, 1.48882], [0.0254177, -0.882009, -0.470547, 1.45855], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.581316, -0.240488, 0.777327, 0.828632], [-0.80602, -0.300951, 0.509667, 1.7493], [0.111368, -0.922819, -0.368786, 1.48779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.467741, -0.18706, 0.863844, 0.85131], [-0.87934, -0.197268, 0.433414, 2.11909], [0.0893344, -0.962338, -0.256759, 1.52716], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.275532, -0.190964, 0.942133, 0.835133], [-0.959569, -0.113288, 0.257668, 2.52267], [0.0575274, -0.975038, -0.214457, 1.5871], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.134487, -0.192578, 0.972022, 0.934841], [-0.98908, -0.0857602, 0.119856, 2.97855], [0.0602791, -0.977527, -0.202009, 1.57434], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.142161, -0.270244, 0.952239, 0.988063], [-0.988052, -0.0191202, -0.152933, 3.44901], [0.0595363, -0.962602, -0.264297, 1.55149], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.339676, -0.36496, 0.866847, 1.17304], [-0.933352, 0.0170516, -0.358557, 3.83505], [0.116078, -0.930867, -0.346429, 1.50644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.588593, -0.308478, 0.747261, 1.31072], [-0.802718, 0.11333, -0.585491, 4.24381], [0.0959234, -0.944456, -0.314326, 1.52663], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.810103, -0.261441, 0.524769, 1.59063], [-0.577849, 0.204722, -0.79005, 4.52656], [0.0991198, -0.943259, -0.31692, 1.49339], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.923107, -0.0780055, 0.376549, 1.78745], [-0.380742, 0.322753, -0.866525, 4.79613], [-0.0539387, -0.943263, -0.327635, 1.49493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.961431, -0.0828661, 0.262266, 1.87184], [-0.273812, 0.378591, -0.884136, 5.15369], [-0.0260268, -0.921847, -0.386679, 1.44392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.981537, -0.0979349, 0.164296, 2.20953], [-0.189996, 0.400249, -0.896494, 5.5253], [0.0220389, -0.911159, -0.411467, 1.4427], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.988091, -0.0627606, 0.140487, 2.44147], [-0.153645, 0.451629, -0.878877, 5.89161], [-0.00828926, -0.889996, -0.455894, 1.39178], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.994446, -0.0751894, 0.0736482, 2.76806], [-0.100566, 0.472394, -0.875631, 6.13798], [0.0310473, -0.878175, -0.477332, 1.41303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.995807, 0.0390358, -0.082734, 2.96558], [0.0911814, 0.496626, -0.863162, 6.3791], [0.00739365, -0.867086, -0.498103, 1.39629], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.962069, 0.0901347, -0.257486, 3.21514], [0.268771, 0.474909, -0.837988, 6.50712], [0.0467506, -0.875407, -0.48112, 1.40393], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.90765, 0.158852, -0.388506, 3.3023], [0.418722, 0.40672, -0.811942, 6.43192], [0.0290349, -0.899636, -0.435675, 1.45879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.906362, 0.098989, -0.410742, 3.31563], [0.42194, 0.262213, -0.867878, 6.11802], [0.0217913, -0.95992, -0.279427, 1.50777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.931835, 0.117961, -0.343175, 3.35756], [0.3608, 0.200001, -0.910946, 5.7769], [-0.0388211, -0.972669, -0.228928, 1.53431], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.978046, 0.062379, -0.198835, 3.19306], [0.205738, 0.137268, -0.968932, 5.44272], [-0.0331472, -0.988568, -0.147088, 1.57422], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.980034, 0.0564297, -0.190654, 3.04078], [0.194265, 0.0674664, -0.978626, 5.14287], [-0.0423608, -0.996125, -0.0770817, 1.58625], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.998807, 0.0486245, -0.00441563, 2.80262], [0.00757006, 0.064882, -0.997864, 5.01136], [-0.0482342, -0.996708, -0.0651728, 1.56146], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.987726, -0.0045398, 0.156132, 2.61434], [-0.155966, 0.0831361, -0.984258, 4.8652], [-0.00851183, -0.996528, -0.0828237, 1.55809], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.998709, 0.0380675, 0.0336191, 2.43603], [-0.0251942, 0.203416, -0.978768, 4.69939], [-0.0440979, -0.978352, -0.202195, 1.50338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.962457, 0.0795299, -0.259522, 2.44022], [0.271434, 0.279474, -0.920987, 4.69318], [-0.000716232, -0.956854, -0.290569, 1.46935], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.802518, 0.170803, -0.571656, 2.76471], [0.596502, 0.249345, -0.762897, 4.79278], [0.0122345, -0.953233, -0.301989, 1.45779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.706154, 0.204833, -0.677783, 2.96025], [0.707108, 0.253602, -0.660064, 4.85403], [0.036684, -0.945373, -0.323921, 1.45524], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.647109, 0.168885, -0.743457, 2.90808], [0.758487, 0.241248, -0.605389, 4.67517], [0.077116, -0.955656, -0.284211, 1.46112], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.669525, 0.138977, -0.729672, 2.77964], [0.739819, 0.212528, -0.638357, 4.4029], [0.0663586, -0.967222, -0.245111, 1.46966], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.541711, 0.199006, -0.816668, 2.82815], [0.839226, 0.182875, -0.512111, 4.01943], [0.0474344, -0.962784, -0.266076, 1.46967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.36282, 0.218705, -0.905831, 2.77221], [0.930692, 0.133685, -0.340501, 3.72114], [0.0466267, -0.96659, -0.252051, 1.4489], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.0748614, 0.245222, -0.966572, 2.73953], [0.997008, 0.0371237, -0.0678004, 3.3968], [0.0192566, -0.968756, -0.247268, 1.43712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.177521, 0.192503, -0.965106, 2.65239], [0.982744, 0.0171128, 0.184179, 3.22908], [0.0519707, -0.981147, -0.186144, 1.50687], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.347474, 0.126331, -0.929141, 2.4622], [0.937617, -0.0344523, 0.345959, 3.20951], [0.0116945, -0.99139, -0.130422, 1.54416], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.474966, 0.128694, -0.870543, 2.27366], [0.879837, -0.0887428, 0.466917, 3.09969], [-0.0171648, -0.987706, -0.15538, 1.58045], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.556548, 0.212906, -0.803073, 2.18122], [0.830683, -0.159848, 0.533304, 3.07876], [-0.0148258, -0.963909, -0.265821, 1.54221], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.534138, 0.280604, -0.797469, 2.28433], [0.84529, -0.192262, 0.498517, 3.10815], [-0.0134376, -0.940371, -0.339886, 1.5078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.54784, 0.327356, -0.769875, 2.37727], [0.83656, -0.20753, 0.507049, 3.01089], [0.0062132, -0.921829, -0.387547, 1.4679], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.571897, 0.316656, -0.756745, 2.31068], [0.819983, -0.19399, 0.538513, 2.96078], [0.0237222, -0.928492, -0.370594, 1.50338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.56101, 0.172428, -0.809652, 2.14605], [0.827642, -0.0971654, 0.552782, 3.03504], [0.0166449, -0.980218, -0.197219, 1.55328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.679302, 0.118706, -0.724194, 1.81673], [0.73377, -0.125252, 0.667753, 3.02281], [-0.0114401, -0.984998, -0.172187, 1.57645], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.738184, 0.144422, -0.658959, 1.51705], [0.674586, -0.164174, 0.719709, 3.03572], [-0.00424235, -0.975802, -0.218616, 1.53769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.853848, 0.13896, -0.501632, 1.23119], [0.520393, -0.206387, 0.82861, 2.97555], [0.0116135, -0.968553, -0.248537, 1.57651], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.900841, 0.125638, -0.415572, 1.01321], [0.433729, -0.302524, 0.84874, 2.74469], [-0.0190865, -0.944825, -0.327019, 1.53833], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.89382, 0.0863191, -0.44004, 1.10562], [0.442428, -0.329724, 0.833991, 2.55359], [-0.0731023, -0.940123, -0.332904, 1.51253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.960445, 0.0880164, -0.264194, 1.10466], [0.278085, -0.352951, 0.893361, 2.32255], [-0.014617, -0.931493, -0.363466, 1.49257], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.988727, 0.0672786, -0.133765, 1.10863], [0.148931, -0.349678, 0.924957, 2.10894], [0.0154553, -0.934451, -0.355756, 1.50816], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.999129, -0.00624006, -0.04127, 1.15707], [0.0341149, -0.447598, 0.893584, 1.97561], [-0.0240484, -0.894213, -0.446995, 1.45152], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.994214, -0.028453, 0.103582, 1.03242], [-0.102777, -0.532365, 0.840253, 1.92052], [0.0312354, -0.846037, -0.532209, 1.40021], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.957268, -0.107042, 0.268664, 0.890529], [-0.282099, -0.550248, 0.785905, 1.88699], [0.0637071, -0.828112, -0.556931, 1.38955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.868017, -0.273185, 0.414628, 0.878327], [-0.496494, -0.466926, 0.731761, 2.14598], [-0.00630529, -0.841041, -0.540935, 1.39072], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.673642, -0.360438, 0.645206, 0.748313], [-0.738921, -0.311638, 0.597393, 2.49836], [-0.0142525, -0.879185, -0.476267, 1.43286], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.524649, -0.388446, 0.757531, 0.761478], [-0.851316, -0.237144, 0.467999, 2.90223], [-0.00214841, -0.890434, -0.455108, 1.42032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.374588, -0.3863, 0.842886, 0.835664], [-0.926547, -0.122059, 0.355827, 3.33657], [-0.0345742, -0.914261, -0.403647, 1.43352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.281909, -0.33753, 0.89811, 0.977523], [-0.957355, -0.0372625, 0.286501, 3.71976], [-0.0632369, -0.940577, -0.333641, 1.45425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.097824, -0.298092, 0.949511, 1.16013], [-0.99497, -0.0499772, 0.0868174, 4.05165], [0.0215745, -0.953228, -0.301481, 1.48394], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.10345, -0.226037, 0.96861, 1.25111], [-0.994518, 0.00858099, -0.104215, 4.40704], [0.0152448, -0.974081, -0.225686, 1.52053], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.292504, -0.195821, 0.936, 1.37782], [-0.956233, 0.0519796, -0.287952, 4.78136], [0.00773399, -0.979261, -0.202454, 1.54634], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.448364, -0.167718, 0.877975, 1.52457], [-0.891744, 0.0165343, -0.452237, 5.13771], [0.0613319, -0.985696, -0.156975, 1.53732], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.601118, -0.192187, 0.775707, 1.77614], [-0.798638, 0.109386, -0.591787, 5.50927], [0.0288821, -0.975243, -0.219241, 1.50341], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.761176, -0.233289, 0.605135, 1.97787], [-0.641361, 0.132264, -0.755753, 5.85435], [0.096271, -0.96337, -0.250299, 1.48367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.8678, -0.216074, 0.447477, 2.2396], [-0.49463, 0.289373, -0.819515, 6.0615], [0.0475879, -0.93251, -0.357995, 1.45204], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0782_00"}, {"annotation": [{"question_id": "test-scene0783-0", "question": "What kind of table sits next to the couch ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-1", "question": "What object is next to coffee table ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-2", "question": "What color is the door that is near a backpack in the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-3", "question": "Where is the white door located from the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-4", "question": "What is the largest painting on the wall above?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-5", "question": "In what part of the wall is the painting on the wall centered?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-6", "question": "Where is the painting in the middle of the paintings on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-7", "question": "Where is the coffee table located on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-8", "question": "How many paintings are hung above the patterned couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-9", "question": "What is under the paintings hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-10", "question": "What sits under the left most painting facing the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-11", "question": "What color is the door that is closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-12", "question": "What is on the floor near the door that is closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-13", "question": "How many paintings are hung above the couch with wooden arms?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-14", "question": "Where are the large paintings hung above the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-15", "question": "How many paintings are above the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-16", "question": "What type of coffee table is in the waiting room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-17", "question": "What is on the wall near the hallway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-18", "question": "Where is the portrait of a picnic located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-19", "question": "How many pictures are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-20", "question": "How many chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-21", "question": "What kind of painting is on the wall behind the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-22", "question": "Where is the picnic painting on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-23", "question": "What type of chair sits beside a short wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-24", "question": "What does the single patterned chair sit beside?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-25", "question": "What is on the floor beside the white door that is closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-26", "question": "What size is the short wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-27", "question": "What color is the door that is located across from the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-28", "question": "What type of chair has wood arms?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-29", "question": "What is beside the patterned chair with wood arms?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-30", "question": "What is near the white door on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-31", "question": "What type of chair is on the left side near the hallway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-32", "question": "What type of chair is near the hallway walk area?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-33", "question": "The sofa chair is near what walk area?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0783-34", "question": "What type of painting is on the wall?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.316675, -0.405178, 0.857641, 1.21409], [-0.948322, -0.154376, 0.277225, 4.75565], [0.020074, -0.90111, -0.433126, 1.44229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.364219, -0.372609, 0.853526, 0.99678], [-0.928973, -0.210289, 0.304611, 4.47829], [0.0659861, -0.903848, -0.422735, 1.47464], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.349065, -0.499482, 0.792888, 0.803635], [-0.936602, -0.21351, 0.277833, 4.53188], [0.0305169, -0.839602, -0.542344, 1.37167], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.344622, -0.409876, 0.844534, 0.917967], [-0.938561, -0.168076, 0.301418, 4.48414], [0.0184022, -0.896522, -0.442616, 1.44385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.319666, -0.271531, 0.907791, 1.02358], [-0.94607, -0.144644, 0.28988, 4.59661], [0.0525952, -0.951498, -0.303125, 1.50817], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.202252, -0.191914, 0.960345, 1.13846], [-0.978856, -0.0702465, 0.192112, 4.7799], [0.0305919, -0.978894, -0.202064, 1.59151], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.0138218, -0.12027, 0.992645, 1.33692], [-0.999867, -0.0102153, 0.0126844, 4.72618], [0.00861453, -0.992689, -0.120395, 1.64262], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.141026, -0.185048, 0.972558, 1.32131], [-0.989989, 0.0206841, -0.139619, 4.76182], [0.00571974, -0.982512, -0.186113, 1.66805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.195239, -0.24707, 0.949125, 1.204], [-0.980502, 0.0711881, -0.183163, 4.72814], [-0.0223123, -0.966379, -0.256152, 1.6163], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.217409, -0.353718, 0.909734, 1.12973], [-0.975819, 0.0571731, -0.210973, 4.60576], [0.0226126, -0.933603, -0.357595, 1.56497], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.298944, -0.356342, 0.885242, 1.12726], [-0.953217, 0.155084, -0.259473, 4.91463], [-0.0448255, -0.921395, -0.386033, 1.49636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.348004, -0.357487, 0.866658, 1.30646], [-0.937224, 0.154827, -0.312475, 5.23366], [-0.0224767, -0.920995, -0.388926, 1.43972], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.521484, -0.319146, 0.791328, 1.54138], [-0.852814, 0.16493, -0.495487, 5.49737], [0.0276189, -0.933244, -0.358181, 1.48094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.612558, -0.219046, 0.759467, 1.66025], [-0.790417, 0.174213, -0.587275, 5.57579], [-0.00366899, -0.960036, -0.279853, 1.60358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.511477, -0.181211, 0.839972, 1.53149], [-0.859215, 0.121361, -0.497012, 5.31644], [-0.011876, -0.975927, -0.217773, 1.64316], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.521993, -0.132031, 0.842669, 1.46214], [-0.852781, 0.100439, -0.51252, 4.95358], [-0.016968, -0.986144, -0.165022, 1.68568], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.431016, -0.170548, 0.88608, 1.31916], [-0.90156, 0.12233, -0.415001, 4.50372], [-0.0376172, -0.977726, -0.206485, 1.66336], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.31797, -0.260712, 0.91155, 1.22912], [-0.947844, 0.10977, -0.299236, 4.17435], [-0.0220467, -0.959156, -0.282018, 1.59068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.209403, -0.401737, 0.891492, 1.16715], [-0.97699, 0.123734, -0.173727, 3.83015], [-0.0405153, -0.907357, -0.418403, 1.52922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.0704016, -0.432232, 0.89901, 1.10661], [-0.997219, 0.0525842, -0.0528109, 3.46693], [-0.0244472, -0.900228, -0.434732, 1.51392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.0836356, -0.373654, 0.92379, 1.16862], [-0.994398, 0.0288416, 0.101694, 3.03773], [-0.0646419, -0.92712, -0.369149, 1.56596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.261676, -0.36488, 0.893526, 1.2293], [-0.961318, -0.0160551, 0.274973, 2.65613], [-0.0859866, -0.930916, -0.354967, 1.56137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.349996, -0.228275, 0.908511, 1.36547], [-0.933343, -0.0023228, 0.358978, 2.45707], [-0.0798356, -0.973594, -0.213872, 1.61301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.414465, -0.0829993, 0.906272, 1.31264], [-0.909262, 0.00405969, 0.416204, 2.36576], [-0.0382238, -0.996541, -0.0737855, 1.65719], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.384574, 0.0254488, 0.922743, 1.1869], [-0.922672, 0.0408173, 0.383419, 2.49779], [-0.0279063, -0.998842, 0.0391781, 1.70704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.533317, 0.0877289, 0.841354, 1.12035], [-0.845912, 0.0581752, 0.53014, 2.6098], [-0.00243726, -0.994444, 0.105237, 1.7147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.405841, 0.0683182, 0.911387, 1.21856], [-0.91387, 0.0176932, 0.405621, 2.58016], [0.0115859, -0.997507, 0.0696146, 1.72148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.186972, -0.0343423, 0.981765, 1.28331], [-0.981814, -0.0400093, 0.185581, 2.76705], [0.0329063, -0.998609, -0.0411983, 1.71088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.0566033, -0.168934, 0.984001, 1.26592], [-0.997889, 0.0409947, -0.0503644, 3.11459], [-0.0318305, -0.984775, -0.170898, 1.68057], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.263752, -0.24925, 0.931831, 1.35661], [-0.964481, 0.0827246, -0.250866, 3.52893], [-0.0145571, -0.9649, -0.262215, 1.60568], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.417631, -0.302162, 0.856903, 1.38112], [-0.90833, 0.162541, -0.38538, 3.99544], [-0.0228349, -0.939297, -0.342345, 1.58959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.557162, -0.288524, 0.778668, 1.56333], [-0.829355, 0.240436, -0.504341, 4.32546], [-0.0417056, -0.926793, -0.373251, 1.52685], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.767104, -0.240227, 0.594846, 1.71207], [-0.641502, 0.279856, -0.714252, 4.59381], [0.00511175, -0.929501, -0.368785, 1.552], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.85127, -0.203794, 0.483536, 1.68509], [-0.524727, 0.332206, -0.783774, 4.87751], [-0.000904948, -0.920927, -0.389733, 1.54224], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.909555, -0.180671, 0.374255, 1.65014], [-0.414659, 0.334543, -0.84625, 5.14288], [0.0276878, -0.9249, -0.379202, 1.55003], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.952911, -0.160675, 0.257186, 1.64407], [-0.301364, 0.407299, -0.862141, 5.3142], [0.0337725, -0.89905, -0.436541, 1.51609], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.995834, -0.0372374, 0.0832317, 1.66317], [-0.091165, 0.424101, -0.901015, 5.16104], [-0.00174716, -0.904849, -0.425729, 1.48627], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.980635, 0.033989, -0.192874, 2.09092], [0.191082, 0.381948, -0.904214, 5.00281], [0.0429344, -0.923559, -0.381046, 1.48282], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.926669, 0.0916228, -0.364541, 2.26003], [0.371106, 0.377085, -0.84858, 4.87835], [0.0597138, -0.921636, -0.383435, 1.48219], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.813116, 0.222192, -0.538027, 2.35698], [0.582075, 0.301437, -0.755199, 4.62247], [-0.00561842, -0.927236, -0.374436, 1.49251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.752761, 0.211058, -0.623543, 2.62226], [0.657997, 0.269695, -0.703068, 4.40529], [0.0197782, -0.939531, -0.341892, 1.49829], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.628326, 0.194819, -0.753161, 2.78731], [0.775838, 0.228206, -0.588215, 4.2185], [0.0572809, -0.953922, -0.294536, 1.52014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.553937, 0.154044, -0.818184, 2.86359], [0.831203, 0.158406, -0.532926, 4.02135], [0.0475117, -0.975284, -0.215788, 1.56752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.466145, 0.113493, -0.877399, 2.96015], [0.883288, 0.115893, -0.454282, 3.86896], [0.0501263, -0.986757, -0.154269, 1.60916], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.405354, 0.132976, -0.904436, 2.96602], [0.913874, 0.0836562, -0.397284, 3.82676], [0.0228322, -0.987582, -0.155434, 1.59691], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.361218, 0.197117, -0.911409, 2.929], [0.931291, 0.12564, -0.341925, 3.72244], [0.0471102, -0.972296, -0.228956, 1.54429], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.333131, 0.241196, -0.911509, 2.84681], [0.942555, 0.11059, -0.315214, 3.5258], [0.0247752, -0.964155, -0.264182, 1.54775], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.156123, 0.324301, -0.932981, 2.91531], [0.98773, 0.0476418, -0.148724, 3.18754], [-0.00378256, -0.944753, -0.32776, 1.51867], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.0115472, 0.358677, -0.933391, 2.87687], [0.999318, 0.0368879, 0.0018124, 2.88832], [0.0350809, -0.932733, -0.358858, 1.49351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.143307, 0.431788, -0.890518, 2.88682], [0.989422, -0.0830123, 0.118972, 2.58779], [-0.0225531, -0.898147, -0.439116, 1.46607], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.255925, 0.393789, -0.882855, 3.04634], [0.966303, -0.130264, 0.222012, 2.45225], [-0.0275786, -0.909924, -0.413857, 1.50633], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.381099, 0.315108, -0.869178, 3.14917], [0.923532, -0.17351, 0.342027, 2.50766], [-0.0430354, -0.93306, -0.357137, 1.5543], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.433953, 0.284302, -0.854901, 3.18058], [0.899075, -0.197601, 0.390663, 2.64243], [-0.0578626, -0.93815, -0.341359, 1.56845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.548232, 0.216116, -0.807921, 3.08871], [0.832747, -0.230342, 0.503463, 2.71704], [-0.0772915, -0.948808, -0.30625, 1.58691], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.645622, 0.192405, -0.739021, 2.98176], [0.759904, -0.257687, 0.596777, 2.8178], [-0.0756133, -0.946878, -0.312578, 1.5859], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.702179, 0.12826, -0.700352, 2.83731], [0.699487, -0.307869, 0.64493, 3.04264], [-0.132898, -0.942744, -0.305895, 1.57863], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.796034, 0.195049, -0.572963, 2.71511], [0.601932, -0.354138, 0.715726, 3.0499], [-0.0633063, -0.914627, -0.399312, 1.52601], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.867293, 0.188186, -0.460857, 2.65741], [0.495885, -0.407685, 0.76674, 2.86121], [-0.0435947, -0.89352, -0.446901, 1.49069], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.926721, 0.204117, -0.315474, 2.63023], [0.375099, -0.453164, 0.808668, 2.743], [0.0221016, -0.867744, -0.49652, 1.45317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.987318, 0.117463, -0.106795, 2.48378], [0.152213, -0.509323, 0.847007, 2.89747], [0.0450988, -0.852521, -0.520743, 1.418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.992048, -0.00862382, 0.125564, 2.26714], [-0.112076, -0.514482, 0.850145, 3.16123], [0.057269, -0.857458, -0.511358, 1.41159], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.911904, -0.155777, 0.37969, 1.94229], [-0.408033, -0.443428, 0.798048, 3.35659], [0.0440481, -0.882669, -0.467926, 1.43722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.809972, -0.204148, 0.54979, 1.67868], [-0.585286, -0.340879, 0.735691, 3.61951], [0.037222, -0.917674, -0.395588, 1.45716], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.661056, -0.207522, 0.721068, 1.40527], [-0.750244, -0.197898, 0.630849, 3.83282], [0.0117828, -0.958004, -0.286514, 1.50917], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.429601, -0.18694, 0.883457, 1.35724], [-0.902958, -0.077537, 0.422677, 4.14896], [-0.0105146, -0.979307, -0.202109, 1.54237], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.204834, -0.120866, 0.971305, 1.27984], [-0.97872, -0.0128402, 0.2048, 4.53311], [-0.0122816, -0.992586, -0.120924, 1.58394], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.00391068, -0.0783687, 0.996917, 1.24754], [-0.99917, 0.0407208, -0.000718638, 4.87048], [-0.040539, -0.996093, -0.078463, 1.57095], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.234798, -0.226375, 0.945317, 1.23351], [-0.971453, 0.0207336, -0.236325, 5.31022], [0.0338982, -0.97382, -0.224781, 1.52103], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.299876, -0.217963, 0.928744, 1.24176], [-0.953925, 0.0787649, -0.289522, 5.78583], [-0.0100475, -0.972774, -0.23154, 1.47126], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.423145, -0.23777, 0.874307, 1.35421], [-0.904761, 0.059192, -0.421787, 6.18131], [0.0485362, -0.969516, -0.240172, 1.47359], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.559137, -0.244214, 0.792291, 1.4509], [-0.827006, 0.0968237, -0.553792, 6.54606], [0.0585313, -0.964876, -0.256104, 1.47655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.669557, -0.286539, 0.685266, 1.63253], [-0.741306, 0.20007, -0.640654, 6.88725], [0.0464717, -0.936946, -0.346371, 1.44484], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.761999, -0.267776, 0.589621, 1.70223], [-0.647561, 0.321602, -0.690823, 7.17893], [-0.0046373, -0.908222, -0.418462, 1.43602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.76908, -0.285324, 0.571932, 1.48367], [-0.63915, 0.345676, -0.687019, 7.25375], [-0.00168002, -0.893923, -0.448218, 1.41885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.807526, -0.169286, 0.565017, 1.4018], [-0.589173, 0.276792, -0.759119, 7.06803], [-0.027884, -0.945901, -0.323255, 1.51979], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.780174, -0.0698511, 0.621651, 1.37944], [-0.62375, 0.162456, -0.764555, 6.66354], [-0.0475862, -0.98424, -0.170314, 1.64459], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.803353, -0.0736149, 0.590935, 1.41185], [-0.594751, 0.0493222, -0.802396, 6.3273], [0.0299219, -0.996066, -0.0834057, 1.76957], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.824322, -0.0422736, 0.564541, 1.56676], [-0.566063, 0.075876, -0.820863, 6.06064], [-0.00813434, -0.996221, -0.0864758, 1.7592], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.639883, -0.0570754, 0.76635, 1.63868], [-0.767577, 0.0955975, -0.633788, 5.78631], [-0.0370876, -0.993782, -0.104981, 1.66233], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0783_00"}, {"annotation": [{"question_id": "test-scene0784-0", "question": "What type of window is near the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-1", "question": "Where is the window located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-2", "question": "What is hung on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-3", "question": "Where are the kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-4", "question": "What is joined with the sink and is \"l\" shaped?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-5", "question": "What are grounded but along the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-6", "question": "What is to the right of the television?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-7", "question": "What is to the right of the telephone that is hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-8", "question": "The brown door is to the left of what on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-9", "question": "What is to the left of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-10", "question": "What is to the left of the phone that is hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-11", "question": "What color desk is the monitor on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-12", "question": "Where is the monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-13", "question": "What is next to the fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-14", "question": "What is placed next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-15", "question": "Where is a white nightstand placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-16", "question": "What color is the table ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-17", "question": "What is under the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-18", "question": "What is on top of a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-19", "question": "What color is the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-20", "question": "Where is the radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-21", "question": "On what side of the computer desk is the radiator located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-22", "question": "What is the shelf on top of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-23", "question": "Where is the kitchen counter located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-24", "question": "What is the shape of the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-25", "question": "What is the color of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-26", "question": "What is now closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-27", "question": "What is the current state of the wooden door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-28", "question": "Where is the TV located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-29", "question": "How many chairs surround the dining table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-30", "question": "What is directly in front of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-31", "question": "What is the item in the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-32", "question": "What is the color of the bed/?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-33", "question": "What is directly below the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-34", "question": "What type of table is near the left side of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-35", "question": "What type of table is in the middle of the dining room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-36", "question": "What is directly to the left of the tall wardrobe?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-37", "question": "What is above the kitchen counter ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-38", "question": "What is the color of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-39", "question": "On what side of the room is the window near the bed in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-40", "question": "What item is to the left of the closet door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-41", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-42", "question": "What is on top of the white desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-43", "question": "What is to the left of the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-44", "question": "How many chairs are at the small table near the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-45", "question": "What is hanging above the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-46", "question": "Where is the cabinet unit hanging?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-47", "question": "Where is the microwave located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-48", "question": "What color are the electric burners on the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-49", "question": "What is the first thing you see when you walk under the arched doorway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-50", "question": "What is on the side of the small hallway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-51", "question": "Where will you find the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-52", "question": "What is in middle of room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-53", "question": "Where is the computer located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-54", "question": "What is on ground to the left of computer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-55", "question": "What is directly opposite the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-56", "question": "What is beside the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-57", "question": "What is pulled up to the desk with some clothing on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-58", "question": "What is draped over both chairs tucked beneath the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-59", "question": "What is over the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-60", "question": "What is an extension of the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-61", "question": "What part of the bedroom is on the left side of the room near the heater?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-62", "question": "The window in the bedroom is on the left side of the room near what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-63", "question": "Where is the wooden dining table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-64", "question": "What color is the dining table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-65", "question": "Where is the brown dining table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-66", "question": "What color is the night stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-67", "question": "In what part of the room is the bed located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-68", "question": "How many doors does the wardrobe closet have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-69", "question": "What is located in front of the white wardrobe?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-70", "question": "Where is the brown table with white legs located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-71", "question": "What color is the nightstand closest to bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-72", "question": "Is the door opened?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-73", "question": "What is directly in front of the computer monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-74", "question": "Where is the brown kitchen cabinet mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-75", "question": "What color is the nightstand by the bed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-76", "question": "The nightstand is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-77", "question": "What material is the kitchen counter made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-78", "question": "What is the kitchen counter made of wood?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-79", "question": "What color is the monitor currently on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-80", "question": "Where is the monitor currently on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0784-81", "question": "What has a doorway that is open?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.47016, -0.53699, 0.700423, 4.40659], [-0.880991, -0.237917, 0.408963, 2.01238], [-0.0529662, -0.809344, -0.584942, 1.4728], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.480879, -0.552695, 0.68065, 4.43012], [-0.87587, -0.26731, 0.401744, 2.01463], [-0.040097, -0.78935, -0.612632, 1.51384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.49135, -0.555021, 0.671213, 4.43482], [-0.870214, -0.2809, 0.404751, 2.01809], [-0.0361018, -0.782973, -0.621007, 1.50983], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.517982, -0.545443, 0.658929, 4.44583], [-0.855074, -0.309155, 0.41626, 2.06115], [-0.0233348, -0.779048, -0.62653, 1.50658], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.500779, -0.550543, 0.667924, 4.46959], [-0.865568, -0.315285, 0.389086, 2.23673], [-0.00362226, -0.77298, -0.63442, 1.51005], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.549644, -0.52882, 0.646716, 4.44155], [-0.835343, -0.338875, 0.432859, 2.43816], [-0.00974786, -0.778147, -0.628006, 1.51492], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.535769, -0.506112, 0.675872, 4.54376], [-0.844, -0.344551, 0.411035, 2.67544], [0.0248423, -0.790655, -0.611757, 1.52421], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.467429, -0.453637, 0.758764, 4.61026], [-0.884028, -0.241926, 0.399958, 2.94427], [0.00212892, -0.857721, -0.514111, 1.60996], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.449266, -0.358999, 0.818095, 4.57275], [-0.892719, -0.144696, 0.42675, 3.08632], [-0.0348284, -0.922053, -0.385492, 1.70175], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.43334, -0.225452, 0.872575, 4.54644], [-0.896451, -0.00824787, 0.443066, 3.0819], [-0.0926931, -0.974219, -0.20568, 1.75794], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.424719, -0.126087, 0.896502, 4.53645], [-0.896228, 0.0814762, 0.436048, 3.06033], [-0.128024, -0.988667, -0.0783985, 1.79056], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.418649, -0.265157, 0.868576, 4.53556], [-0.904634, -0.0377039, 0.424518, 3.08591], [-0.0798152, -0.963468, -0.255654, 1.72872], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.430474, -0.427254, 0.795076, 4.55994], [-0.900939, -0.149922, 0.407226, 3.10626], [-0.0547894, -0.891615, -0.449467, 1.66507], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.343667, -0.554285, 0.758064, 4.6413], [-0.938802, -0.182721, 0.292001, 3.11483], [-0.0233379, -0.812023, -0.583159, 1.59848], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.11427, -0.619806, 0.776391, 4.86201], [-0.993436, -0.067195, 0.0925715, 3.06997], [-0.00520684, -0.781873, -0.623416, 1.57101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.246583, -0.547618, 0.799569, 5.02998], [-0.96842, 0.107842, -0.224795, 3.02941], [0.0368742, -0.829749, -0.556917, 1.59171], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.466795, -0.505651, 0.725547, 5.16821], [-0.884345, 0.261383, -0.386797, 3.04944], [0.00593913, -0.82219, -0.569183, 1.60768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.592888, -0.483993, 0.64361, 5.28928], [-0.805284, 0.355435, -0.474535, 3.07442], [0.000910193, -0.799636, -0.600485, 1.59959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.637269, -0.465186, 0.614402, 5.51129], [-0.770377, 0.405433, -0.492081, 3.00499], [-0.0201901, -0.786909, -0.616738, 1.59549], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.694999, -0.465653, 0.547853, 5.76182], [-0.718969, 0.458227, -0.5226, 3.02254], [-0.00769088, -0.757096, -0.653258, 1.5773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.807336, -0.415554, 0.418955, 5.99533], [-0.589861, 0.588141, -0.553312, 3.07916], [-0.0164734, -0.693834, -0.719946, 1.52413], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.858397, -0.369182, 0.356172, 6.2074], [-0.511698, 0.665367, -0.543555, 3.04255], [-0.0363139, -0.648839, -0.760059, 1.4809], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.973489, -0.165218, 0.158184, 6.39256], [-0.227321, 0.775584, -0.588893, 3.04971], [-0.0253896, -0.609239, -0.79258, 1.46576], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.990834, -0.0642655, 0.118819, 6.54015], [-0.129637, 0.69966, -0.702617, 3.10336], [-0.0379789, -0.71158, -0.701578, 1.55741], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.995336, -0.0528364, 0.0807125, 6.59655], [-0.0960301, 0.622351, -0.776825, 3.09698], [-0.00918695, -0.780953, -0.624522, 1.59464], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.99646, -0.0324548, 0.0775471, 6.61024], [-0.0826119, 0.548803, -0.831859, 2.99828], [-0.0155603, -0.835321, -0.549542, 1.58428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.998732, 0.0246044, -0.0439283, 6.63665], [0.0502904, 0.529777, -0.846644, 2.92234], [0.00244102, -0.84778, -0.530343, 1.57909], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.960399, 0.156632, -0.230432, 6.69279], [0.278429, 0.508386, -0.814875, 2.9371], [-0.0104872, -0.846764, -0.531865, 1.55934], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.905199, 0.237688, -0.352306, 6.72685], [0.424975, 0.512802, -0.745942, 2.99063], [0.00336131, -0.824947, -0.5652, 1.53015], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.898135, 0.258532, -0.355689, 6.73069], [0.439181, 0.567443, -0.696512, 3.07197], [0.0217627, -0.781773, -0.623183, 1.50871], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.917919, 0.220667, -0.329744, 6.71498], [0.394317, 0.599585, -0.696428, 3.22077], [0.0440314, -0.769288, -0.637383, 1.46865], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.908279, 0.254711, -0.331892, 6.72335], [0.417158, 0.611622, -0.672234, 3.33657], [0.0317677, -0.749027, -0.661778, 1.43856], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.848886, 0.308767, -0.429018, 6.69696], [0.526506, 0.565705, -0.634642, 3.39083], [0.0467414, -0.764618, -0.642786, 1.44426], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.689262, 0.415218, -0.593727, 6.62166], [0.723023, 0.446717, -0.526955, 3.40796], [0.0464261, -0.792488, -0.608117, 1.47305], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.654356, 0.367986, -0.66061, 6.6209], [0.755601, 0.352586, -0.552043, 3.37811], [0.0297781, -0.860389, -0.508767, 1.5501], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.735812, 0.290434, -0.611743, 6.65765], [0.677118, 0.328338, -0.658563, 3.3455], [0.00958957, -0.898801, -0.438253, 1.61064], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.835043, 0.177104, -0.520901, 6.68985], [0.550185, 0.269787, -0.790261, 3.31567], [0.000574023, -0.946493, -0.322723, 1.69474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.868725, 0.0950557, -0.486088, 6.72857], [0.495219, 0.149451, -0.855817, 3.2994], [-0.00870389, -0.984189, -0.176906, 1.74254], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.930827, 0.0837668, -0.35573, 6.78253], [0.364223, 0.132611, -0.921822, 3.30793], [-0.0300445, -0.987622, -0.153948, 1.78303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.968205, 0.121596, -0.218618, 6.81281], [0.245027, 0.284866, -0.926722, 3.31842], [-0.0504093, -0.950824, -0.305603, 1.75366], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.982687, 0.152635, -0.105016, 6.82341], [0.146953, 0.296937, -0.943522, 3.33732], [-0.112832, -0.942619, -0.314226, 1.76357], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.957686, 0.167047, -0.234378, 6.76156], [0.278936, 0.337968, -0.898873, 3.32104], [-0.0709418, -0.926214, -0.370263, 1.70859], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.887259, 0.232811, -0.39821, 6.66578], [0.457629, 0.335995, -0.823215, 3.29624], [-0.0578568, -0.912637, -0.404656, 1.68425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.715004, 0.317279, -0.622979, 6.51633], [0.698819, 0.298194, -0.650179, 3.19408], [-0.0205193, -0.90023, -0.43493, 1.65685], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.548797, 0.354658, -0.756994, 6.41357], [0.83595, 0.236166, -0.495392, 3.09422], [0.00308148, -0.904679, -0.426083, 1.66144], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.379469, 0.377877, -0.844519, 6.34194], [0.925194, 0.159512, -0.344345, 3.03831], [0.0045911, -0.912011, -0.410139, 1.6563], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.291035, 0.398239, -0.869887, 6.20459], [0.956703, 0.125145, -0.262788, 3.02565], [0.00420981, -0.908705, -0.417418, 1.65351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.376473, 0.378169, -0.845728, 5.96533], [0.926022, 0.18063, -0.331446, 3.04688], [0.0274212, -0.907943, -0.418195, 1.65508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.367825, 0.411307, -0.833985, 5.70762], [0.929856, 0.154371, -0.333975, 2.95056], [-0.00862335, -0.89833, -0.439237, 1.69374], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.377756, 0.403296, -0.833459, 5.49466], [0.925721, 0.146514, -0.348677, 2.87277], [-0.0185069, -0.903264, -0.428686, 1.69193], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.543148, 0.347303, -0.764441, 5.29163], [0.839489, 0.207555, -0.502174, 2.92268], [-0.0157431, -0.914495, -0.40429, 1.71863], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.593718, 0.358869, -0.720216, 5.13306], [0.803094, 0.20823, -0.558283, 2.88181], [-0.0503797, -0.909864, -0.411836, 1.70749], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.298643, 0.458826, -0.836834, 4.89586], [0.954025, 0.120124, -0.274603, 2.857], [-0.0254711, -0.880369, -0.473605, 1.67344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.139999, 0.559379, -0.817004, 4.74713], [0.989983, 0.0638431, -0.125928, 2.91296], [-0.0182814, -0.82645, -0.562713, 1.64217], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.0040679, 0.587571, -0.809163, 4.65268], [0.999986, 0.000352323, 0.00528315, 2.99997], [0.00338934, -0.809172, -0.587561, 1.64018], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.323813, 0.55578, -0.765672, 4.60523], [0.945975, -0.204395, 0.251702, 2.97487], [-0.0166082, -0.805811, -0.59194, 1.63498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.510784, 0.525318, -0.680544, 4.59092], [0.85922, -0.338625, 0.383502, 2.89916], [-0.0289882, -0.780624, -0.624328, 1.6177], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.627079, 0.475075, -0.617314, 4.59401], [0.778875, -0.393806, 0.488129, 2.90228], [-0.0112042, -0.786906, -0.616971, 1.61396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.727472, 0.401494, -0.556405, 4.58247], [0.685942, -0.444933, 0.575777, 2.91149], [-0.016392, -0.800523, -0.599078, 1.60593], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.848695, 0.311185, -0.427645, 4.54416], [0.528451, -0.531592, 0.661928, 2.9843], [-0.0213505, -0.787765, -0.615606, 1.57845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.937121, 0.188958, -0.293427, 4.42957], [0.347638, -0.579725, 0.736931, 3.02366], [-0.030858, -0.7926, -0.608961, 1.57285], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.99672, 0.00294235, -0.0808706, 4.28678], [0.0646938, -0.629323, 0.774446, 2.93103], [-0.048615, -0.777138, -0.62745, 1.60062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.989044, -0.111118, 0.0971848, 4.20932], [-0.145278, -0.615815, 0.774381, 2.79877], [-0.0261995, -0.780016, -0.625211, 1.60723], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.980433, -0.106793, 0.16537, 4.24605], [-0.196368, -0.58961, 0.783454, 2.6351], [0.013836, -0.800597, -0.599044, 1.60013], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.945343, -0.164771, 0.281382, 4.23638], [-0.32516, -0.540994, 0.775626, 2.51755], [0.0244253, -0.824728, -0.565002, 1.62634], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.831359, -0.270415, 0.485508, 4.21468], [-0.555726, -0.409807, 0.723345, 2.53535], [0.00336117, -0.871168, -0.490973, 1.67613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.806072, -0.218946, 0.549828, 4.1901], [-0.591795, -0.306418, 0.745578, 2.54893], [0.00523597, -0.926375, -0.376566, 1.7329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.86239, -0.184873, 0.471281, 4.11323], [-0.506213, -0.304379, 0.806909, 2.58593], [-0.0057275, -0.934439, -0.356078, 1.7391], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.894124, -0.194886, 0.403189, 4.12211], [-0.447764, -0.374995, 0.811718, 2.73574], [-0.00699842, -0.90631, -0.422555, 1.6823], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.917829, -0.185038, 0.351213, 4.2135], [-0.39697, -0.432467, 0.80956, 2.95366], [0.00208858, -0.882459, -0.470385, 1.65565], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.898113, -0.2167, 0.382667, 4.20447], [-0.439553, -0.46937, 0.765823, 3.1108], [0.0136586, -0.855998, -0.516798, 1.6604], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.858894, -0.274182, 0.43258, 4.14405], [-0.509868, -0.537466, 0.671688, 3.25659], [0.0483322, -0.797468, -0.601422, 1.70234], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.852288, -0.302034, 0.42706, 4.07346], [-0.520206, -0.574781, 0.631674, 3.35663], [0.0546788, -0.760528, -0.646999, 1.68204], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.846513, -0.249104, 0.470493, 4.07291], [-0.528454, -0.500161, 0.685985, 3.3757], [0.0644408, -0.829329, -0.555033, 1.68914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.813703, -0.282243, 0.50816, 4.21859], [-0.580507, -0.439678, 0.685343, 3.34224], [0.0299936, -0.852656, -0.521611, 1.68319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.72024, -0.341485, 0.603857, 4.31387], [-0.693197, -0.388249, 0.607241, 3.33508], [0.0270833, -0.85595, -0.516348, 1.67579], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.75427, -0.31701, 0.574962, 4.31931], [-0.656533, -0.355607, 0.665213, 3.31364], [-0.00641796, -0.879232, -0.476351, 1.66361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.820904, -0.24996, 0.513456, 4.28115], [-0.571031, -0.34928, 0.742918, 3.30591], [-0.00635996, -0.903064, -0.42946, 1.64443], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.876068, -0.182567, 0.44629, 4.21379], [-0.481784, -0.293514, 0.825672, 3.2827], [-0.0197483, -0.93836, -0.345096, 1.62519], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.95968, -0.0983302, 0.263335, 4.19452], [-0.281053, -0.351865, 0.892861, 3.2748], [0.00486311, -0.930872, -0.365313, 1.62713], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.99899, 0.0350186, -0.0281673, 4.19029], [0.0388303, -0.357046, 0.933279, 3.23975], [0.0226253, -0.93343, -0.358045, 1.6272], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.955792, 0.125724, -0.265809, 4.11811], [0.293405, -0.348262, 0.890296, 3.22297], [0.0193605, -0.928928, -0.369754, 1.6259], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.892065, 0.218486, -0.39558, 3.98858], [0.450338, -0.356934, 0.818409, 3.24282], [0.0376153, -0.908219, -0.416801, 1.63055], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.844557, 0.339393, -0.414169, 3.93689], [0.533321, -0.464011, 0.707292, 3.23897], [0.0478717, -0.818233, -0.572889, 1.60508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.900472, 0.315568, -0.299278, 3.96496], [0.425302, -0.495052, 0.757656, 3.26566], [0.0909341, -0.809531, -0.579992, 1.57582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.933117, 0.293365, -0.207916, 3.99105], [0.351304, -0.620511, 0.701108, 3.29222], [0.0766667, -0.727257, -0.68207, 1.54422], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.916586, 0.342461, -0.206375, 3.96269], [0.391511, -0.663916, 0.63713, 3.28586], [0.0811768, -0.664782, -0.742613, 1.52431], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.932637, 0.340826, -0.118433, 4.01029], [0.326383, -0.656955, 0.67962, 3.29072], [0.153827, -0.672493, -0.72394, 1.49979], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.938239, 0.332078, -0.097115, 4.14284], [0.292755, -0.612377, 0.734363, 3.29708], [0.184395, -0.717439, -0.671774, 1.51745], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.94777, 0.304885, -0.0936931, 4.25463], [0.266707, -0.596443, 0.757049, 3.27547], [0.17493, -0.742497, -0.646605, 1.52447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.930763, 0.330841, -0.155642, 4.29378], [0.336078, -0.606524, 0.720541, 3.24525], [0.143984, -0.722961, -0.675719, 1.51572], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.843642, 0.457442, -0.281095, 4.30561], [0.524745, -0.591707, 0.611985, 3.16177], [0.113622, -0.6638, -0.739229, 1.5041], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.653805, 0.614178, -0.441954, 4.28509], [0.755373, -0.495703, 0.42859, 2.95715], [0.0441526, -0.614055, -0.788027, 1.50404], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.451063, 0.714631, -0.534645, 4.27053], [0.891895, -0.339026, 0.299305, 2.78454], [0.0326339, -0.611853, -0.790298, 1.53975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.330676, 0.64366, -0.690185, 4.31085], [0.94355, -0.240337, 0.22793, 2.73133], [-0.0191674, -0.726595, -0.686798, 1.59998], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.27553, 0.620009, -0.734624, 4.33773], [0.961113, -0.192438, 0.198064, 2.70676], [-0.0185677, -0.760629, -0.648921, 1.62848], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.278279, 0.491946, -0.824954, 4.33086], [0.959793, -0.175376, 0.219182, 2.73546], [-0.0368514, -0.852779, -0.52097, 1.66589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.222481, 0.436549, -0.871738, 4.25418], [0.968884, -0.198481, 0.147879, 2.9193], [-0.108467, -0.877513, -0.467124, 1.6951], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.120948, 0.35476, -0.927101, 4.1993], [0.978916, -0.197499, 0.0521335, 3.16022], [-0.164607, -0.91386, -0.371167, 1.78221], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.135389, 0.220388, -0.96597, 4.22504], [0.963439, -0.256793, 0.0764468, 3.2016], [-0.231206, -0.941003, -0.247097, 1.84442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.173644, 0.18433, -0.967404, 4.24212], [0.942774, -0.315047, 0.109194, 3.21206], [-0.284649, -0.931004, -0.228488, 1.85266], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.295339, 0.189785, -0.936353, 4.20568], [0.911535, -0.349513, 0.21667, 3.25771], [-0.286146, -0.917509, -0.276221, 1.8295], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.337064, 0.243008, -0.909579, 4.0278], [0.897907, -0.37349, 0.232955, 3.30838], [-0.283109, -0.895239, -0.344089, 1.79488], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.387347, 0.255314, -0.885876, 3.82802], [0.869158, -0.421571, 0.258538, 3.36742], [-0.307451, -0.870111, -0.385202, 1.78705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.275001, 0.337432, -0.900285, 3.65951], [0.925452, -0.346712, 0.152738, 3.53502], [-0.260601, -0.875174, -0.407624, 1.7703], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.138859, 0.412399, -0.900358, 3.47989], [0.952605, -0.304115, 0.00762002, 3.68355], [-0.27067, -0.858744, -0.435083, 1.75012], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.124448, 0.396194, -0.909694, 3.20918], [0.945026, -0.326737, -0.0130208, 3.73451], [-0.302389, -0.858064, -0.415076, 1.75104], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.00341332, 0.474355, -0.880327, 2.94178], [0.959858, -0.248458, -0.130157, 3.81135], [-0.280465, -0.844545, -0.456162, 1.81268], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.0865305, 0.342496, -0.935526, 2.86492], [0.958352, -0.227924, -0.172085, 3.83652], [-0.272167, -0.911453, -0.308509, 1.89879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.0752694, 0.221134, -0.972335, 2.88204], [0.964435, -0.231627, -0.127336, 3.83013], [-0.253378, -0.947338, -0.195835, 1.92035], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.0389855, 0.0841555, -0.99569, 2.92967], [0.973867, -0.219923, -0.0567188, 3.8241], [-0.223749, -0.97188, -0.0733826, 1.9479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.0592788, 0.0174474, -0.998089, 2.94531], [0.981617, -0.182733, 0.0551063, 3.81765], [-0.181422, -0.983008, -0.027959, 1.96258], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.111104, -0.012399, -0.993732, 2.9569], [0.982014, -0.152228, 0.111694, 3.80663], [-0.152659, -0.988268, -0.00473708, 1.96525], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.191374, -0.00962555, -0.98147, 2.93176], [0.977665, -0.086632, 0.191482, 3.8014], [-0.0868697, -0.996194, -0.0071688, 1.94262], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.11786, 0.186822, -0.975298, 2.88523], [0.989637, -0.103223, 0.0998203, 3.80233], [-0.0820244, -0.976956, -0.197052, 1.90277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[0.0797716, 0.254568, -0.963759, 2.85004], [0.984544, -0.171349, 0.0362318, 3.82418], [-0.155916, -0.951753, -0.264302, 1.89093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.0325415, 0.338378, -0.940447, 2.7632], [0.965127, -0.255181, -0.0584197, 3.8631], [-0.259752, -0.90575, -0.334882, 1.87674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.00595522, 0.395995, -0.918233, 2.51093], [0.957297, -0.263162, -0.119699, 3.81094], [-0.289044, -0.879735, -0.377518, 1.87892], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.08676, 0.419557, -0.903573, 2.31649], [0.943081, -0.257699, -0.210211, 3.81039], [-0.321045, -0.870381, -0.373319, 1.8225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.329397, 0.46551, -0.821461, 2.18617], [0.874839, -0.176809, -0.450995, 3.88482], [-0.355184, -0.867202, -0.349006, 1.87946], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.406387, 0.386571, -0.827897, 2.16029], [0.839277, -0.20026, -0.505481, 3.88944], [-0.361199, -0.900255, -0.243056, 1.91009], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.458257, 0.291715, -0.839585, 2.15119], [0.815644, -0.237311, -0.527644, 3.88688], [-0.353164, -0.926599, -0.129186, 1.95694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.372255, 0.390101, -0.842169, 2.10668], [0.873895, -0.158317, -0.459613, 3.85364], [-0.312625, -0.907059, -0.281973, 1.90815], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.340299, 0.48554, -0.805262, 2.0618], [0.905486, -0.0617136, -0.419864, 3.81557], [-0.253556, -0.872033, -0.418649, 1.86132], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.298275, 0.522023, -0.799077, 2.07362], [0.942092, 0.0265678, -0.334302, 3.82231], [-0.153284, -0.852517, -0.499718, 1.8111], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.208521, 0.466807, -0.859425, 2.16078], [0.976449, 0.0495953, -0.209975, 3.84833], [-0.0553946, -0.882967, -0.466154, 1.78891], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[-0.0846123, 0.335261, -0.938318, 2.29438], [0.995299, -0.0161129, -0.0955076, 3.81444], [-0.047139, -0.941987, -0.332322, 1.81722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.0252292, 0.362479, -0.931651, 2.4899], [0.996783, -0.061799, -0.0510371, 3.73085], [-0.0760749, -0.929941, -0.359754, 1.83936], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[-0.00411832, 0.315697, -0.948851, 2.72015], [0.997161, -0.0700499, -0.0276345, 3.78692], [-0.0751909, -0.946271, -0.314512, 1.85389], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.0274906, 0.329277, -0.943833, 2.9323], [0.996077, -0.0884733, -0.00185332, 3.77303], [-0.0841142, -0.940079, -0.330417, 1.84266], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[0.174884, 0.284624, -0.942552, 3.10432], [0.981957, -0.120376, 0.145845, 3.6287], [-0.0719497, -0.951051, -0.300541, 1.8036], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[0.106793, 0.259318, -0.959869, 3.27451], [0.989731, -0.119978, 0.0777018, 3.61219], [-0.0950141, -0.958311, -0.269468, 1.81754], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[0.0695852, 0.281951, -0.956902, 3.47087], [0.991358, -0.126476, 0.0348249, 3.63883], [-0.111206, -0.951056, -0.288315, 1.79256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[0.094463, 0.252041, -0.963095, 3.6097], [0.984951, -0.164313, 0.0536063, 3.60061], [-0.144738, -0.953665, -0.263769, 1.82115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.164816, 0.233895, -0.958191, 3.7732], [0.967437, -0.227541, 0.110864, 3.54745], [-0.192097, -0.945261, -0.263781, 1.81393], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.130985, 0.229705, -0.964406, 3.90344], [0.970247, -0.229508, 0.0771136, 3.59901], [-0.203626, -0.945813, -0.252933, 1.78834], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.065785, 0.215859, -0.974206, 4.03049], [0.985175, -0.169071, 0.029064, 3.61603], [-0.158436, -0.961676, -0.223781, 1.77896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[0.101625, 0.247521, -0.963538, 4.13799], [0.987219, -0.144611, 0.0669736, 3.52998], [-0.122761, -0.95803, -0.259053, 1.76448], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.0699445, 0.270197, -0.960261, 4.23516], [0.992409, -0.116459, 0.0395173, 3.47311], [-0.101153, -0.955736, -0.276291, 1.75983], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[-0.00364864, 0.313156, -0.949695, 4.25337], [0.996959, -0.0727819, -0.0278295, 3.4082], [-0.0778355, -0.946909, -0.311938, 1.75361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[-0.165848, 0.365423, -0.915948, 4.21651], [0.98443, 0.00649542, -0.175657, 3.40137], [-0.0582395, -0.930819, -0.360811, 1.74182], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[-0.277039, 0.408748, -0.869583, 4.17114], [0.960197, 0.0841756, -0.266341, 3.52892], [-0.0356684, -0.908757, -0.415798, 1.702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.369846, 0.442058, -0.81719, 4.03489], [0.928389, 0.141591, -0.343579, 3.61603], [-0.0361752, -0.885741, -0.462768, 1.65718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.354468, 0.495277, -0.793129, 3.80637], [0.933207, 0.133882, -0.333468, 3.6302], [-0.0589735, -0.858357, -0.509653, 1.64391], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.561757, 0.425688, -0.70938, 3.66246], [0.827301, 0.287168, -0.482813, 3.78276], [-0.00181681, -0.858093, -0.51349, 1.66451], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.66633, 0.383276, -0.639612, 3.59384], [0.744291, 0.393766, -0.539424, 3.90021], [0.0451089, -0.835492, -0.547648, 1.61863], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.702147, 0.397353, -0.590848, 3.5537], [0.711927, 0.406094, -0.57293, 3.99493], [0.0122839, -0.822921, -0.568023, 1.55491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.63781, 0.510853, -0.576391, 3.53534], [0.769723, 0.396642, -0.500202, 4.04165], [-0.026909, -0.762695, -0.646198, 1.48693], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[-0.628075, 0.545938, -0.554503, 3.54683], [0.777857, 0.42081, -0.466753, 4.04451], [-0.0214782, -0.724479, -0.688962, 1.44845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[-0.653191, 0.524321, -0.546287, 3.53455], [0.757172, 0.446851, -0.476461, 3.98872], [-0.0057096, -0.724852, -0.688881, 1.45885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[-0.6637, 0.462877, -0.587577, 3.40487], [0.747678, 0.433554, -0.503, 3.87963], [0.0219191, -0.773159, -0.633833, 1.50214], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[-0.746123, 0.418036, -0.518214, 3.2628], [0.665769, 0.476882, -0.573878, 3.90189], [0.00722528, -0.773194, -0.634128, 1.51232], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[-0.874552, 0.288531, -0.389753, 3.12217], [0.484525, 0.552791, -0.67798, 3.95887], [0.0198337, -0.781775, -0.623246, 1.5183], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[-0.854114, 0.331607, -0.400657, 3.03447], [0.519841, 0.567937, -0.638132, 3.97369], [0.0159389, -0.753316, -0.657466, 1.51601], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[-0.890778, 0.311608, -0.33078, 2.89757], [0.454429, 0.615743, -0.643705, 4.07474], [0.00309151, -0.723713, -0.690094, 1.47868], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[-0.863457, 0.375789, -0.336488, 2.82359], [0.503796, 0.609247, -0.612378, 4.11395], [-0.0251206, -0.698284, -0.71538, 1.42996], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[-0.86202, 0.400765, -0.310336, 2.80756], [0.503427, 0.605651, -0.616237, 4.14708], [-0.0590111, -0.687441, -0.723839, 1.38283], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[-0.940407, 0.260259, -0.218861, 2.82373], [0.332757, 0.571716, -0.749942, 4.12828], [-0.0700531, -0.778079, -0.624249, 1.28639], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[-0.950436, 0.216097, -0.223548, 2.84587], [0.303622, 0.490198, -0.817019, 4.16527], [-0.0669725, -0.844398, -0.531514, 1.19674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[-0.948537, 0.205741, -0.240726, 2.87647], [0.310551, 0.455681, -0.834214, 4.19296], [-0.061938, -0.86604, -0.496123, 1.13068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[-0.952339, 0.185202, -0.242385, 2.90183], [0.299998, 0.424744, -0.854163, 4.12902], [-0.0552415, -0.886167, -0.46006, 1.2501], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[-0.958129, 0.202568, -0.202372, 2.95731], [0.281162, 0.531826, -0.798817, 4.00823], [-0.0541884, -0.822269, -0.566513, 1.35816], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[-0.959745, 0.192445, -0.204583, 3.02092], [0.280757, 0.636403, -0.718448, 3.92865], [-0.00806436, -0.746964, -0.664815, 1.42473], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[-0.98435, 0.100618, -0.144678, 3.16809], [0.175191, 0.64758, -0.741585, 3.8856], [0.019074, -0.755325, -0.655073, 1.48328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[-0.998326, -0.0219832, -0.0534909, 3.40063], [0.0246576, 0.674853, -0.73754, 3.81645], [0.052312, -0.737624, -0.673182, 1.51834], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[-0.998207, -0.0500647, 0.0328181, 3.62097], [-0.0582077, 0.683759, -0.727383, 3.70539], [0.0139765, -0.727989, -0.685447, 1.52547], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[-0.996277, -0.0250731, 0.0824797, 3.69233], [-0.0810497, 0.598378, -0.797104, 3.56132], [-0.0293682, -0.800822, -0.598182, 1.57038], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[-0.989012, -0.0147261, 0.147098, 3.82621], [-0.138607, 0.438384, -0.888036, 3.35022], [-0.0514079, -0.898667, -0.435608, 1.6605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[-0.997342, 0.0690399, -0.0232671, 3.94697], [0.0465999, 0.359029, -0.932163, 3.19625], [-0.0560028, -0.930769, -0.361292, 1.71667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[-0.971756, 0.190498, -0.139286, 4.03844], [0.191555, 0.292013, -0.937035, 3.15209], [-0.13783, -0.93725, -0.320257, 1.76776], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[-0.961216, 0.211404, -0.177122, 4.07521], [0.223226, 0.219187, -0.949804, 3.12504], [-0.161969, -0.952505, -0.257877, 1.79186], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[-0.960581, 0.195449, -0.197697, 4.08784], [0.229722, 0.157556, -0.960419, 2.97792], [-0.156564, -0.967975, -0.196245, 1.82688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[-0.957905, 0.143954, -0.248385, 4.11837], [0.276068, 0.224509, -0.934549, 2.84228], [-0.0787668, -0.963781, -0.2548, 1.80827], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3460", "pose": [[-0.918664, 0.220331, -0.327889, 4.17671], [0.390362, 0.378931, -0.839065, 2.71825], [-0.060625, -0.898813, -0.434119, 1.71065], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3480", "pose": [[-0.859884, 0.296401, -0.415628, 4.19558], [0.510467, 0.506891, -0.694611, 2.67402], [0.00479448, -0.809449, -0.58717, 1.61034], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3500", "pose": [[-0.799664, 0.388171, -0.458104, 4.20783], [0.599908, 0.548818, -0.582159, 2.61941], [0.0254381, -0.740353, -0.671737, 1.56434], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3520", "pose": [[-0.760005, 0.462148, -0.45696, 4.16326], [0.649741, 0.556656, -0.517658, 2.50277], [0.0151349, -0.690328, -0.723338, 1.52908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3540", "pose": [[-0.712866, 0.512631, -0.478572, 4.01005], [0.700981, 0.541453, -0.464172, 2.28586], [0.0211755, -0.666362, -0.745328, 1.49589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3560", "pose": [[-0.606035, 0.560371, -0.56454, 3.9905], [0.794533, 0.46029, -0.396042, 2.13688], [0.037922, -0.688561, -0.724186, 1.50598], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3580", "pose": [[-0.402677, 0.641967, -0.652479, 4.02996], [0.914827, 0.306179, -0.263338, 1.94985], [0.0307213, -0.702945, -0.71058, 1.53189], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3600", "pose": [[-0.311751, 0.650631, -0.692453, 3.88337], [0.950063, 0.224114, -0.217151, 1.82242], [0.0139031, -0.72557, -0.688007, 1.54695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3620", "pose": [[-0.208391, 0.62585, -0.751588, 3.74582], [0.977958, 0.143649, -0.151539, 1.69237], [0.0131236, -0.7666, -0.64199, 1.57365], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3640", "pose": [[-0.0114394, 0.566023, -0.82431, 3.6283], [0.999483, 0.0312466, 0.00758555, 1.57637], [0.0300505, -0.823797, -0.566088, 1.62321], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3660", "pose": [[0.133445, 0.50916, -0.850264, 3.4714], [0.988475, -0.00649413, 0.151248, 1.55919], [0.0714878, -0.860647, -0.504158, 1.65352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3680", "pose": [[0.218989, 0.48804, -0.844903, 3.308], [0.973632, -0.0525804, 0.221983, 1.5666], [0.0639112, -0.871236, -0.486686, 1.66461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3700", "pose": [[0.42801, 0.451767, -0.782761, 3.12592], [0.902013, -0.159491, 0.401167, 1.56773], [0.0563906, -0.877764, -0.475764, 1.6688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3720", "pose": [[0.628418, 0.399049, -0.667721, 3.02705], [0.774984, -0.247232, 0.581615, 1.59975], [0.067011, -0.88297, -0.464622, 1.65627], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3740", "pose": [[0.566184, 0.537243, -0.625145, 3.00424], [0.812479, -0.235872, 0.533144, 1.61471], [0.138974, -0.809774, -0.570045, 1.60611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3760", "pose": [[0.593229, 0.637791, -0.491224, 2.98303], [0.774279, -0.284985, 0.565045, 1.63967], [0.220389, -0.715546, -0.66289, 1.5415], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3780", "pose": [[0.52023, 0.69184, -0.500718, 2.96283], [0.836805, -0.295789, 0.460723, 1.61342], [0.17064, -0.658685, -0.732814, 1.52811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3800", "pose": [[0.324325, 0.665539, -0.672214, 2.95015], [0.941359, -0.157187, 0.298555, 1.58301], [0.0930365, -0.729623, -0.677491, 1.56953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3820", "pose": [[0.0313481, 0.65087, -0.758541, 2.96659], [0.999022, 0.00329009, 0.0441096, 1.57274], [0.0312054, -0.759182, -0.65013, 1.58344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3840", "pose": [[-0.302026, 0.593622, -0.745918, 3.00448], [0.953235, 0.178903, -0.243593, 1.53834], [-0.0111551, -0.784606, -0.619894, 1.59644], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3860", "pose": [[-0.539947, 0.474515, -0.695193, 3.03499], [0.838215, 0.228061, -0.495363, 1.55029], [-0.0765112, -0.85019, -0.520886, 1.6311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3880", "pose": [[-0.659202, 0.380642, -0.64851, 3.05373], [0.737987, 0.16196, -0.655091, 1.56837], [-0.144322, -0.910429, -0.387673, 1.67845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3900", "pose": [[-0.654764, 0.274544, -0.704209, 3.07132], [0.733135, 0.00407138, -0.680071, 1.58848], [-0.183842, -0.961566, -0.203944, 1.74501], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3920", "pose": [[-0.6721, 0.202172, -0.712326, 3.1002], [0.711936, -0.0879996, -0.696709, 1.60188], [-0.203539, -0.975388, -0.0847892, 1.77305], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3940", "pose": [[-0.623944, 0.162932, -0.764295, 3.1128], [0.747572, -0.160477, -0.644502, 1.60546], [-0.227662, -0.973499, -0.0216751, 1.80088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3960", "pose": [[-0.540382, 0.0993631, -0.835532, 3.11541], [0.813796, -0.190635, -0.548994, 1.60409], [-0.213831, -0.976619, 0.0221539, 1.81295], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3980", "pose": [[-0.498373, 0.104471, -0.860646, 3.11108], [0.841574, -0.180188, -0.509201, 1.59736], [-0.208274, -0.978069, 0.00188062, 1.81643], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4000", "pose": [[-0.466198, 0.161593, -0.869797, 3.09614], [0.865233, -0.121734, -0.486367, 1.58046], [-0.184477, -0.97932, -0.0830638, 1.79567], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4020", "pose": [[-0.326961, 0.150044, -0.933051, 3.06922], [0.933301, -0.103857, -0.34375, 1.5959], [-0.148481, -0.983209, -0.106079, 1.77508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4040", "pose": [[-0.178923, 0.152482, -0.971975, 3.04321], [0.979644, -0.0637788, -0.19034, 1.60037], [-0.0910147, -0.986246, -0.137966, 1.76131], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4060", "pose": [[-0.142838, 0.355016, -0.923883, 3.03146], [0.986167, -0.028261, -0.163327, 1.59149], [-0.0840936, -0.934433, -0.346069, 1.72392], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4080", "pose": [[-0.115392, 0.522299, -0.844919, 3.01749], [0.990141, -0.00751618, -0.139871, 1.57721], [-0.0794052, -0.852729, -0.516283, 1.68643], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4100", "pose": [[0.203154, 0.691156, -0.693565, 2.92481], [0.975501, -0.20394, 0.0825057, 1.55288], [-0.0844212, -0.693334, -0.715654, 1.59361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4120", "pose": [[0.543241, 0.600155, -0.587114, 2.74668], [0.829665, -0.490879, 0.265884, 1.63996], [-0.12863, -0.631546, -0.764593, 1.54238], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4140", "pose": [[0.907487, 0.337283, -0.250417, 2.61077], [0.419974, -0.741911, 0.522677, 1.77967], [-0.00949681, -0.57949, -0.814924, 1.47364], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4160", "pose": [[0.986202, 0.14498, -0.0799121, 2.59118], [0.163932, -0.788045, 0.593389, 1.85471], [0.0230553, -0.598302, -0.800939, 1.46351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4180", "pose": [[0.999911, -0.00308915, 0.012945, 2.60413], [-0.0113174, -0.709162, 0.704955, 1.89072], [0.00700241, -0.705039, -0.709134, 1.51456], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4200", "pose": [[0.999123, -0.0264008, 0.0324852, 2.6236], [-0.0418406, -0.653693, 0.755602, 1.90906], [0.00128686, -0.756299, -0.654225, 1.55849], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4220", "pose": [[0.993823, 0.0670537, -0.088424, 2.62731], [0.110265, -0.686499, 0.718722, 1.87854], [-0.0125099, -0.724033, -0.689652, 1.55773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4240", "pose": [[0.978532, 0.163694, -0.125214, 2.62685], [0.197049, -0.565101, 0.801145, 1.85881], [0.0603839, -0.808619, -0.585225, 1.60016], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4260", "pose": [[0.962742, 0.120696, -0.241992, 2.60971], [0.270401, -0.440654, 0.855983, 1.82079], [-0.00332043, -0.889526, -0.456873, 1.67532], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4280", "pose": [[0.937047, 0.131621, -0.323448, 2.60898], [0.348857, -0.394064, 0.850302, 1.78468], [-0.0155413, -0.909609, -0.415174, 1.7076], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4300", "pose": [[0.882866, 0.208891, -0.42061, 2.62676], [0.469384, -0.421219, 0.77605, 1.75775], [-0.0150588, -0.882575, -0.46993, 1.68831], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4320", "pose": [[0.692, 0.350594, -0.631046, 2.73674], [0.720938, -0.380674, 0.579082, 1.75694], [-0.0372002, -0.85567, -0.516183, 1.6744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4340", "pose": [[0.276948, 0.53872, -0.795663, 2.89932], [0.960692, -0.171832, 0.218048, 1.66197], [-0.0192534, -0.824775, -0.565133, 1.64595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4360", "pose": [[-0.00711998, 0.682318, -0.731021, 2.98323], [0.998999, 0.0371445, 0.0249399, 1.55716], [0.0441704, -0.730111, -0.681899, 1.58583], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4380", "pose": [[-0.432415, 0.578167, -0.691911, 2.94771], [0.901668, 0.274135, -0.334435, 1.49465], [-0.00368241, -0.768487, -0.639854, 1.6022], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4400", "pose": [[-0.801305, 0.401936, -0.443122, 2.88145], [0.596352, 0.477593, -0.645189, 1.5135], [-0.0476925, -0.78125, -0.622393, 1.62506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4420", "pose": [[-0.908334, 0.35563, -0.220128, 2.86446], [0.359689, 0.39564, -0.84504, 1.54411], [-0.21343, -0.846756, -0.487289, 1.68153], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4440", "pose": [[-0.948485, 0.292328, -0.122145, 2.81377], [0.215447, 0.312468, -0.925174, 1.59633], [-0.232288, -0.903829, -0.359353, 1.72488], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4460", "pose": [[-0.975234, 0.219054, -0.0305662, 2.76638], [0.0905578, 0.269381, -0.958766, 1.64089], [-0.201787, -0.937789, -0.282547, 1.72638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4480", "pose": [[-0.985661, 0.163924, -0.0400094, 2.72994], [0.076148, 0.220534, -0.972402, 1.6602], [-0.150576, -0.961506, -0.229854, 1.73161], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4500", "pose": [[-0.985145, 0.169059, -0.0301456, 2.70466], [0.0603182, 0.176296, -0.982487, 1.65599], [-0.160784, -0.96971, -0.183875, 1.73207], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4520", "pose": [[-0.98939, 0.143243, -0.0242636, 2.74184], [0.0823805, 0.415573, -0.905822, 1.59745], [-0.119669, -0.898209, -0.422965, 1.6476], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4540", "pose": [[-0.960152, 0.263014, -0.094514, 2.80873], [0.238784, 0.596278, -0.766443, 1.50131], [-0.145229, -0.75847, -0.63532, 1.57679], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4560", "pose": [[-0.984681, 0.166318, -0.0523643, 2.7476], [0.132804, 0.520752, -0.843315, 1.50187], [-0.112989, -0.837351, -0.534862, 1.62751], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4580", "pose": [[-0.974813, 0.106252, 0.196088, 2.66465], [-0.155536, 0.306247, -0.93916, 1.6272], [-0.159839, -0.946004, -0.282008, 1.76126], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4600", "pose": [[-0.951458, 0.167024, 0.258514, 2.648], [-0.243932, 0.10296, -0.964312, 1.71731], [-0.18768, -0.980562, -0.0572193, 1.84372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4620", "pose": [[-0.969377, 0.10737, 0.22086, 2.63974], [-0.198283, 0.188389, -0.96187, 1.74665], [-0.144884, -0.976207, -0.161331, 1.78814], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4640", "pose": [[-0.973801, 0.000363111, 0.227399, 2.65747], [-0.203222, 0.447318, -0.870981, 1.72325], [-0.102036, -0.894375, -0.435525, 1.69931], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4660", "pose": [[-0.970084, -0.100119, 0.221164, 2.67261], [-0.236107, 0.601053, -0.763537, 1.68754], [-0.0564868, -0.792913, -0.606711, 1.60858], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4680", "pose": [[-0.977865, -0.0660481, 0.19854, 2.6751], [-0.201084, 0.558955, -0.804447, 1.6807], [-0.0578429, -0.826563, -0.559864, 1.59829], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4700", "pose": [[-0.998457, 0.0112382, 0.0543757, 2.67042], [-0.0398565, 0.536759, -0.842794, 1.63123], [-0.0386582, -0.843661, -0.535483, 1.58258], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4720", "pose": [[-0.933509, 0.235389, -0.270468, 2.7555], [0.35439, 0.491092, -0.795762, 1.47868], [-0.0544892, -0.838702, -0.541858, 1.56582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4740", "pose": [[-0.723589, 0.401204, -0.561654, 2.80391], [0.687986, 0.353636, -0.633734, 1.46455], [-0.0556354, -0.844972, -0.531909, 1.56189], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4760", "pose": [[-0.481041, 0.531556, -0.697171, 2.8793], [0.87208, 0.208604, -0.442677, 1.52166], [-0.0898749, -0.820934, -0.563906, 1.57584], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4780", "pose": [[-0.215381, 0.572604, -0.791034, 3.07135], [0.971219, 0.0412369, -0.234591, 1.53639], [-0.101708, -0.818794, -0.565006, 1.62412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4800", "pose": [[-0.0568021, 0.516091, -0.854648, 3.35474], [0.990056, -0.0812287, -0.114852, 1.57723], [-0.128696, -0.852673, -0.506345, 1.66048], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4820", "pose": [[0.0135629, 0.519878, -0.854133, 3.60866], [0.990646, -0.122986, -0.059126, 1.65958], [-0.135784, -0.845341, -0.516683, 1.64888], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4840", "pose": [[0.197047, 0.456994, -0.867369, 3.76851], [0.969212, -0.224043, 0.102142, 1.65426], [-0.147649, -0.860791, -0.487071, 1.65549], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4860", "pose": [[0.509797, 0.451437, -0.732333, 3.91243], [0.854189, -0.366857, 0.36848, 1.67105], [-0.102316, -0.8134, -0.572635, 1.6195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4880", "pose": [[0.670114, 0.460216, -0.582365, 4.10617], [0.740382, -0.47019, 0.480371, 1.79101], [-0.0527473, -0.753076, -0.655816, 1.58356], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4900", "pose": [[0.740969, 0.413409, -0.529204, 4.22697], [0.669153, -0.520894, 0.530003, 1.86695], [-0.0565511, -0.746835, -0.662601, 1.58794], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "4920", "pose": [[0.791209, 0.357129, -0.496434, 4.26138], [0.606931, -0.558099, 0.565828, 1.89319], [-0.0749853, -0.748989, -0.658325, 1.59194], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0784_00"}, {"annotation": [{"question_id": "test-scene0785-0", "question": "What is next to the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-1", "question": "Where is a desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-2", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-3", "question": "What is next to the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-4", "question": "Where is the wooden desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-5", "question": "Where is a white table placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-6", "question": "Where is a chair placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-7", "question": "What shape is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-8", "question": "The monitor is directly in front of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-9", "question": "How many chairs are on the right of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-10", "question": "What is on the wooden chair sitting between the table and a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-11", "question": "What color is the cushion of the chair in front of the desk that is to the right of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-12", "question": "Where is the stove located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-13", "question": "What type of table, is against the wall, in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-14", "question": "What color are kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-15", "question": "Where are white kitchen cabinets placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-16", "question": "What is placed on the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-17", "question": "Where is a microwave placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-18", "question": "Where is a work chair placed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-19", "question": "What is on the bottom of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-20", "question": "What is located to the left of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-21", "question": "What is on top of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-22", "question": "What is located to the left of the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-23", "question": "What is on the couch's left side?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-24", "question": "What type of office chair is at the desk with a large screen on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-25", "question": "What is on top of the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-26", "question": "What is the sectional desk underneath?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-27", "question": "How many monitors are on the computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-28", "question": "What is in the kitchen window above the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-29", "question": "What color is the table near the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-30", "question": "What part of the kitchen has white drawers?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-31", "question": "How many burners are on the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-32", "question": "How many burners are in the front of the stove?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-33", "question": "What is at the bottom of the stove that is slightly open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-34", "question": "What kind of table is the brown table in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-35", "question": "What type of chair is next to a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-36", "question": "What's in front of the monitors near the white corner table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-37", "question": "Where is a chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-38", "question": "What is hung on the rack ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-39", "question": "What color desk is the monitor on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-40", "question": "What are the colors of the monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-41", "question": "How many panels does the stove have for cooking?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-42", "question": "What color is the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-43", "question": "What is on top of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-44", "question": "What blue item is located in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-45", "question": "What is the color of the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-46", "question": "What is on the right of the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-47", "question": "What color are the kitchen cabinets against the right wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-48", "question": "What color carpet does the chair rest on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-49", "question": "What color is the table in the right corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-50", "question": "What color is the table in the top corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-51", "question": "What does the white table serve as?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-52", "question": "What is on top of the small wooden table next to the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-53", "question": "What color is the monitor on a white and black computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-54", "question": "What color is the kitchen cabinet on the right of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-55", "question": "On what side of the stove are the kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-56", "question": "What color handles do the kitchen cabinets have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-57", "question": "What is sitting in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-58", "question": "What kind of table is next to a soccer ball?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-59", "question": "What is sitting on a desk in the back corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-60", "question": "Where is the white microwave on the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-61", "question": "What color is the keyboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-62", "question": "What color are the kitchen cabinets on the far wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-63", "question": "Where is the brown trash can located near the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-64", "question": "To what part of the table is the brown chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-65", "question": "In what corner of the room is the oven located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-66", "question": "What color are the kitchen cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-67", "question": "Where is the couch sitting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-68", "question": "What color is the couch in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-69", "question": "What is at a desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-70", "question": "What kind of chair has something black sitting on the seat?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-71", "question": "What color is the desk table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-72", "question": "Where is the dinner table for two located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-73", "question": "What color is the office chair pulled away from the desk toward the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-74", "question": "What free standing large appliance is to the right of the white kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-75", "question": "What is the size of the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-76", "question": "What color is the kitchen cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-77", "question": "What is on the stove's right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-78", "question": "How many legs does the white desk have that is pushed against wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-79", "question": "Where is the microwave located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-80", "question": "What color is the microwave?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-81", "question": "What color is the kitchen cabinet above the oven range?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-82", "question": "What color is the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-83", "question": "What color table are the chairs around?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-84", "question": "The office chair is to the left of what color couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-85", "question": "What is pushed away from the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-86", "question": "How many monitors are on the computer desk in the office room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-87", "question": "What is the top cabinet in a kitchen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-88", "question": "Where are the white kitchen cabinets with four doors located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-89", "question": "Where will the microwave be located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-90", "question": "How many wooden dining chairs are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-91", "question": "What is next to the wooden dining chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-92", "question": "What is under the white desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-93", "question": "How many monitors are on the nightstand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-94", "question": "What does the correct chair have on the ground directly behind it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-95", "question": "Where is the back pack pulled into?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-96", "question": "What is on the table above the back pack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-97", "question": "How many chairs are in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-98", "question": "What color is the desk in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-99", "question": "What is stuck to the outside of the refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-100", "question": "Where are the cabinets located on the same side as the fridge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-101", "question": "Where are the two separated monitors located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-102", "question": "What is on the left side of the desk with monitors separated with each other?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-103", "question": "How many monitors are in front of the black keyboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-104", "question": "Where are the cabinets mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-105", "question": "What color is the desk chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-106", "question": "What color is the refrigerator with many magnets on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-107", "question": "What color is the top of the low wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-108", "question": "How many monitors are on the desk next to the low wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-109", "question": "Where is the tall white kitchen cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-110", "question": "How many computers is on the desk in the living room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-111", "question": "What color is the computer desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-112", "question": "What type of cabinet is above the white refrigerator?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-113", "question": "What is hanging on the backside of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-114", "question": "What is on the left side of the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-115", "question": "How many monitors are on the wooden desk with a white top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-116", "question": "What monitor is on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0785-117", "question": "Where are the two white kitchen cabinets located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.838357, -0.248943, 0.48496, 3.93216], [-0.544876, -0.35593, 0.759226, 5.24001], [-0.0163923, -0.900745, -0.434039, 1.38426], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.841916, -0.238861, 0.483862, 3.85343], [-0.539479, -0.392211, 0.745072, 5.27704], [0.0118077, -0.888322, -0.459069, 1.35198], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.834622, -0.227977, 0.50143, 3.67613], [-0.549567, -0.406089, 0.730115, 5.25977], [0.0371753, -0.88494, -0.46422, 1.30004], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.716998, -0.326541, 0.615861, 3.55985], [-0.694166, -0.415099, 0.588069, 5.21719], [0.0636149, -0.849155, -0.524299, 1.30342], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.759416, -0.286121, 0.584314, 3.69043], [-0.650364, -0.309369, 0.69377, 4.9423], [-0.017734, -0.906877, -0.421023, 1.35761], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.852482, -0.209802, 0.478808, 3.92778], [-0.522636, -0.322436, 0.789231, 4.81836], [-0.0111971, -0.923048, -0.384521, 1.37952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.942104, -0.106519, 0.317953, 4.21961], [-0.335301, -0.288771, 0.896763, 4.67021], [-0.00370636, -0.951454, -0.307768, 1.46332], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.928227, -0.0362831, 0.370241, 4.36928], [-0.370845, -0.169105, 0.913169, 4.48294], [0.0294771, -0.98493, -0.170424, 1.56235], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.863073, 0.0255888, 0.504431, 4.30996], [-0.501465, -0.0758597, 0.861846, 4.47766], [0.0603196, -0.99679, -0.0526406, 1.66264], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.678569, -0.0192843, 0.734284, 4.03671], [-0.734525, -0.0235573, 0.678172, 4.51013], [0.00421956, -0.999536, -0.03015, 1.73411], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.552753, -0.141931, 0.82117, 3.76825], [-0.833333, -0.0888738, 0.54558, 4.48215], [-0.00445402, -0.985879, -0.167401, 1.58822], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.536539, -0.221092, 0.814398, 3.54013], [-0.842091, -0.203002, 0.499673, 4.55394], [0.0548507, -0.953891, -0.295098, 1.46454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.527629, -0.360788, 0.769051, 3.54197], [-0.849025, -0.253416, 0.463612, 4.45089], [0.0276244, -0.897559, -0.440028, 1.38996], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.259482, -0.354308, 0.898407, 3.52078], [-0.965484, -0.116923, 0.232743, 4.53684], [0.0225821, -0.92779, -0.372418, 1.43635], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.0781205, -0.271136, 0.959366, 3.49717], [-0.995992, -0.0632589, 0.0632245, 4.73082], [0.0435459, -0.96046, -0.274992, 1.48771], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.0386992, -0.169483, 0.984773, 3.60846], [-0.999247, 0.00393033, -0.0385917, 4.8978], [0.00267008, -0.985525, -0.169508, 1.55376], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.289933, -0.206314, 0.934545, 3.67664], [-0.956226, 0.102892, -0.273945, 5.19664], [-0.0396383, -0.973061, -0.227114, 1.52255], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.401859, -0.291226, 0.868157, 3.82192], [-0.915375, 0.153085, -0.372363, 5.45784], [-0.02446, -0.944326, -0.3281, 1.45776], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.595029, -0.332784, 0.731571, 3.90655], [-0.802815, 0.288916, -0.521551, 5.73248], [-0.0377986, -0.897654, -0.439078, 1.4224], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.662167, -0.328235, 0.673645, 3.77254], [-0.749174, 0.270117, -0.604794, 5.99498], [0.0165518, -0.905151, -0.424767, 1.4209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.667011, -0.398827, 0.629312, 3.61597], [-0.744754, 0.333193, -0.578207, 6.13046], [0.0209224, -0.854354, -0.519271, 1.37632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.690294, -0.32797, 0.644926, 3.66634], [-0.723521, 0.308801, -0.617381, 6.07368], [0.00332847, -0.892792, -0.450457, 1.4209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.546879, -0.28012, 0.788959, 3.55859], [-0.837211, 0.18184, -0.515764, 5.7531], [0.00101137, -0.942586, -0.333964, 1.46718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.454828, -0.275839, 0.846785, 3.65886], [-0.889026, 0.196766, -0.41342, 5.49079], [-0.0525808, -0.940849, -0.334723, 1.43192], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.324706, -0.372629, 0.869318, 3.7909], [-0.94581, 0.130909, -0.297164, 5.24495], [-0.00306958, -0.9187, -0.394943, 1.42168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.208935, -0.430705, 0.877975, 3.76493], [-0.974339, 0.0148204, -0.224597, 5.05908], [0.0837232, -0.902371, -0.42275, 1.36808], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.222896, -0.371686, 0.901203, 3.68783], [-0.974748, 0.0978198, -0.200742, 4.86843], [-0.0135426, -0.923191, -0.384104, 1.39029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.192005, -0.433399, 0.880511, 3.55886], [-0.980452, 0.124004, -0.152763, 4.67633], [-0.0429797, -0.89263, -0.448736, 1.37672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.0933994, -0.468321, 0.878608, 3.47873], [-0.995085, 0.0730649, -0.066836, 4.50734], [-0.0328946, -0.880532, -0.472844, 1.36218], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.0458289, -0.391757, 0.918927, 3.44943], [-0.998827, -0.00357702, 0.0482886, 4.12976], [-0.0156304, -0.920062, -0.391462, 1.40924], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.259219, -0.337646, 0.904876, 3.44172], [-0.965782, -0.0987326, 0.239826, 3.7922], [0.00836435, -0.936081, -0.351686, 1.4442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.281683, -0.146234, 0.948299, 3.38098], [-0.959226, -0.0668437, 0.274621, 3.50242], [0.0232289, -0.986989, -0.1591, 1.58187], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.0403503, -0.119461, 0.992019, 3.32539], [-0.998808, -0.0321203, 0.0367583, 3.57139], [0.0274727, -0.992319, -0.120614, 1.60891], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.123732, -0.265304, 0.956193, 3.26323], [-0.991388, -0.00860372, -0.130673, 3.67023], [0.042895, -0.964126, -0.261955, 1.49202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.208279, -0.19698, 0.958029, 3.21416], [-0.977083, -0.00206782, -0.212846, 3.84742], [0.0439077, -0.980405, -0.192036, 1.54532], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.277809, -0.0769086, 0.957553, 3.28561], [-0.960623, 0.0274599, -0.276494, 4.02173], [-0.00502956, -0.99666, -0.0815088, 1.59776], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.42926, -0.143302, 0.89174, 3.49257], [-0.901244, 0.13259, -0.412528, 4.10234], [-0.0591197, -0.980757, -0.186066, 1.50873], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.578418, -0.334544, 0.743985, 3.72424], [-0.815601, 0.22033, -0.535023, 4.29785], [0.0150667, -0.916262, -0.400297, 1.39029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.747294, -0.337175, 0.572594, 3.94025], [-0.661321, 0.293281, -0.690392, 4.41974], [0.064852, -0.894595, -0.442148, 1.37477], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.884368, -0.185082, 0.428531, 4.16682], [-0.466743, 0.363871, -0.80607, 4.4627], [-0.00674051, -0.912876, -0.408181, 1.39917], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.955418, -0.129981, 0.265107, 4.24026], [-0.295045, 0.454294, -0.840574, 4.62265], [-0.0111782, -0.881318, -0.472391, 1.37967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.981143, -0.0484464, 0.187116, 3.96788], [-0.183606, 0.536122, -0.823931, 4.75832], [-0.0604002, -0.842749, -0.534907, 1.3554], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.997419, 0.0628453, 0.034737, 3.88089], [-0.00274736, 0.450002, -0.893023, 4.85262], [-0.071754, -0.890814, -0.448668, 1.45616], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.996778, 0.058506, -0.0548709, 3.80549], [0.0744922, 0.421548, -0.903741, 4.90996], [-0.0297436, -0.904917, -0.424548, 1.45636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.983064, 0.0350759, 0.179873, 3.54379], [-0.146254, 0.441274, -0.885374, 4.75529], [-0.110428, -0.896687, -0.428671, 1.40234], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.932237, -0.125065, 0.339549, 3.40652], [-0.355683, 0.489208, -0.796345, 4.39799], [-0.0665148, -0.863154, -0.500541, 1.36886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.909432, -0.214927, 0.356005, 3.19704], [-0.415741, 0.450103, -0.790295, 4.13983], [0.00961685, -0.866726, -0.498692, 1.37497], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.99791, -0.0645537, 0.00303975, 3.37564], [-0.0372953, 0.536847, -0.842855, 4.22652], [0.0527776, -0.841206, -0.538133, 1.35383], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.965006, 0.094969, -0.244429, 3.65002], [0.258755, 0.496099, -0.828814, 4.43639], [0.0425493, -0.863057, -0.503312, 1.40003], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.876977, 0.167608, -0.450355, 3.9183], [0.479007, 0.37953, -0.791523, 4.4223], [0.0382574, -0.909871, -0.413125, 1.47412], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.747736, 0.227321, -0.623872, 4.01301], [0.663135, 0.303503, -0.684206, 4.24879], [0.033813, -0.925317, -0.377685, 1.50837], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.598247, 0.152205, -0.786724, 4.02071], [0.798285, 0.198461, -0.568643, 4.04227], [0.0695837, -0.968219, -0.240231, 1.54846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.354875, 0.132947, -0.925413, 4.12407], [0.934893, 0.05709, -0.350308, 3.9702], [0.00625947, -0.989478, -0.144551, 1.70103], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.303437, 0.0813047, -0.949377, 4.16397], [0.952851, 0.0249085, -0.302414, 4.06133], [-0.00094007, -0.996378, -0.0850294, 1.77711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.0876533, 0.267752, -0.959493, 4.13847], [0.993468, -0.0471487, -0.103914, 3.98329], [-0.0730619, -0.962334, -0.26187, 1.57512], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.054426, 0.447858, -0.892447, 4.09832], [0.997083, -0.0722724, 0.0245388, 3.82688], [-0.0535094, -0.891179, -0.450485, 1.40768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.208912, 0.482343, -0.850707, 4.05043], [0.977474, -0.129687, 0.166511, 3.78307], [-0.0300101, -0.86633, -0.49857, 1.37989], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.363754, 0.419711, -0.831581, 3.92976], [0.930781, -0.198728, 0.306846, 3.90165], [-0.0364715, -0.885635, -0.462947, 1.4023], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.510987, 0.434484, -0.741698, 3.9098], [0.859587, -0.256696, 0.441835, 3.80426], [0.00157931, -0.863326, -0.504645, 1.37859], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.554426, 0.396907, -0.73149, 3.85207], [0.830449, -0.206328, 0.517478, 3.60309], [0.0544644, -0.894368, -0.444004, 1.35532], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.560573, 0.409269, -0.719901, 3.59135], [0.826222, -0.217833, 0.519524, 3.54589], [0.0558066, -0.886029, -0.460259, 1.3251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.781754, 0.313084, -0.539296, 3.35659], [0.622333, -0.336892, 0.706544, 3.34366], [0.0395233, -0.887965, -0.458209, 1.30426], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.856917, 0.296187, -0.42186, 3.19702], [0.508823, -0.355216, 0.784168, 3.09613], [0.082409, -0.88662, -0.455098, 1.27287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.867712, 0.306428, -0.39138, 3.06498], [0.482325, -0.328707, 0.811982, 2.99022], [0.120165, -0.893338, -0.433021, 1.10581], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.852416, 0.292056, -0.433695, 3.18089], [0.522352, -0.438946, 0.731077, 3.11977], [0.023147, -0.849723, -0.526721, 1.26289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.804769, 0.297883, -0.513433, 3.39677], [0.592954, -0.443403, 0.67216, 3.3673], [-0.0274326, -0.845376, -0.533467, 1.3252], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.760121, 0.327991, -0.560926, 3.47595], [0.648791, -0.430728, 0.62733, 3.65114], [-0.0358481, -0.840771, -0.540204, 1.34695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.59199, 0.423628, -0.685629, 3.6863], [0.80544, -0.341098, 0.484684, 3.89575], [-0.0285408, -0.839161, -0.543133, 1.35694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.497706, 0.429321, -0.753639, 3.96882], [0.865323, -0.305087, 0.397666, 4.11358], [-0.0591992, -0.850062, -0.523345, 1.40923], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.620996, 0.360846, -0.695812, 3.98253], [0.783484, -0.311494, 0.537702, 4.25255], [-0.0227138, -0.879069, -0.476153, 1.44455], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.62606, 0.311356, -0.714917, 3.8217], [0.779766, -0.245588, 0.575892, 4.29613], [0.00373238, -0.918011, -0.396538, 1.46768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.668884, 0.377097, -0.640619, 3.65153], [0.740835, -0.267082, 0.616304, 4.3257], [0.0613085, -0.886829, -0.458013, 1.4508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.831453, 0.313043, -0.459009, 3.36522], [0.549434, -0.340586, 0.76297, 4.16862], [0.0825101, -0.886569, -0.455178, 1.45024], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.814125, 0.363821, -0.452588, 3.32314], [0.577067, -0.419963, 0.700446, 4.09892], [0.0647664, -0.831424, -0.551851, 1.37319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.762192, 0.382164, -0.522508, 3.66343], [0.646124, -0.399425, 0.650372, 4.16708], [0.0398459, -0.833313, -0.551364, 1.37589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.572285, 0.320582, -0.754796, 3.82264], [0.818541, -0.279215, 0.502026, 4.34549], [-0.0498095, -0.905133, -0.4222, 1.38287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.456872, 0.253518, -0.852641, 3.84762], [0.88499, -0.226286, 0.406923, 4.66336], [-0.089779, -0.940491, -0.327744, 1.41437], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.466584, 0.347582, -0.813318, 3.88658], [0.876086, -0.30798, 0.370974, 4.99464], [-0.121542, -0.885627, -0.44821, 1.37172], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.349232, 0.357279, -0.86625, 3.83661], [0.935706, -0.182204, 0.302085, 5.13556], [-0.049905, -0.916053, -0.39794, 1.38592], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.149571, 0.39638, -0.905821, 3.9256], [0.988341, -0.0863039, 0.125432, 5.32119], [-0.0284573, -0.914021, -0.404667, 1.38867], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.18842, 0.417353, -0.888996, 4.05889], [0.981949, -0.0648078, 0.177696, 5.47084], [0.0165483, -0.90643, -0.422031, 1.38599], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.2103, 0.45615, -0.864697, 4.09655], [0.977636, -0.0992508, 0.18541, 5.38979], [-0.00124699, -0.884351, -0.466821, 1.35236], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.336141, 0.40222, -0.851604, 4.06321], [0.941213, -0.11124, 0.318972, 5.24538], [0.0335639, -0.90876, -0.415967, 1.38875], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.286453, 0.457717, -0.841689, 4.04633], [0.958086, -0.1332, 0.253631, 5.22087], [0.00397834, -0.879064, -0.476688, 1.34783], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.152511, 0.470838, -0.868937, 4.13891], [0.985686, -0.136391, 0.0990982, 5.4479], [-0.0718557, -0.871613, -0.484899, 1.32846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.0725079, 0.487422, -0.870151, 4.1379], [0.995521, -0.0884376, 0.0334159, 5.6334], [-0.0606664, -0.868676, -0.491652, 1.33456], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.25193, 0.479686, -0.840496, 4.11734], [0.966715, -0.164818, 0.195698, 5.41711], [-0.044655, -0.861822, -0.505241, 1.3503], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.406099, 0.499293, -0.76537, 4.00571], [0.913606, -0.240357, 0.327953, 5.29902], [-0.0202175, -0.832428, -0.553765, 1.32902], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.638667, 0.42664, -0.640377, 3.83442], [0.768834, -0.31963, 0.553834, 5.22025], [0.0316036, -0.846059, -0.532152, 1.35899], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.816973, 0.228912, -0.529297, 3.80939], [0.576589, -0.30825, 0.756655, 5.0505], [0.0100517, -0.923354, -0.383819, 1.4584], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.785421, 0.161913, -0.597409, 3.84552], [0.618317, -0.161211, 0.769217, 5.01971], [0.0282378, -0.973548, -0.226732, 1.52097], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.836138, 0.219386, -0.502736, 3.88611], [0.547437, -0.391295, 0.73973, 5.12001], [-0.0344311, -0.893733, -0.447276, 1.42577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.915526, 0.211718, -0.342036, 3.84946], [0.402173, -0.499416, 0.767359, 5.15663], [-0.00835469, -0.840095, -0.542376, 1.37019], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.996822, 0.048711, -0.0630406, 3.70598], [0.0790792, -0.509036, 0.857105, 5.02498], [0.00966051, -0.859366, -0.51127, 1.35136], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.992768, -0.0431025, 0.112044, 3.64512], [-0.118662, -0.49378, 0.861452, 4.8682], [0.0181943, -0.868518, -0.495324, 1.31626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.910415, -0.198792, 0.362803, 3.56623], [-0.413672, -0.427949, 0.803576, 4.85437], [-0.00448331, -0.881669, -0.471846, 1.34923], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.819226, -0.236215, 0.522563, 3.51317], [-0.573273, -0.361287, 0.735411, 4.96985], [0.0150802, -0.902039, -0.431391, 1.39133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.807769, -0.19196, 0.55737, 3.65026], [-0.58949, -0.257514, 0.765629, 5.09078], [-0.00343998, -0.947015, -0.32117, 1.45805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.751947, -0.126224, 0.647026, 3.73042], [-0.659219, -0.14043, 0.738721, 5.1844], [-0.00238229, -0.982012, -0.188805, 1.55155], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.773508, -0.089672, 0.627411, 3.80945], [-0.633527, -0.137737, 0.761362, 5.06657], [0.0181449, -0.986401, -0.16335, 1.57181], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.79981, -0.0513964, 0.598049, 3.74968], [-0.600017, -0.0964346, 0.794153, 4.79246], [0.016856, -0.994012, -0.107968, 1.59138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.870634, -0.014893, 0.491707, 3.60568], [-0.489975, -0.115318, 0.864075, 4.58443], [0.0438339, -0.993217, -0.107697, 1.58595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.965729, 0.00389166, 0.259524, 3.57164], [-0.25776, -0.102941, 0.96071, 4.37222], [0.0304543, -0.99468, -0.0984097, 1.5379], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.994775, -0.00655602, 0.101885, 3.5486], [-0.101594, -0.162405, 0.98148, 4.33784], [0.0101121, -0.986702, -0.162223, 1.52371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.999458, 0.0269052, 0.0189753, 3.52598], [-0.0100055, -0.300876, 0.953611, 4.53134], [0.0313663, -0.953284, -0.300444, 1.46956], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.952905, 0.137515, -0.270301, 3.71813], [0.297729, -0.254576, 0.920081, 4.62453], [0.0577131, -0.957226, -0.283529, 1.49921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.885041, 0.117264, -0.450503, 3.9149], [0.46549, -0.232886, 0.853864, 4.45736], [-0.00478822, -0.965408, -0.260699, 1.50514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.800544, 0.193496, -0.567177, 4.02869], [0.599214, -0.271897, 0.753004, 4.32733], [-0.00851035, -0.942673, -0.333611, 1.51048], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[0.62755, 0.287821, -0.723423, 4.10487], [0.778409, -0.251159, 0.575324, 4.31532], [-0.0161039, -0.924164, -0.381657, 1.49789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[0.554718, 0.346192, -0.756598, 4.00381], [0.832035, -0.233446, 0.50321, 4.28837], [-0.00241774, -0.908655, -0.41754, 1.42168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[0.431017, 0.41455, -0.801482, 3.8672], [0.902162, -0.180164, 0.391975, 4.262], [0.0180948, -0.892014, -0.451645, 1.40672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.169017, 0.514966, -0.840383, 4.0432], [0.985342, -0.0682781, 0.156332, 4.16205], [0.0231259, -0.854487, -0.518958, 1.35302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.122908, 0.553765, -0.823552, 4.1685], [0.992417, 0.0672517, -0.102888, 4.0487], [-0.00159067, -0.829953, -0.557832, 1.35381], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.162454, 0.478157, -0.863119, 4.08037], [0.986716, 0.078889, -0.142014, 3.90137], [0.000185668, -0.874724, -0.484621, 1.40447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.0766043, 0.404034, -0.911531, 3.90686], [0.997047, 0.0360375, -0.0678173, 3.64545], [0.00544879, -0.914034, -0.405602, 1.47222], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.0107689, 0.292951, -0.956067, 3.63429], [0.999936, 0.00640464, -0.00930044, 3.52474], [0.00339872, -0.956106, -0.293001, 1.53039], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.169373, 0.231978, -0.957862, 3.35208], [0.98521, -0.0654475, 0.158359, 3.31488], [-0.0259539, -0.970517, -0.239632, 1.53975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[0.315078, 0.167618, -0.934147, 3.13889], [0.949019, -0.0459101, 0.311857, 3.1949], [0.00938609, -0.984783, -0.173538, 1.63332], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[0.294245, 0.022974, -0.955454, 3.1449], [0.95563, 0.00740874, 0.294477, 3.21387], [0.0138441, -0.999709, -0.0197747, 1.7158], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[0.152889, 0.0577278, -0.986556, 3.18663], [0.98821, -0.000754863, 0.153101, 3.26078], [0.00809345, -0.998332, -0.0571626, 1.68658], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.118409, 0.117368, -0.986004, 3.33606], [0.992926, 0.00518793, -0.118622, 3.58575], [-0.00880718, -0.993075, -0.117152, 1.62886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.339026, 0.266771, -0.902161, 3.27746], [0.936218, 0.189966, -0.29565, 3.84556], [0.0925097, -0.944852, -0.314159, 1.52595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.642946, 0.275089, -0.714806, 3.33643], [0.76444, 0.288307, -0.576637, 4.20366], [0.0474572, -0.917172, -0.395655, 1.47538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.789313, 0.263648, -0.554505, 3.52242], [0.613975, 0.332234, -0.716, 4.38932], [-0.00454671, -0.9056, -0.424109, 1.42428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.930137, 0.17786, -0.321266, 3.66321], [0.366866, 0.412018, -0.834057, 4.49845], [-0.0159775, -0.893648, -0.448484, 1.4144], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.993953, 0.0643711, -0.08896, 3.5293], [0.107801, 0.417897, -0.902076, 4.48718], [-0.0208915, -0.906211, -0.422309, 1.43229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[-0.999832, -0.01168, 0.0141338, 3.59506], [-0.017839, 0.441538, -0.897065, 4.40403], [0.00423716, -0.897166, -0.441673, 1.40636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.940633, -0.151007, 0.303985, 3.85654], [-0.339191, 0.384876, -0.858382, 4.25111], [0.0126248, -0.910531, -0.413247, 1.41115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[-0.864485, -0.176551, 0.470633, 3.91835], [-0.502647, 0.309887, -0.807041, 4.01136], [-0.00335929, -0.934238, -0.356635, 1.43319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[-0.835442, -0.162023, 0.525153, 4.0556], [-0.549402, 0.221957, -0.805539, 3.74854], [0.0139541, -0.961501, -0.274448, 1.49391], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[-0.856767, -0.155835, 0.491595, 4.03271], [-0.514255, 0.18678, -0.837051, 3.45412], [0.0386218, -0.969963, -0.240166, 1.51647], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.858962, -0.122833, 0.497088, 4.02604], [-0.511892, 0.182736, -0.839389, 3.24426], [0.0122688, -0.975459, -0.21984, 1.56386], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.908319, -0.0750434, 0.411491, 4.11483], [-0.417909, 0.121553, -0.90032, 3.14357], [0.0175453, -0.989744, -0.14177, 1.62276], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.920141, -0.0448607, 0.38901, 4.10275], [-0.391396, 0.0742652, -0.917221, 3.13603], [0.0122573, -0.996229, -0.0858927, 1.66403], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[-0.940495, -0.10011, 0.324727, 4.01577], [-0.339506, 0.236537, -0.910377, 3.28008], [0.014328, -0.966452, -0.25645, 1.56032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[-0.975193, -0.0856719, 0.204104, 3.85452], [-0.21964, 0.259941, -0.940313, 3.66354], [0.0275034, -0.961816, -0.27231, 1.5131], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[-0.993739, -0.0475577, 0.101097, 3.7782], [-0.111435, 0.356815, -0.927505, 4.07562], [0.00803708, -0.932964, -0.35988, 1.45822], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[-0.998992, 0.041479, -0.0171474, 3.57501], [0.0330811, 0.422242, -0.905879, 4.39043], [-0.0303346, -0.905534, -0.423188, 1.44724], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[-0.96662, 0.103223, -0.2345, 3.50717], [0.255943, 0.346984, -0.902272, 4.39075], [-0.0117672, -0.932173, -0.361821, 1.48108], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[-0.895599, 0.163853, -0.413589, 3.46775], [0.443812, 0.265193, -0.855981, 4.09503], [-0.0305743, -0.950171, -0.310227, 1.50477], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[-0.899379, 0.147447, -0.411555, 3.2768], [0.43493, 0.206605, -0.876442, 3.77455], [-0.044199, -0.967251, -0.249945, 1.50694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[-0.948887, 0.118264, -0.292622, 3.142], [0.313485, 0.245573, -0.91729, 3.45674], [-0.0366226, -0.962137, -0.270095, 1.47696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.986363, 0.0844798, -0.141253, 2.97169], [0.162572, 0.366165, -0.916239, 3.26822], [-0.0256817, -0.926707, -0.374906, 1.46118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.999884, 0.00256503, 0.0150242, 2.79528], [-0.0119605, 0.478939, -0.877767, 3.13301], [-0.00944713, -0.877845, -0.478853, 1.40889], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.999519, 0.0309459, -0.00225696, 2.73255], [0.0134529, 0.366666, -0.930255, 2.9134], [-0.0279601, -0.929838, -0.366906, 1.477], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.998441, 0.043896, 0.0344965, 2.61905], [-0.0148431, 0.386939, -0.921986, 2.66093], [-0.0538195, -0.92106, -0.385684, 1.48992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.998867, 0.023701, -0.0412769, 2.7229], [0.0475662, 0.465572, -0.883731, 2.32265], [-0.00172794, -0.884693, -0.466171, 1.42742], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.993269, -0.053846, 0.10256, 2.68166], [-0.115802, 0.482916, -0.867976, 2.17763], [-0.00279056, -0.87401, -0.485901, 1.43456], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[-0.989478, -0.0709685, 0.126085, 2.65785], [-0.144565, 0.44935, -0.881581, 2.07384], [0.00590807, -0.890532, -0.454882, 1.42547], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[-0.981916, -0.0707049, 0.175618, 2.70457], [-0.189154, 0.32798, -0.925553, 1.91963], [0.00784197, -0.942035, -0.335424, 1.48444], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[-0.910485, -0.136263, 0.390449, 2.75974], [-0.412127, 0.377033, -0.829456, 1.8019], [-0.034188, -0.916121, -0.39944, 1.42138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[-0.767326, -0.299203, 0.567176, 2.76033], [-0.639805, 0.416694, -0.645767, 1.66325], [-0.0431235, -0.858396, -0.511172, 1.34166], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[-0.672207, -0.34644, 0.654307, 2.83876], [-0.740121, 0.337079, -0.581892, 1.60889], [-0.0189629, -0.875418, -0.482994, 1.33601], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[-0.56917, -0.374236, 0.732115, 3.01207], [-0.821352, 0.217896, -0.527164, 1.49862], [0.0377587, -0.901371, -0.4314, 1.36638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[-0.471815, -0.282522, 0.835208, 3.11773], [-0.881418, 0.127305, -0.454857, 1.3395], [0.0221806, -0.950776, -0.309085, 1.44434], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[-0.4844, -0.237628, 0.841956, 3.26548], [-0.87339, 0.0758466, -0.481079, 1.30843], [0.0504582, -0.968391, -0.244282, 1.4703], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[-0.52777, -0.15355, 0.835393, 3.45702], [-0.849037, 0.0671221, -0.524052, 1.36864], [0.024395, -0.985859, -0.165795, 1.5275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[-0.494032, -0.0234442, 0.869128, 3.36096], [-0.869213, -0.00971067, -0.494342, 1.35594], [0.0200293, -0.999678, -0.0155806, 1.68159], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[-0.400754, -0.0449446, 0.915083, 3.12373], [-0.916031, 0.00131753, -0.401105, 1.2972], [0.016822, -0.998989, -0.0416987, 1.65097], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[-0.276243, -0.281706, 0.918875, 3.01939], [-0.958448, 0.0099389, -0.285093, 1.35337], [0.0711798, -0.959449, -0.272746, 1.48589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[-0.11809, -0.370577, 0.921264, 2.94196], [-0.991642, -0.00454721, -0.12894, 1.31667], [0.0519714, -0.928791, -0.366943, 1.43001], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[0.151403, -0.318227, 0.935847, 2.90946], [-0.987701, -0.0861041, 0.130512, 1.17387], [0.0390476, -0.944096, -0.32735, 1.44879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[0.212265, -0.275246, 0.937648, 3.06292], [-0.977196, -0.0543789, 0.205255, 1.16618], [-0.00550747, -0.959835, -0.280512, 1.47902], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[0.266079, -0.262305, 0.927576, 3.27842], [-0.96394, -0.0677105, 0.257363, 1.17251], [-0.00470099, -0.962607, -0.270863, 1.46771], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[0.37208, -0.245905, 0.895035, 3.54689], [-0.927856, -0.124809, 0.351433, 1.23003], [0.0252895, -0.961225, -0.274604, 1.47865], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[0.522664, -0.189907, 0.831119, 3.76593], [-0.85228, -0.140403, 0.50389, 1.31807], [0.020999, -0.971711, -0.235238, 1.49917], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[0.638178, -0.0896286, 0.764654, 3.90823], [-0.769671, -0.0979213, 0.630887, 1.2702], [0.0183304, -0.99115, -0.131476, 1.57633], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[0.645379, -0.0440875, 0.76259, 3.86118], [-0.763754, -0.0540712, 0.643238, 1.3231], [0.0128753, -0.997563, -0.0685684, 1.60285], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[0.522265, -0.230248, 0.821112, 3.75311], [-0.851557, -0.192423, 0.487672, 1.315], [0.0457154, -0.953918, -0.296565, 1.46467], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[0.514821, -0.349469, 0.782835, 3.55703], [-0.857259, -0.218504, 0.466222, 1.19853], [0.00812231, -0.911113, -0.412076, 1.38927], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[0.379697, -0.390914, 0.838461, 3.24739], [-0.924681, -0.132747, 0.356852, 1.17228], [-0.0281956, -0.910804, -0.411875, 1.37883], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[0.425419, -0.382624, 0.820133, 3.00673], [-0.904506, -0.149927, 0.399238, 1.09126], [-0.0297985, -0.911658, -0.409867, 1.37606], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[0.630263, -0.375878, 0.679326, 2.79605], [-0.776261, -0.289671, 0.559918, 0.97941], [-0.0136797, -0.880231, -0.474349, 1.34976], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3460", "pose": [[0.729686, -0.335879, 0.595603, 2.60539], [-0.683779, -0.36111, 0.634071, 0.842884], [0.00210664, -0.869934, -0.493164, 1.35461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3480", "pose": [[0.82223, -0.179714, 0.540038, 2.57855], [-0.569072, -0.24336, 0.785451, 0.701663], [-0.00973308, -0.953142, -0.302368, 1.44031], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3500", "pose": [[0.870833, -0.102069, 0.480866, 2.58607], [-0.491551, -0.170359, 0.854023, 0.621687], [-0.00524998, -0.980081, -0.198526, 1.49263], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3520", "pose": [[0.869719, -0.00815903, 0.49348, 2.58295], [-0.493172, -0.0533955, 0.868292, 0.60628], [0.0192652, -0.99854, -0.0504629, 1.59066], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3540", "pose": [[0.883186, 0.0775801, 0.462563, 2.54962], [-0.467496, 0.0660734, 0.881522, 0.60952], [0.0378255, -0.994794, 0.0946235, 1.67577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3560", "pose": [[0.928949, 0.00348751, 0.370191, 2.52788], [-0.370146, -0.00939706, 0.928926, 0.632378], [0.00671836, -0.99995, -0.00743851, 1.55842], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3580", "pose": [[0.929863, -0.0673512, 0.361687, 2.51343], [-0.365447, -0.282533, 0.886918, 0.698471], [0.0424537, -0.95689, -0.28733, 1.39823], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3600", "pose": [[0.964789, -0.0924432, 0.246245, 2.4363], [-0.261777, -0.428551, 0.864764, 0.773192], [0.0255869, -0.898776, -0.437661, 1.29938], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3620", "pose": [[0.985696, -0.0386005, 0.164054, 2.37882], [-0.163706, -0.450618, 0.877578, 0.83752], [0.0400506, -0.891882, -0.450492, 1.30894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3640", "pose": [[0.965496, -0.0832534, 0.246751, 2.40494], [-0.258663, -0.416397, 0.871612, 0.949897], [0.0301819, -0.905363, -0.423564, 1.34507], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3660", "pose": [[0.945049, -0.0300289, 0.325547, 2.45253], [-0.315827, -0.341149, 0.885365, 1.07802], [0.0844734, -0.93953, -0.331886, 1.40726], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3680", "pose": [[0.891148, -0.0243021, 0.453062, 2.41332], [-0.449445, -0.183933, 0.874167, 1.12692], [0.0620892, -0.982638, -0.174834, 1.5816], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3700", "pose": [[0.910932, 0.0367421, 0.410918, 2.40221], [-0.40786, -0.0696753, 0.910382, 1.18699], [0.0620802, -0.996893, -0.0484838, 1.63688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3720", "pose": [[0.956558, -0.00578034, 0.291485, 2.47718], [-0.286459, -0.20452, 0.936009, 1.35553], [0.054204, -0.978845, -0.197291, 1.54515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3740", "pose": [[0.985365, -0.0165832, 0.16965, 2.48249], [-0.165471, -0.332055, 0.928633, 1.55196], [0.0409334, -0.943114, -0.329939, 1.4773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3760", "pose": [[0.999444, -0.019788, 0.0268469, 2.51745], [-0.0324793, -0.394568, 0.918292, 1.75387], [-0.00757824, -0.918654, -0.394991, 1.45996], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3780", "pose": [[0.989115, 0.0319869, -0.143623, 2.64567], [0.143007, -0.438754, 0.887155, 2.0347], [-0.0346378, -0.898038, -0.438552, 1.43795], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3800", "pose": [[0.996069, 0.0177834, -0.0867809, 2.6457], [0.0850229, -0.466898, 0.880214, 2.3181], [-0.0248647, -0.884132, -0.466575, 1.39754], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3820", "pose": [[0.98434, -0.070639, 0.161511, 2.64763], [-0.174148, -0.53183, 0.828751, 2.61141], [0.0273543, -0.8439, -0.535803, 1.41667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3840", "pose": [[0.926431, -0.243389, 0.287208, 2.66903], [-0.376234, -0.571767, 0.729061, 2.83036], [-0.0132294, -0.783482, -0.621274, 1.37049], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3860", "pose": [[0.819643, -0.408576, 0.40156, 2.64169], [-0.572477, -0.558051, 0.600707, 2.99171], [-0.0213435, -0.72225, -0.691303, 1.34785], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3880", "pose": [[0.726746, -0.429285, 0.536241, 2.68665], [-0.686696, -0.434726, 0.582634, 3.01767], [-0.0169981, -0.791661, -0.610724, 1.40812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3900", "pose": [[0.483282, -0.482826, 0.730286, 2.78787], [-0.875406, -0.256855, 0.4095, 2.9768], [-0.0101396, -0.8372, -0.546802, 1.41314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3920", "pose": [[-0.00665796, -0.481292, 0.876535, 2.98313], [-0.999463, 0.031326, 0.00960869, 3.13352], [-0.032083, -0.876, -0.481242, 1.39337], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3940", "pose": [[-0.370701, -0.475292, 0.797921, 3.04713], [-0.928678, 0.17884, -0.324921, 3.43921], [0.011732, -0.861461, -0.507689, 1.39738], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3960", "pose": [[-0.423595, -0.444389, 0.789358, 3.12309], [-0.902575, 0.133, -0.409475, 3.68966], [0.0769818, -0.885906, -0.457432, 1.39217], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0785_00"}, {"annotation": [{"question_id": "test-scene0786-0", "question": "What is the color of the seat?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-1", "question": "What color couch is to the right of the seat?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-2", "question": "What is on top of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-3", "question": "On what side of the room is the couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-4", "question": "What color is the bench?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-5", "question": "What is on the wall to the left of the couch ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-6", "question": "What is next to the table ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-7", "question": "What letter does the couch look like?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-8", "question": "What is on the floor below the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-9", "question": "What is on the left of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-10", "question": "What kind of table is behind the couch on the left side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-11", "question": "Where is a standard table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-12", "question": "What is under the light colored longer table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-13", "question": "What is the shape of the red luxury couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-14", "question": "What is a table between two couches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-15", "question": "Where is an end table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-16", "question": "What is in the middle of the living room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-17", "question": "What color is the seat on the top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-18", "question": "What is the decoration on the sides?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-19", "question": "Where is it positioned?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-20", "question": "How many benches are near the white table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-21", "question": "What is the shape of the coffee table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-22", "question": "What is the coffee table next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-23", "question": "What color is the table above the bench?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-24", "question": "Where are the bench and the table above it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-25", "question": "What is on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-26", "question": "What is on the wall next to the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-27", "question": "The couch is long and patterned with what colors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-28", "question": "Where is the bench opposite the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-29", "question": "What color is the bench behind the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-30", "question": "What is on the opposite side of the bench attached to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-31", "question": "What shape is the seat?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-32", "question": "What color is ther frame of the TV set?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-33", "question": "The seat is pressed against the wall across from what painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-34", "question": "Where is the long couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-35", "question": "What color is the bench that has a paper on top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-36", "question": "Where is the long red and patterned couch located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-37", "question": "How many benches are under the rectangular table behind the seating?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-38", "question": "Which part of the wall is closest to the red benches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-39", "question": "What color is the bench that sits under the rectangular table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-40", "question": "How many red couches are in front of the big couches closest to wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-41", "question": "What color couches are in front of the big couches closest to wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-42", "question": "Where are the two, two seater red couches located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-43", "question": "What shape is the seat in front of the big couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-44", "question": "What shape is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-45", "question": "What shape is the tall wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-46", "question": "How many benches are under the tall wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-47", "question": "What shape is the black seat?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-48", "question": "Where can you find the black seat?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-49", "question": "What color couch is facing the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-50", "question": "How many cushions is the red and patterned couch made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-51", "question": "What kind of patterns are on the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0786-52", "question": "What does the couch have over it hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.24435, -0.36836, 0.896997, 1.15732], [-0.96963, -0.0827631, 0.230148, 3.73391], [-0.0105393, -0.925992, -0.377396, 1.44878], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.24349, -0.400338, 0.883426, 1.14276], [-0.969762, -0.0849453, 0.228791, 3.73675], [-0.016551, -0.912422, -0.408916, 1.38328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.361426, -0.483263, 0.797388, 1.09717], [-0.932237, -0.203336, 0.299314, 3.7997], [0.0174901, -0.851535, -0.524006, 1.32597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.474312, -0.348187, 0.808575, 1.04453], [-0.880151, -0.207433, 0.426974, 3.98644], [0.0190581, -0.914187, -0.404845, 1.39417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.42285, -0.187699, 0.886548, 1.03903], [-0.90617, -0.0797001, 0.415335, 4.05517], [-0.00729991, -0.978988, -0.203788, 1.53349], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.480311, -0.060225, 0.875028, 1.05168], [-0.877098, -0.0316525, 0.479268, 4.10332], [-0.00116707, -0.997683, -0.0680262, 1.64423], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.60553, -0.144423, 0.782608, 1.00217], [-0.795822, -0.108838, 0.595669, 4.38807], [-0.00085102, -0.983512, -0.18084, 1.52078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.588795, -0.0991471, 0.802179, 0.920663], [-0.80744, -0.117461, 0.578139, 4.54428], [0.0369037, -0.988116, -0.149216, 1.51959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.583946, 0.0358635, 0.811, 0.96685], [-0.811441, -0.0036418, 0.584424, 4.53008], [0.023913, -0.99935, 0.0269744, 1.61486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.58647, 0.0625621, 0.807551, 1.01374], [-0.809648, 0.0171246, 0.586666, 4.54731], [0.0228742, -0.997894, 0.0606964, 1.70895], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.634252, -0.0969988, 0.767017, 0.989876], [-0.77238, -0.123066, 0.623124, 4.76732], [0.0339515, -0.987647, -0.152975, 1.48206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.546697, -0.303449, 0.780411, 0.948086], [-0.837317, -0.192953, 0.511536, 4.98303], [-0.00464217, -0.933106, -0.35957, 1.37571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.665686, -0.292682, 0.68644, 0.944791], [-0.746228, -0.264184, 0.611025, 5.20106], [0.00251, -0.918991, -0.394271, 1.32446], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.673363, -0.283771, 0.682684, 0.966678], [-0.739244, -0.245886, 0.626943, 5.44289], [-0.0100456, -0.92683, -0.375346, 1.31971], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.740867, -0.215968, 0.635983, 0.95684], [-0.671651, -0.240035, 0.700905, 5.60701], [0.00128488, -0.946436, -0.322889, 1.35997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.720561, -0.297614, 0.626273, 1.23632], [-0.692777, -0.270967, 0.668309, 5.63103], [-0.0291993, -0.915425, -0.401428, 1.30937], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.817691, -0.301231, 0.490552, 1.4736], [-0.574678, -0.377469, 0.726128, 5.68774], [-0.0335639, -0.875658, -0.481763, 1.29669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.951615, -0.0842065, 0.29553, 1.73392], [-0.30405, -0.397376, 0.865821, 5.58467], [0.044529, -0.913784, -0.403752, 1.34229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.993842, 0.0137671, 0.109952, 1.89727], [-0.098284, -0.348762, 0.932044, 5.28174], [0.0511786, -0.93711, -0.345261, 1.40745], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.985201, 0.0270082, 0.169259, 1.94457], [-0.164464, -0.129122, 0.977895, 4.98136], [0.0482662, -0.991261, -0.122769, 1.52722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.989351, 0.0546348, 0.134903, 2.03436], [-0.136954, 0.0357008, 0.989934, 4.76291], [0.0492688, -0.997868, 0.0428031, 1.63506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.996668, 0.0699853, 0.041885, 2.01786], [-0.0539321, 0.18026, 0.982139, 4.61938], [0.0611853, -0.981126, 0.183433, 1.65258], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.976958, 0.025291, -0.211928, 2.0227], [0.209319, 0.0804534, 0.974532, 4.60235], [0.0416973, -0.996437, 0.0733057, 1.65667], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.969218, 0.0719624, -0.235451, 1.92474], [0.242582, -0.115725, 0.963204, 4.64842], [0.0420669, -0.990671, -0.129619, 1.52423], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.962776, 0.0947078, -0.253164, 1.96677], [0.269972, -0.290821, 0.917899, 4.81055], [0.0133066, -0.952078, -0.305564, 1.44397], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.952886, 0.134203, -0.272027, 1.96642], [0.302818, -0.368758, 0.878817, 4.98922], [0.0176279, -0.919786, -0.392023, 1.39867], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.9107, 0.174017, -0.374624, 1.9199], [0.413065, -0.380512, 0.827398, 5.18631], [0.00143269, -0.908256, -0.418413, 1.37474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.729011, 0.432496, -0.530556, 1.92716], [0.684361, -0.444783, 0.57777, 5.37756], [0.0139009, -0.784293, -0.620235, 1.28621], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.439956, 0.594884, -0.67272, 1.85514], [0.897984, -0.298089, 0.323679, 5.53867], [-0.00797914, -0.746496, -0.665342, 1.25533], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.0933388, 0.63752, -0.764759, 1.88289], [0.994903, -0.0891642, 0.0470988, 5.8309], [-0.0381627, -0.765257, -0.642592, 1.26013], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.032429, 0.668777, -0.742756, 1.86667], [0.998312, -0.014157, -0.0563336, 6.15191], [-0.0481898, -0.743329, -0.667188, 1.25247], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.219262, 0.659, -0.719475, 1.8175], [0.974796, 0.116812, -0.190078, 6.41958], [-0.0412182, -0.743017, -0.668002, 1.27407], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.444513, 0.549662, -0.707305, 1.90583], [0.893955, 0.221925, -0.389353, 6.58308], [-0.0570435, -0.80537, -0.590021, 1.33698], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.550868, 0.446831, -0.704902, 1.95486], [0.833564, 0.252645, -0.491265, 6.61353], [-0.0414222, -0.858203, -0.511636, 1.37301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.616343, 0.32311, -0.718138, 1.97694], [0.78743, 0.242826, -0.566559, 6.56195], [-0.00867863, -0.914678, -0.40409, 1.42675], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.62046, 0.170792, -0.765415, 1.93629], [0.784213, 0.142908, -0.60381, 6.4813], [0.00625825, -0.974888, -0.222606, 1.57293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.619756, 0.0059346, -0.784772, 1.90704], [0.784382, 0.0371313, -0.619167, 6.44748], [0.0254651, -0.999293, -0.0276673, 1.68865], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.628437, -0.105398, -0.770687, 1.88899], [0.777316, -0.0480379, -0.627273, 6.48132], [0.0290911, -0.993269, 0.112116, 1.7858], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.672565, -0.0855072, -0.735081, 1.90874], [0.739151, -0.0290103, -0.672915, 6.44438], [0.0362141, -0.995915, 0.0827141, 1.82308], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.685108, 0.0886873, -0.723023, 1.95681], [0.727433, 0.135514, -0.672664, 6.30841], [0.0383227, -0.986798, -0.157356, 1.55724], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.739432, 0.195204, -0.64431, 2.04968], [0.670918, 0.292938, -0.681217, 6.19342], [0.0557665, -0.935993, -0.347573, 1.40944], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.8711, 0.195766, -0.4504, 2.11411], [0.489596, 0.418021, -0.765215, 6.10651], [0.0384738, -0.887093, -0.459984, 1.36421], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.964939, 0.0833448, -0.248891, 2.10557], [0.255452, 0.516084, -0.817558, 5.94879], [0.0603094, -0.852473, -0.51928, 1.314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.990038, 0.0478056, -0.132439, 2.05935], [0.137721, 0.524511, -0.840191, 5.79142], [0.0292999, -0.85006, -0.52587, 1.32077], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.999923, -0.00462928, -0.011548, 1.9348], [0.00748104, 0.517931, -0.85539, 5.68659], [0.00994083, -0.85541, -0.517856, 1.33062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.993133, -0.0573494, 0.101974, 1.64816], [-0.116871, 0.526177, -0.842306, 5.70032], [-0.00535044, -0.848439, -0.529266, 1.34556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.98843, -0.104174, 0.110246, 1.51869], [-0.1486, 0.519383, -0.841523, 5.52726], [0.0304047, -0.848168, -0.528854, 1.34203], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.957391, -0.131962, 0.256883, 1.33052], [-0.288237, 0.491935, -0.821535, 5.34658], [-0.0179578, -0.860573, -0.50901, 1.36087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.953125, -0.154299, 0.260277, 1.26757], [-0.30255, 0.474763, -0.826476, 5.1185], [0.00395405, -0.866482, -0.499192, 1.36823], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.917569, -0.213551, 0.335354, 1.08206], [-0.397563, 0.48601, -0.778292, 4.98121], [0.00321987, -0.847461, -0.530848, 1.34419], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.822091, -0.26789, 0.502396, 0.867815], [-0.568216, 0.441833, -0.6942, 4.81763], [-0.0360056, -0.856165, -0.515446, 1.36304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.76918, -0.274004, 0.577308, 0.91184], [-0.638958, 0.343534, -0.688271, 4.47054], [-0.00973561, -0.89828, -0.439316, 1.39926], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.49079, -0.340678, 0.801912, 0.894535], [-0.871228, 0.201775, -0.447492, 4.21786], [-0.00935502, -0.918273, -0.395838, 1.43463], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.102252, -0.309928, 0.945246, 0.968885], [-0.994545, 0.0121652, -0.103596, 4.05546], [0.0206081, -0.950682, -0.309481, 1.44582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.259039, -0.291094, 0.920958, 0.996059], [-0.965195, -0.0424444, 0.258066, 3.81049], [-0.0360318, -0.955752, -0.291957, 1.48248], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.476281, -0.121234, 0.870896, 1.02511], [-0.87808, -0.0135625, 0.478322, 3.65382], [-0.0461774, -0.992531, -0.112913, 1.55906], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.476346, -0.117027, 0.871435, 1.1287], [-0.87912, -0.0458086, 0.474395, 3.60653], [-0.0155976, -0.992072, -0.124701, 1.6022], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.576182, -0.22115, 0.786834, 1.03768], [-0.817066, -0.131793, 0.561278, 3.3035], [-0.0204275, -0.966294, -0.256631, 1.50895], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.505658, -0.300261, 0.808797, 0.81838], [-0.86272, -0.181332, 0.472052, 3.13216], [0.00492229, -0.936462, -0.350734, 1.43676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.491324, -0.406977, 0.770046, 0.7555], [-0.870787, -0.211049, 0.444059, 2.86735], [-0.0182047, -0.888722, -0.458084, 1.37641], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.584966, -0.478665, 0.654748, 0.633059], [-0.806779, -0.260601, 0.530277, 2.70205], [-0.083197, -0.838431, -0.53862, 1.34167], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.693744, -0.447649, 0.564208, 0.351649], [-0.719759, -0.402831, 0.565397, 2.71528], [-0.0258192, -0.798335, -0.60166, 1.30204], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.809156, -0.28834, 0.511983, 0.215747], [-0.587548, -0.407962, 0.698824, 2.69997], [0.0073705, -0.866272, -0.499519, 1.36181], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.687037, -0.320344, 0.652197, 0.311081], [-0.726018, -0.339261, 0.598164, 2.58976], [0.0296461, -0.884467, -0.46566, 1.38881], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.315109, -0.359107, 0.878492, 0.473942], [-0.949025, -0.111759, 0.294724, 2.69679], [-0.00765784, -0.926581, -0.376018, 1.44213], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.150948, -0.365428, 0.918519, 0.585226], [-0.988525, -0.0504103, 0.142397, 2.87442], [-0.00573298, -0.929474, -0.368844, 1.42029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.023027, -0.478435, 0.877821, 0.811213], [-0.998785, -0.0272529, -0.0410537, 3.09835], [0.0435648, -0.8777, -0.477227, 1.36488], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.224205, -0.559842, 0.79769, 0.981948], [-0.973292, 0.0871893, -0.212369, 3.2955], [0.049343, -0.824, -0.564437, 1.30806], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.422876, -0.547356, 0.722203, 1.21143], [-0.906115, 0.245279, -0.344666, 3.31126], [0.0115138, -0.800149, -0.59969, 1.29624], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.54177, -0.396118, 0.741333, 1.24724], [-0.840513, 0.250336, -0.480489, 3.38292], [0.00474745, -0.883415, -0.468567, 1.38538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.478397, -0.2833, 0.83119, 1.13825], [-0.878066, 0.166964, -0.448468, 3.32927], [-0.0117275, -0.944386, -0.328631, 1.45997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.483879, -0.189764, 0.854313, 1.082], [-0.875087, 0.115106, -0.470078, 3.28703], [-0.0091327, -0.975059, -0.221757, 1.52149], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.460529, -0.0476656, 0.886364, 1.05117], [-0.88752, 0.0414408, -0.458901, 3.26211], [-0.014858, -0.998003, -0.061389, 1.63923], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.430861, 0.0568354, 0.900627, 1.00975], [-0.902144, -0.0517096, -0.428324, 3.24208], [0.0222268, -0.997043, 0.0735534, 1.62636], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.440414, -0.0985343, 0.892371, 1.0431], [-0.89733, 0.080276, -0.433998, 3.26224], [-0.0288724, -0.99189, -0.123773, 1.53184], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.54473, -0.355711, 0.759433, 1.0807], [-0.838043, 0.264225, -0.477356, 3.2838], [-0.0308602, -0.896468, -0.442032, 1.38755], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.690882, -0.379747, 0.615203, 1.03761], [-0.721076, 0.423452, -0.548395, 3.34845], [-0.0522573, -0.822485, -0.566382, 1.34299], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.790005, -0.282125, 0.544332, 0.869151], [-0.607276, 0.482168, -0.631451, 3.19668], [-0.0843109, -0.829409, -0.552243, 1.36566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.830058, -0.206278, 0.518125, 0.705189], [-0.544248, 0.502293, -0.671934, 3.01177], [-0.121645, -0.839733, -0.529199, 1.35275], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.676693, -0.327326, 0.659503, 0.584694], [-0.727107, 0.437948, -0.528695, 2.78905], [-0.115772, -0.837293, -0.534357, 1.36514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.415516, -0.417391, 0.808165, 0.275462], [-0.908731, 0.229011, -0.348945, 2.61958], [-0.0394318, -0.879397, -0.474454, 1.37273], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.232664, -0.399369, 0.886776, -0.0286946], [-0.972506, 0.104916, -0.207907, 2.60459], [-0.0100059, -0.910767, -0.412799, 1.37502], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.0292805, -0.380769, 0.924206, -0.30808], [-0.998552, 0.0528889, -0.00984588, 2.27215], [-0.0451313, -0.923156, -0.381766, 1.37188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.0747032, -0.424517, 0.902333, -0.360494], [-0.996444, 0.0671495, -0.050903, 1.90672], [-0.038982, -0.902926, -0.428023, 1.34523], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.22919, -0.425703, 0.875357, -0.424579], [-0.972697, -0.0664264, 0.222372, 1.74604], [-0.0365174, -0.902422, -0.429304, 1.36578], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.519183, -0.36815, 0.771307, -0.413697], [-0.850904, -0.138099, 0.506845, 1.76813], [-0.0800786, -0.919453, -0.384959, 1.37855], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.660557, -0.298439, 0.688911, -0.191479], [-0.75052, -0.238525, 0.6163, 2.05375], [-0.0196053, -0.924143, -0.381544, 1.40013], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.729416, -0.178596, 0.660345, 0.15928], [-0.683321, -0.145067, 0.715561, 2.31012], [-0.032002, -0.97317, -0.227852, 1.48719], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0786_00"}, {"annotation": [{"question_id": "test-scene0787-0", "question": "What type of organizer is to the left of a white cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-1", "question": "Where is the tall shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-2", "question": "Where is the brown shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-3", "question": "What color is the bin on top of the stack of bins in the garage?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-4", "question": "What is the color of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-5", "question": "Where is the wooden brown shelving unit in the garage?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-6", "question": "What is inside the clutter in the garage?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-7", "question": "What is in the garage near the doorway to the garage?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-8", "question": "What is on the shelving unit in the garage?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-9", "question": "Where is the green bin in the stack of bins?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-10", "question": "What color is the bottom storage bin in the stack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-11", "question": "Where is the green storage bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-12", "question": "How many bins are on the stack of bins?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-13", "question": "The shelf in the garage is behind the back tire of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-14", "question": "Where is the large shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-15", "question": "Where is the green bin in the stack of three?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-16", "question": "Where is the shelf in the garage located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-17", "question": "What is left of the light brown shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-18", "question": "What color storage bin is in the middle of a stack of three?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-19", "question": "Where is a step stool?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-20", "question": "Where is the shelf in the garage?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-21", "question": "In the stack of plastic boxes, what is above the middle blue box?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-22", "question": "What is right of a white storage bin with drawers?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-23", "question": "What is in front of the shelf left of the washer and dryer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-24", "question": "What color is a step stool in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-25", "question": "How many shelves does the bicycle lean against?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-26", "question": "What is the bicycle in front of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-27", "question": "What color is the object inside the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-28", "question": "What color is the vacuum cleaner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-29", "question": "Where is the vacuum cleaner when facing the washing machine?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-30", "question": "What is on the left of the hot water heater?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-31", "question": "What is on the shelving unit to the left of the hot water heater?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-32", "question": "Where is the green bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-33", "question": "Where is the shelving unit located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-34", "question": "What kind of heater is near the shelving unit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-35", "question": "What is parked in front of the shelving unit in the garage?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-36", "question": "Where is the shelving unit in the garage located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-37", "question": "Where is the bin dolly in the washing machine?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-38", "question": "What color is the bin by the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-39", "question": "What is next to the door in the washing area?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-40", "question": "What color is the storage container on the ground?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-41", "question": "What color container is on top of the blue container?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-42", "question": "What color is the storage container?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-43", "question": "What is below the shelf that is to the left of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-44", "question": "What is to the right of the cabinet in the garage?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-45", "question": "What is to the right of the doorway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-46", "question": "To what side of the doorway is the cabinet shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-47", "question": "What is in the garage that is to the left of the water heater?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-48", "question": "To the left of what is the shelf in the garage?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0787-49", "question": "What is to the right of the shelf in the garage?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.105233, -0.653638, 0.749455, 4.73024], [-0.99346, -0.0355166, 0.108518, 4.25247], [-0.0443133, -0.755973, -0.653101, 1.54687], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.199632, -0.682894, 0.702711, 4.73009], [-0.979574, -0.121433, 0.160277, 4.37092], [-0.0241197, -0.720354, -0.693188, 1.53202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.387845, -0.668904, 0.634147, 4.71983], [-0.921027, -0.254487, 0.294865, 4.44468], [-0.0358546, -0.698429, -0.714781, 1.51744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.629148, -0.481122, 0.610486, 4.71941], [-0.776391, -0.351317, 0.523253, 4.22675], [-0.0372745, -0.80318, -0.594569, 1.57039], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.639546, -0.304422, 0.70591, 4.6793], [-0.767937, -0.210698, 0.604879, 4.12666], [-0.0354041, -0.928942, -0.368528, 1.65551], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.617571, -0.158377, 0.770404, 4.60406], [-0.784656, -0.0567634, 0.617327, 4.08492], [-0.0540399, -0.985746, -0.159327, 1.75886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.61221, -0.0179844, 0.790491, 4.5638], [-0.789645, 0.037619, 0.61241, 4.01754], [-0.0407512, -0.99913, 0.00882936, 1.82426], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.540591, -0.0889344, 0.836571, 4.54617], [-0.840063, -0.00347559, 0.542478, 3.98647], [-0.0453372, -0.996031, -0.0765894, 1.77769], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.587218, -0.270521, 0.762884, 4.52052], [-0.808923, -0.162839, 0.564912, 4.03577], [-0.0285931, -0.948842, -0.314453, 1.66653], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.680591, -0.355894, 0.640418, 4.54996], [-0.732661, -0.332839, 0.593655, 4.11346], [0.00187778, -0.873246, -0.487277, 1.59403], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.847742, -0.305518, 0.43358, 4.70501], [-0.527616, -0.569507, 0.630305, 4.19417], [0.054357, -0.763099, -0.643991, 1.50326], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.851844, -0.33296, 0.404349, 4.7863], [-0.521519, -0.611019, 0.595544, 4.31527], [0.0487725, -0.718187, -0.694139, 1.48708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.743676, -0.38215, 0.548549, 4.87052], [-0.666988, -0.368245, 0.647705, 4.51313], [-0.0455202, -0.847559, -0.528745, 1.59958], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.775217, -0.184948, 0.604014, 4.94939], [-0.630087, -0.158214, 0.760236, 4.53431], [-0.0450407, -0.969929, -0.239184, 1.70883], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.799979, -0.10598, 0.590594, 5.11096], [-0.598999, -0.0834367, 0.796391, 4.47464], [-0.0351241, -0.990861, -0.13023, 1.74933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.739337, -0.0950663, 0.666591, 5.25475], [-0.670619, -0.0151172, 0.741648, 4.4859], [-0.0604287, -0.995356, -0.0749299, 1.79355], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.58537, -0.110749, 0.803166, 5.46206], [-0.807328, 0.0115118, 0.58999, 4.60113], [-0.0745865, -0.993782, -0.082672, 1.81235], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.542564, -0.277084, 0.793, 5.64127], [-0.836448, -0.0913077, 0.540387, 4.56637], [-0.0773256, -0.956497, -0.281307, 1.76141], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.551895, -0.389139, 0.737551, 5.73377], [-0.831662, -0.191896, 0.52107, 4.47054], [-0.0612355, -0.90097, -0.429539, 1.64014], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.404048, -0.478771, 0.779438, 5.77073], [-0.913514, -0.167121, 0.370896, 4.49258], [-0.0473131, -0.861887, -0.504889, 1.61149], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.202638, -0.325567, 0.92355, 5.81751], [-0.978143, -0.0223778, 0.206727, 4.61964], [-0.0466366, -0.945254, -0.322986, 1.73905], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.0378657, -0.141721, 0.989182, 5.81909], [-0.999266, -0.0111402, 0.0366555, 4.67633], [0.00582483, -0.989844, -0.142039, 1.77611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.0968642, 0.0325233, 0.994766, 5.80397], [-0.995156, 0.0136974, -0.0973502, 4.63046], [-0.016792, -0.999377, 0.031039, 1.84542], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.263783, 0.149967, 0.952853, 5.74945], [-0.964582, -0.041989, -0.260422, 4.56017], [0.000954613, -0.987799, 0.155731, 1.90084], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.380989, 0.0614381, 0.922536, 5.75037], [-0.924574, -0.0217668, -0.380381, 4.51639], [-0.0032894, -0.997873, 0.0650969, 1.86511], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.456811, -0.0798415, 0.885973, 5.79048], [-0.889214, 0.0689253, -0.45227, 4.46312], [-0.0249561, -0.994422, -0.102482, 1.78908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.469384, -0.274958, 0.839093, 5.88145], [-0.881819, 0.194984, -0.429392, 4.34373], [-0.045545, -0.941477, -0.333985, 1.67134], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.486987, -0.439315, 0.754881, 5.92388], [-0.873267, 0.260506, -0.411755, 4.2446], [-0.0157608, -0.859732, -0.510503, 1.5646], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.57978, -0.531108, 0.617882, 6.00346], [-0.814772, 0.3775, -0.440045, 4.21908], [0.000461191, -0.758563, -0.6516, 1.48376], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.772959, -0.464213, 0.432482, 6.16181], [-0.633882, 0.594034, -0.495295, 4.2364], [-0.0269865, -0.656985, -0.75342, 1.4101], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.818855, -0.383324, 0.427245, 6.22088], [-0.573615, 0.573709, -0.584657, 4.18873], [-0.0210011, -0.723824, -0.689665, 1.44864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.79944, -0.325607, 0.504852, 6.29784], [-0.600746, 0.434137, -0.671289, 4.05173], [-0.00059855, -0.839943, -0.542674, 1.53654], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.827829, -0.243857, 0.505206, 6.39206], [-0.560632, 0.327856, -0.760397, 3.98978], [0.0197932, -0.912713, -0.408122, 1.60611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.880724, -0.113943, 0.45972, 6.5552], [-0.47106, 0.311693, -0.825197, 3.94502], [-0.0492663, -0.943326, -0.328189, 1.65861], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.835299, -0.0301295, 0.548969, 6.47873], [-0.543293, 0.198342, -0.815778, 3.83057], [-0.0843045, -0.97967, -0.182044, 1.71399], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.7708, -0.00244763, 0.637073, 6.29048], [-0.634767, 0.0880324, -0.767673, 3.64768], [-0.0542041, -0.996115, -0.069409, 1.7646], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.699983, 0.116017, 0.704673, 6.22253], [-0.71243, -0.0448064, -0.700312, 3.44864], [-0.049674, -0.992236, 0.114017, 1.82658], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.668422, 0.149843, 0.728532, 6.1306], [-0.741378, -0.0555416, -0.668785, 3.26875], [-0.0597489, -0.987149, 0.148215, 1.86367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.552429, 0.0120052, 0.833473, 5.91744], [-0.833377, 0.0129975, -0.552553, 3.16204], [-0.0174665, -0.999843, 0.00282466, 1.8079], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.430922, -0.222763, 0.874462, 5.83139], [-0.901976, 0.135649, -0.409925, 3.06358], [-0.0273042, -0.965389, -0.259381, 1.61793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.265375, -0.430034, 0.862929, 5.77834], [-0.964145, 0.118841, -0.237278, 2.96729], [-0.000513583, -0.894957, -0.446153, 1.53286], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.0900571, -0.553149, 0.8282, 5.58808], [-0.995932, 0.0526095, -0.0731587, 2.8742], [-0.00310354, -0.831419, -0.555637, 1.48802], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.00285459, -0.636172, 0.771542, 5.38755], [-0.999973, -0.00344247, -0.00653844, 2.83521], [0.00681558, -0.771539, -0.636145, 1.43658], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.00771164, -0.665653, 0.746222, 5.41621], [-0.999805, -0.00842028, -0.0178436, 2.71025], [0.0181611, -0.746214, -0.665458, 1.41081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.128146, -0.548192, 0.826477, 5.4558], [-0.991491, 0.0900648, -0.0939934, 2.53284], [-0.0229101, -0.831489, -0.555068, 1.45878], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.0883079, -0.376498, 0.922199, 5.39237], [-0.996087, 0.0366616, -0.0804159, 2.35362], [-0.00353301, -0.925692, -0.378262, 1.54572], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.0707223, -0.23954, 0.968307, 5.31813], [-0.997492, 0.0197652, -0.0679645, 2.25628], [-0.00285861, -0.970685, -0.240337, 1.60515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.101405, -0.114738, 0.988207, 5.28776], [-0.994795, 0.0216392, -0.0995684, 2.22076], [-0.00995979, -0.99316, -0.116335, 1.66822], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.198871, -0.000823528, 0.980025, 5.28735], [-0.980025, 0.0011496, -0.198871, 2.18135], [-0.000962973, -0.999999, -0.00103566, 1.73293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.398086, 0.00184515, 0.917346, 5.34055], [-0.917224, -0.0172229, -0.397999, 2.20608], [0.0150649, -0.99985, 0.00854856, 1.74468], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.583707, -0.129562, 0.801561, 5.46364], [-0.811962, 0.0907184, -0.576618, 2.38532], [0.00199151, -0.987413, -0.158153, 1.72378], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.621624, -0.252152, 0.741621, 5.64259], [-0.783246, 0.187486, -0.592768, 2.41916], [0.0104239, -0.949351, -0.314043, 1.63232], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.632373, -0.37934, 0.67543, 5.86231], [-0.773794, 0.268012, -0.573944, 2.41064], [0.0366965, -0.885591, -0.463015, 1.52862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.750074, -0.4044, 0.523307, 6.02049], [-0.660517, 0.418278, -0.623507, 2.44688], [0.0332585, -0.813329, -0.580852, 1.45902], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.901258, -0.266525, 0.341611, 6.16678], [-0.432699, 0.59452, -0.67773, 2.45514], [-0.0224627, -0.758624, -0.651141, 1.42251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.928141, -0.203054, 0.311966, 6.28001], [-0.370062, 0.593646, -0.71459, 2.26499], [-0.0400969, -0.778687, -0.62613, 1.43702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.969341, -0.134093, 0.205906, 6.33114], [-0.245654, 0.509412, -0.824714, 2.19187], [0.00569758, -0.850011, -0.526735, 1.50257], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.99667, -0.0236652, 0.0780263, 6.44857], [-0.0810018, 0.39675, -0.914346, 2.22743], [-0.00931886, -0.917622, -0.397346, 1.58963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.999284, 0.0105808, 0.0363379, 6.47717], [-0.0316113, 0.294614, -0.955093, 2.2837], [-0.0208112, -0.955558, -0.294069, 1.63683], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.998047, 0.0304998, -0.0545196, 6.41533], [0.0594352, 0.194834, -0.979034, 2.30461], [-0.0192381, -0.980362, -0.196266, 1.6876], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.982846, 0.0408007, -0.179856, 6.36078], [0.183277, 0.107396, -0.977177, 2.32595], [-0.0205537, -0.993379, -0.113032, 1.72913], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.95022, 0.0335256, -0.309771, 6.32986], [0.310825, 0.0328269, -0.9499, 2.35078], [-0.0216771, -0.998899, -0.0416133, 1.74602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.902316, 0.0381075, -0.429387, 6.2684], [0.43086, 0.0482934, -0.901125, 2.38229], [-0.0136032, -0.998106, -0.059995, 1.72676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.916172, 0.0813824, -0.392437, 6.20508], [0.400784, 0.189203, -0.896423, 2.43011], [0.00129697, -0.97856, -0.205959, 1.66938], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.925662, 0.140249, -0.351396, 6.1799], [0.378247, 0.364763, -0.85081, 2.50489], [0.00885123, -0.920477, -0.390697, 1.58252], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.900524, 0.194712, -0.388773, 6.17243], [0.432838, 0.486429, -0.758972, 2.45382], [0.0413296, -0.851748, -0.52232, 1.47992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.837432, 0.311569, -0.449035, 6.16997], [0.546066, 0.511252, -0.663651, 2.29304], [0.0227965, -0.800966, -0.598276, 1.43716], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.828855, 0.364141, -0.424736, 6.13258], [0.559414, 0.529335, -0.637856, 2.04996], [-0.00744131, -0.766294, -0.642447, 1.40855], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.757038, 0.449029, -0.474622, 6.1919], [0.653367, 0.522751, -0.54758, 1.72183], [0.00222942, -0.724641, -0.689123, 1.39339], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.569777, 0.604088, -0.557164, 6.11931], [0.82171, 0.408766, -0.397119, 1.48847], [-0.012145, -0.684097, -0.72929, 1.38516], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.412109, 0.583697, -0.699617, 5.94621], [0.91109, 0.256376, -0.32278, 1.39767], [-0.00904056, -0.770434, -0.637455, 1.42548], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.280362, 0.496851, -0.821302, 5.92048], [0.959883, 0.140935, -0.242409, 1.34533], [-0.00469109, -0.856316, -0.516431, 1.49165], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.159411, 0.354662, -0.921305, 5.96242], [0.986779, 0.0295776, -0.159353, 1.29411], [-0.0292665, -0.934526, -0.354688, 1.57287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.120914, 0.2458, -0.96175, 5.98871], [0.990628, -0.0321326, -0.132757, 1.31945], [-0.0635351, -0.968788, -0.23961, 1.62793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.234363, 0.154716, -0.959759, 5.88692], [0.970566, -0.0190781, -0.240078, 1.48712], [-0.0554543, -0.987775, -0.145691, 1.69736], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.365546, 0.131623, -0.92144, 5.71033], [0.928421, -0.0190793, -0.371041, 1.64788], [-0.066418, -0.991116, -0.115227, 1.7414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.473338, 0.113475, -0.873541, 5.50507], [0.87764, -0.0242389, -0.478708, 1.76439], [-0.075495, -0.993245, -0.088117, 1.77548], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.684166, 0.0261044, -0.728859, 5.31557], [0.728869, -0.010894, -0.684566, 1.967], [-0.0258104, -0.9996, -0.0115735, 1.80218], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.720062, 0.1973, -0.665269, 5.18111], [0.69277, 0.149475, -0.705498, 2.08508], [-0.0397539, -0.968881, -0.244315, 1.68414], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.780817, 0.291453, -0.552611, 5.02146], [0.623346, 0.303969, -0.720446, 2.14592], [-0.0419998, -0.907005, -0.419021, 1.57219], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.866109, 0.279168, -0.414633, 4.89505], [0.499766, 0.467942, -0.728879, 2.36141], [-0.00945514, -0.838508, -0.544807, 1.51061], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.874324, 0.337239, -0.349039, 4.77279], [0.485307, 0.616212, -0.62029, 2.52554], [0.00589597, -0.711725, -0.702433, 1.41344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.848558, 0.396222, -0.350652, 4.59679], [0.529052, 0.626296, -0.572588, 2.63031], [-0.00726029, -0.671388, -0.741071, 1.39967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.916139, 0.294321, -0.272148, 4.57345], [0.400535, 0.699465, -0.591878, 2.96147], [0.0161557, -0.651247, -0.758694, 1.38351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.793064, 0.44842, -0.412272, 4.60471], [0.608633, 0.610878, -0.506353, 3.17346], [0.0247891, -0.652494, -0.757389, 1.36894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.585766, 0.576998, -0.569168, 4.69909], [0.81023, 0.399446, -0.428917, 3.35481], [-0.0201322, -0.712402, -0.701483, 1.42553], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.36858, 0.563362, -0.739441, 4.81128], [0.929369, 0.205722, -0.306516, 3.50258], [-0.0205604, -0.800189, -0.599396, 1.45996], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.228288, 0.635077, -0.737944, 4.94725], [0.972108, 0.106836, -0.208785, 3.54736], [-0.0537554, -0.765025, -0.641753, 1.45328], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.078003, 0.597068, -0.798389, 5.09287], [0.995822, 0.0085272, -0.0909152, 3.34377], [-0.0474745, -0.802145, -0.595239, 1.46892], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.117033, 0.504744, -0.8553, 5.04696], [0.992473, 0.0281479, -0.119192, 3.0674], [-0.0360863, -0.86281, -0.504238, 1.5445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.113792, 0.396452, -0.910976, 4.89817], [0.993198, 0.0226173, -0.114219, 2.84747], [-0.0246787, -0.917777, -0.396329, 1.61203], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.0423852, 0.337732, -0.940288, 4.78237], [0.99779, -0.0339081, -0.0571562, 2.57858], [-0.0511868, -0.940631, -0.335548, 1.65084], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.04257, 0.486282, -0.872765, 4.61024], [0.998158, -0.0171125, -0.0582206, 2.45478], [-0.0432468, -0.873635, -0.484657, 1.59595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.284119, 0.529384, -0.799393, 4.30298], [0.957999, 0.190582, -0.214281, 2.55826], [0.0389131, -0.826699, -0.561297, 1.56967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.444581, 0.529626, -0.722388, 3.97875], [0.895005, 0.295293, -0.334318, 2.6483], [0.036253, -0.795172, -0.605299, 1.52988], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[-0.674143, 0.439377, -0.593699, 3.67472], [0.738573, 0.394096, -0.54699, 2.83248], [-0.00636035, -0.80724, -0.590189, 1.51357], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[-0.849974, 0.306787, -0.428282, 3.39848], [0.526506, 0.522933, -0.670323, 2.96748], [0.0183166, -0.79525, -0.606005, 1.49456], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[-0.968167, 0.177897, -0.176085, 3.13268], [0.248141, 0.589793, -0.768486, 3.00094], [-0.032858, -0.787717, -0.615161, 1.48187], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[-0.999837, -0.00471428, -0.0174419, 2.83365], [0.010817, 0.617061, -0.786841, 3.09974], [0.0144721, -0.786901, -0.61691, 1.48271], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[-0.991141, -0.108313, 0.0768687, 2.5548], [-0.126497, 0.593399, -0.794907, 3.00548], [0.0404847, -0.797588, -0.601843, 1.50088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[-0.954255, -0.187378, 0.232996, 2.24685], [-0.297172, 0.508469, -0.808176, 2.89372], [0.032963, -0.840446, -0.540893, 1.55385], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[-0.951209, -0.130619, 0.279534, 2.05261], [-0.308495, 0.386066, -0.869358, 2.76022], [0.00563589, -0.913177, -0.407525, 1.65755], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[-0.953484, -0.0665497, 0.294006, 2.02261], [-0.301375, 0.189702, -0.934444, 2.60443], [0.00641337, -0.979584, -0.200935, 1.75853], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[-0.962281, -0.0253328, 0.270874, 1.97058], [-0.272055, 0.0915631, -0.957916, 2.50136], [-0.000535339, -0.995477, -0.0950014, 1.81476], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[-0.996365, 0.00205854, 0.0851682, 1.94501], [-0.0843059, 0.120051, -0.989182, 2.37919], [-0.0122608, -0.992766, -0.119441, 1.80538], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.959244, 0.0947987, -0.266204, 2.0576], [0.280677, 0.210494, -0.936436, 2.28323], [-0.0327387, -0.972988, -0.228523, 1.75976], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.940435, 0.116519, -0.319381, 2.05562], [0.339967, 0.317082, -0.885371, 2.29582], [-0.00189233, -0.941213, -0.337808, 1.71011], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.852054, 0.194256, -0.486075, 2.04683], [0.522893, 0.272864, -0.807545, 2.11739], [-0.0242375, -0.942237, -0.33407, 1.67777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.752221, 0.297553, -0.5879, 2.00566], [0.656411, 0.260747, -0.707909, 1.90215], [-0.0573468, -0.918408, -0.391456, 1.65041], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.626136, 0.394574, -0.672507, 1.93291], [0.778343, 0.26517, -0.569093, 1.69492], [-0.0462207, -0.879771, -0.473146, 1.60954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.220458, 0.570386, -0.791239, 1.99912], [0.973075, 0.0726714, -0.218734, 1.46273], [-0.0672624, -0.818156, -0.571049, 1.55804], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[0.0090529, 0.69258, -0.721285, 2.09883], [0.998554, -0.0444943, -0.0301905, 1.42461], [-0.0530024, -0.719968, -0.691981, 1.46518], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[0.271314, 0.742786, -0.612093, 2.19986], [0.960877, -0.245838, 0.127586, 1.43596], [-0.0557062, -0.622762, -0.780425, 1.43162], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[0.598029, 0.652083, -0.465992, 2.20127], [0.799803, -0.523078, 0.294458, 1.48956], [-0.0517391, -0.548796, -0.834354, 1.38811], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[0.894262, 0.336937, -0.294564, 2.29176], [0.441123, -0.774675, 0.453088, 1.57647], [-0.0755292, -0.535119, -0.841393, 1.3793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[0.989667, 0.0742774, -0.122644, 2.39379], [0.127589, -0.846475, 0.516915, 1.66057], [-0.0654196, -0.527222, -0.847206, 1.36792], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[0.99771, -0.0670712, 0.00872284, 2.42831], [-0.0585166, -0.791301, 0.60862, 1.70871], [-0.0339185, -0.607737, -0.793414, 1.42298], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[0.997816, -0.0587416, 0.0302046, 2.41196], [-0.0615761, -0.661766, 0.747177, 1.7026], [-0.023902, -0.747405, -0.663938, 1.4983], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[0.998605, -0.050677, 0.0148402, 2.42809], [-0.0386508, -0.50998, 0.859318, 1.76733], [-0.0359794, -0.858692, -0.511227, 1.58839], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[0.996209, 0.026475, -0.0828692, 2.50979], [0.0868464, -0.358394, 0.929522, 1.92142], [-0.00509068, -0.933195, -0.359334, 1.66005], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[0.996994, -0.010673, -0.0767374, 2.33893], [0.0712206, -0.263638, 0.961989, 2.08137], [-0.0304982, -0.964563, -0.262086, 1.72381], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[0.997308, -0.0708825, -0.0187523, 2.17847], [0.0076031, -0.154397, 0.98798, 2.28698], [-0.0729257, -0.985463, -0.153443, 1.77034], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[0.998303, -0.0435899, 0.0386077, 2.14529], [-0.0432998, -0.112401, 0.992719, 2.60524], [-0.038933, -0.992706, -0.114098, 1.84125], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[0.974312, -0.100014, 0.201775, 2.08228], [-0.222543, -0.29031, 0.930696, 2.82223], [-0.0345057, -0.951692, -0.30511, 1.74862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[0.946339, -0.161506, 0.279926, 2.07618], [-0.322341, -0.40946, 0.853486, 3.10709], [-0.0232251, -0.897919, -0.439548, 1.58972], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[0.848657, -0.288027, 0.443645, 1.97955], [-0.528446, -0.425346, 0.734728, 3.39978], [-0.0229183, -0.857975, -0.51318, 1.54225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[0.756709, -0.375825, 0.534928, 1.93678], [-0.653446, -0.409754, 0.636482, 3.687], [-0.0200168, -0.831178, -0.555646, 1.50712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[0.679463, -0.470312, 0.563149, 2.01108], [-0.733682, -0.442283, 0.515846, 3.94274], [0.00646293, -0.76367, -0.645575, 1.47128], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[0.504096, -0.505615, 0.700172, 1.97275], [-0.863365, -0.274273, 0.423528, 4.15125], [-0.0221042, -0.818002, -0.57479, 1.51815], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[0.462902, -0.471374, 0.750685, 2.06282], [-0.88451, -0.190221, 0.425979, 4.1947], [-0.0579993, -0.861175, -0.504989, 1.52783], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[0.552195, -0.45357, 0.699539, 2.33506], [-0.833589, -0.285757, 0.47273, 4.18046], [-0.0145179, -0.844167, -0.535884, 1.52683], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[0.685764, -0.320142, 0.653633, 2.55936], [-0.727823, -0.303309, 0.615043, 4.20562], [0.00135195, -0.897504, -0.441005, 1.56686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[0.805676, -0.206564, 0.555173, 2.7116], [-0.588412, -0.171114, 0.790247, 4.09187], [-0.0682384, -0.963354, -0.259407, 1.65937], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[0.869902, -0.139437, 0.473104, 2.82967], [-0.483581, -0.0523641, 0.873732, 3.86431], [-0.0970572, -0.988845, -0.112981, 1.74338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[0.881626, -0.113947, 0.457987, 2.97889], [-0.464776, -0.0410663, 0.884476, 3.77996], [-0.081975, -0.992638, -0.0891648, 1.76876], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[0.953689, -0.182394, 0.239187, 3.02469], [-0.277511, -0.226759, 0.933578, 3.64931], [-0.116041, -0.95672, -0.266874, 1.68818], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[0.993248, -0.113694, 0.0230734, 2.99552], [-0.0738572, -0.466329, 0.881523, 3.4727], [-0.0894636, -0.877275, -0.471578, 1.58346], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[0.966917, -0.226618, 0.117115, 3.09805], [-0.224913, -0.540751, 0.810557, 3.47956], [-0.120357, -0.810082, -0.573831, 1.48911], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[0.89009, -0.293486, 0.34872, 3.33962], [-0.449248, -0.435817, 0.779897, 3.60157], [-0.0769106, -0.85084, -0.519765, 1.47777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[0.832364, -0.317809, 0.454057, 3.69301], [-0.549977, -0.372335, 0.747591, 3.6252], [-0.0685293, -0.871989, -0.484706, 1.47263], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[0.744986, -0.356578, 0.56378, 3.97606], [-0.665551, -0.340122, 0.664348, 3.72222], [-0.0451378, -0.870155, -0.490707, 1.48823], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[0.54585, -0.421821, 0.723958, 4.18259], [-0.835723, -0.212089, 0.506543, 3.93675], [-0.0601262, -0.881525, -0.468294, 1.5381], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[0.406314, -0.380361, 0.830803, 4.43744], [-0.913195, -0.137835, 0.383505, 4.08056], [-0.0313567, -0.914509, -0.403348, 1.575], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[0.0572424, -0.346636, 0.936251, 4.52007], [-0.996392, 0.0390183, 0.0753653, 4.25832], [-0.0626553, -0.937188, -0.343152, 1.62152], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.23133, -0.370524, 0.899554, 4.42862], [-0.971429, 0.138374, -0.192818, 4.21013], [-0.0530315, -0.918458, -0.391948, 1.58871], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.406635, -0.401658, 0.82056, 4.24527], [-0.913292, 0.201672, -0.353872, 4.15824], [-0.0233483, -0.893308, -0.448839, 1.55488], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.640609, -0.319299, 0.698333, 4.10644], [-0.766279, 0.324287, -0.554665, 4.19377], [-0.0493564, -0.890442, -0.452413, 1.55784], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0787_00"}, {"annotation": [{"question_id": "test-scene0788-0", "question": "What is the color of the treadmill?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-1", "question": "What is the color of the exercise machine?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-2", "question": "What is next to the exercise machine?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-3", "question": "What is the color of the doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-4", "question": "Where are the doors located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-5", "question": "On what side of the room is the treadmill located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-6", "question": "What are the three black exercise machines called?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-7", "question": "How many others can you find the treadmill in a row with?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-8", "question": "What do the two wooden doors have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-9", "question": "What is next to the two wooden doors that have tall rectangular frosted glass windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-10", "question": "Which exercise machine is there three of in a row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-11", "question": "How many treadmills are in the row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-12", "question": "What is in the center of the room on floor that has a border around it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-13", "question": "Where are the treadmills?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-14", "question": "Which treadmill has writing on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-15", "question": "What exercise machine can be seen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-16", "question": "How do you use the exercise machine?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-17", "question": "What's left of the leftmost treadmill?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-18", "question": "What is next to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-19", "question": "How many treadmills?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-20", "question": "What is to the right of two treadmills?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-21", "question": "How many treadmills are placed in a row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-22", "question": "What can be seen in front of the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-23", "question": "How close is the machine to the wall on the left side?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-24", "question": "How many treadmills are lined up in a row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-25", "question": "How many treadmills are lined up?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-26", "question": "Where are the wooden doors with tall glass windows located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-27", "question": "What type of machine is located on the wooden floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-28", "question": "On what floor is the large metal exercise machine located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-29", "question": "What colors are the parts of the rowing machine?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-30", "question": "How many bench press machines are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-31", "question": "Where are the double entrance doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-32", "question": "What type of windows are on both sides of double doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-33", "question": "What appears to be beside the double doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0788-34", "question": "What type of windows are on the double doors?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.766174, -0.431825, 0.475925, 7.18039], [-0.642486, 0.498842, -0.581694, 3.71295], [0.0137788, -0.751454, -0.659642, 1.30051], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.726638, -0.424445, 0.540226, 7.11748], [-0.68671, 0.425088, -0.589686, 3.59897], [0.0206453, -0.799467, -0.600356, 1.36189], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.78808, -0.297984, 0.538642, 7.06956], [-0.613506, 0.308569, -0.726908, 3.5051], [0.0503985, -0.903322, -0.425992, 1.47106], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.891221, -0.156752, 0.425621, 7.09656], [-0.449344, 0.177358, -0.875576, 3.54152], [0.061761, -0.971583, -0.228501, 1.57959], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.950841, -0.0782111, 0.299639, 7.10839], [-0.308068, 0.140369, -0.940952, 3.54517], [0.0315324, -0.987005, -0.157563, 1.63694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.980983, -0.0630343, 0.183572, 7.00991], [-0.193141, 0.410554, -0.891146, 3.55249], [-0.0191936, -0.909655, -0.414921, 1.44042], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.999134, -0.00508719, 0.0412939, 7.00618], [-0.0357395, 0.613078, -0.789213, 3.63054], [-0.0213018, -0.790006, -0.612729, 1.34061], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.935202, 0.227436, -0.271423, 7.16974], [0.354087, 0.59088, -0.724902, 3.62262], [-0.00448992, -0.774037, -0.633125, 1.36702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.923819, 0.163494, -0.346162, 7.21615], [0.382827, 0.391044, -0.836975, 3.73142], [-0.00147613, -0.905734, -0.423844, 1.48558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.864914, 0.160098, -0.475701, 7.13311], [0.501836, 0.293101, -0.813789, 3.81935], [0.00914179, -0.942582, -0.333851, 1.51894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.827811, 0.300936, -0.473462, 6.84344], [0.560427, 0.405244, -0.722287, 3.79757], [-0.0254945, -0.863258, -0.504119, 1.41519], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.847014, 0.262379, -0.462302, 6.48036], [0.531319, 0.39119, -0.751445, 3.92317], [-0.0163159, -0.882115, -0.470751, 1.47908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.810034, 0.204722, -0.549484, 6.1937], [0.586348, 0.272671, -0.762788, 3.94202], [-0.00633156, -0.940074, -0.340912, 1.53887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.782751, 0.204645, -0.587726, 5.80407], [0.622028, 0.286916, -0.728533, 3.87802], [0.019537, -0.935842, -0.351879, 1.515], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.727347, 0.267511, -0.631983, 5.32706], [0.685759, 0.318802, -0.654293, 3.8608], [0.0264469, -0.909287, -0.415328, 1.49074], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.601002, 0.275509, -0.75026, 4.88322], [0.79795, 0.260296, -0.543619, 3.73945], [0.045518, -0.925386, -0.376282, 1.51582], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.621725, 0.215685, -0.752953, 4.56058], [0.782267, 0.218784, -0.583259, 3.66418], [0.0389338, -0.951637, -0.304747, 1.57791], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.693827, 0.166741, -0.700572, 4.45092], [0.720048, 0.176312, -0.671152, 3.57021], [0.0116107, -0.970109, -0.242392, 1.61308], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.681752, 0.259175, -0.684136, 4.18836], [0.731429, 0.222248, -0.644684, 3.50416], [-0.0150387, -0.939912, -0.341086, 1.52913], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.536878, 0.40228, -0.741574, 3.97455], [0.843658, 0.254431, -0.472764, 3.5899], [-0.00150417, -0.879451, -0.475986, 1.45733], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.263024, 0.452758, -0.851955, 4.09381], [0.964666, 0.109334, -0.239717, 3.5356], [-0.0153865, -0.884904, -0.465519, 1.45934], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.0155719, 0.380852, -0.924504, 4.15851], [0.99986, 0.000407657, -0.0166732, 3.57961], [-0.00597296, -0.924636, -0.380806, 1.56618], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.0560856, 0.205311, -0.977088, 4.27441], [0.998005, 0.01689, 0.0608352, 3.66772], [0.0289933, -0.978551, -0.203955, 1.67602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.215618, 0.290288, -0.932331, 4.31255], [0.976232, -0.0854978, 0.19915, 3.72737], [-0.021901, -0.953112, -0.301824, 1.59975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.402504, 0.396552, -0.825068, 4.30495], [0.915222, -0.193017, 0.353715, 3.61715], [-0.0189853, -0.897492, -0.440623, 1.46144], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.3812, 0.487688, -0.785396, 4.51036], [0.924042, -0.22751, 0.307221, 3.64062], [-0.0288572, -0.842852, -0.537372, 1.40129], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.357381, 0.566293, -0.742692, 4.83048], [0.933766, -0.232809, 0.271811, 3.7982], [-0.0189806, -0.79064, -0.611987, 1.38484], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.399099, 0.526731, -0.750515, 5.08314], [0.916828, -0.240008, 0.319095, 3.8107], [-0.0120518, -0.815445, -0.578709, 1.42037], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.128567, 0.477298, -0.869285, 5.32384], [0.991669, -0.0687977, 0.108893, 3.97054], [-0.00783003, -0.876044, -0.482168, 1.46142], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.0120413, 0.423027, -0.906036, 5.31388], [0.999911, 0.0101791, -0.00853633, 4.19482], [0.00561164, -0.90606, -0.423113, 1.52419], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.172898, 0.252231, -0.952095, 5.26369], [0.98424, 0.0806766, -0.157363, 4.4111], [0.0371202, -0.964298, -0.262205, 1.64244], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.330267, 0.321036, -0.887614, 5.34607], [0.943465, 0.140405, -0.300266, 4.61454], [0.0282293, -0.936601, -0.349258, 1.55447], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.358187, 0.434323, -0.826477, 5.56045], [0.931772, 0.2224, -0.286946, 4.66267], [0.0591815, -0.872869, -0.484352, 1.45245], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.519834, 0.427534, -0.739586, 5.85426], [0.851672, 0.326806, -0.409699, 4.65163], [0.0665406, -0.84286, -0.534004, 1.42251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.732787, 0.349156, -0.584048, 6.14422], [0.680436, 0.382838, -0.624853, 4.65479], [0.00542476, -0.855292, -0.518117, 1.43291], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.929877, 0.166294, -0.328138, 6.41481], [0.36767, 0.449554, -0.814076, 4.4468], [0.0121399, -0.877637, -0.479172, 1.44904], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.987878, -0.0745459, 0.136159, 6.53369], [-0.155208, 0.489274, -0.858208, 4.36169], [-0.00264375, -0.868938, -0.494914, 1.42767], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.877102, -0.198097, 0.437549, 6.44427], [-0.480103, 0.387903, -0.786786, 4.27069], [-0.0138672, -0.90016, -0.435337, 1.45243], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.788778, -0.163134, 0.592634, 6.49284], [-0.614676, 0.211527, -0.759888, 4.02092], [-0.00139544, -0.963661, -0.267123, 1.57216], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.361152, -0.275546, 0.890867, 6.36716], [-0.932342, 0.0887569, -0.350513, 3.93619], [0.0175117, -0.957182, -0.288958, 1.64344], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.00735467, -0.286534, 0.958042, 6.21962], [-0.999971, -0.00391186, 0.00650659, 3.98886], [0.00188328, -0.958062, -0.286554, 1.63334], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.176075, -0.386952, 0.905133, 6.04583], [-0.984364, -0.0738849, 0.159902, 3.9494], [0.00500132, -0.919135, -0.393911, 1.57118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.33691, -0.476268, 0.812194, 6.01896], [-0.94127, -0.19088, 0.278522, 3.76181], [0.0223803, -0.858332, -0.512607, 1.49146], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.436103, -0.437241, 0.786533, 6.12057], [-0.899852, -0.203157, 0.385996, 3.75753], [-0.00898321, -0.876098, -0.482049, 1.51544], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.522638, -0.308115, 0.794931, 6.20849], [-0.852554, -0.189598, 0.487035, 3.7776], [0.000654424, -0.932265, -0.361775, 1.60137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.545419, -0.325681, 0.772301, 6.22493], [-0.838146, -0.217822, 0.500064, 3.66736], [0.00536217, -0.920047, -0.391772, 1.5614], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.54779, -0.462804, 0.696949, 6.15237], [-0.836404, -0.321695, 0.443779, 3.68111], [0.0188225, -0.82603, -0.563312, 1.43901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.832586, -0.318121, 0.45343, 6.04291], [-0.553668, -0.501432, 0.664844, 3.79602], [0.0158636, -0.80459, -0.593619, 1.41313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.972213, -0.106964, 0.20823, 6.10439], [-0.23304, -0.526643, 0.81752, 3.75924], [0.022218, -0.84333, -0.536936, 1.44834], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.999005, -0.0181698, 0.0407314, 5.99091], [-0.0442884, -0.511959, 0.857867, 3.68063], [0.00526582, -0.858818, -0.512254, 1.44708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.954269, 0.161901, -0.251313, 5.7885], [0.297374, -0.427894, 0.853508, 3.57103], [0.0306487, -0.88921, -0.456471, 1.46552], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.743062, 0.309739, -0.593228, 5.78305], [0.669106, -0.32739, 0.667167, 3.55105], [0.0124305, -0.89268, -0.45052, 1.45769], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0788_00"}, {"annotation": [{"question_id": "test-scene0790-0", "question": "What is the color of the door's handle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-1", "question": "What type of door is to the left of the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-2", "question": "What type of machine is against the wall to the right of the trash bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-3", "question": "What color is the copier ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-4", "question": "What is to the right of the trash can near the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-5", "question": "To what side of the door is the black trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-6", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-7", "question": "What is the machine to the right of the large black trash bin called?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-8", "question": "What are located along the top part of the wall above the copier?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-9", "question": "What is the unit above the printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-10", "question": "What large item is under the square box shelving unit on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-11", "question": "Where is the small printing unit located in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-12", "question": "Where is the printing unit located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-13", "question": "What is the unit above the counter area on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-14", "question": "Where is the desk shelving unit located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-15", "question": "What color are mailboxes?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-16", "question": "Where is the dark colored printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-17", "question": "What are mounted on the wall above the long white counter with printers on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-18", "question": "Where are the white geometric mailboxes?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-19", "question": "What is above the printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-20", "question": "How many white cabinets are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-21", "question": "What type of trash can is closest to the freestanding printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-22", "question": "What is the trash can closest to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-23", "question": "Where is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-24", "question": "Where is the white printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-25", "question": "On what color wall is the bulletin board located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-26", "question": "What type of board is placed on a white wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-27", "question": "What is on the right side of the printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-28", "question": "What color is the printer on the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-29", "question": "What color is the printer in the corner on the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-30", "question": "Where is the white printer located on the counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-31", "question": "On what side of the door is the black trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-32", "question": "What is on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-33", "question": "What is mounted on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-34", "question": "How many yellow papers are on the wall mounted bulletin cork board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-35", "question": "What color is the copier on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-36", "question": "What is on the same wall as the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-37", "question": "What are the cubes located above the copier?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-38", "question": "What you use to print?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-39", "question": "What is on the floor next to the large black trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-40", "question": "Where is the small black trash can sitting next to the large black trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-41", "question": "Where is a gray printer located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-42", "question": "On what surface is the color copier located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-43", "question": "What color are the cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-44", "question": "How are the cabinets mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-45", "question": "The copier is a what type of model?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-46", "question": "Where are the mailboxes mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-47", "question": "What is the door made out of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-48", "question": "What is to the right of the wooden door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-49", "question": "What is on the white counter left of a gray and white printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-50", "question": "What color are the cabinets in the printing room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-51", "question": "How many printers are on top of the white cabinet in the printing room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-52", "question": "Where is the black trash bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-53", "question": "What is in the room that is to the left of the doorway?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-54", "question": "What type of printer is in the printing room against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0790-55", "question": "Where is the cubicle boxing storage shelf located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.363308, -0.382369, 0.849589, 1.49633], [-0.931608, 0.138614, -0.335997, 2.04398], [0.0107099, -0.913554, -0.406577, 1.29557], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.470604, -0.285017, 0.835043, 1.69544], [-0.882254, 0.138399, -0.449972, 2.05193], [0.0126804, -0.948478, -0.316588, 1.36477], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.519549, -0.12557, 0.845163, 1.56512], [-0.854352, 0.0621205, -0.515968, 2.05192], [0.012288, -0.990138, -0.139555, 1.48033], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.61302, -0.0616678, 0.787657, 1.37426], [-0.789936, 0.0660236, -0.609624, 2.03671], [-0.0144099, -0.995911, -0.0891873, 1.52767], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.702874, -0.159861, 0.693118, 1.35802], [-0.71124, 0.172027, -0.681575, 2.05323], [-0.0102781, -0.972035, -0.234613, 1.43553], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.78122, -0.199098, 0.591654, 1.43201], [-0.623848, 0.283225, -0.728421, 2.1533], [-0.0225439, -0.93816, -0.345468, 1.36711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.86937, -0.170185, 0.463931, 1.3903], [-0.491499, 0.395111, -0.77609, 2.21592], [-0.0512251, -0.902732, -0.427144, 1.33103], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.920945, -0.124567, 0.369247, 1.15815], [-0.386485, 0.413283, -0.824516, 2.19225], [-0.0498965, -0.902042, -0.428754, 1.3478], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.940347, -0.0597704, 0.334926, 1.1177], [-0.338657, 0.258617, -0.90467, 2.18089], [-0.0325451, -0.964129, -0.263431, 1.42773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.924862, 0.00378913, 0.380283, 1.15203], [-0.379721, 0.0460776, -0.923953, 2.21746], [-0.0210237, -0.998931, -0.0411766, 1.52027], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.900407, 0.0491449, 0.432265, 1.21641], [-0.434425, -0.154779, -0.88731, 2.27082], [0.0232985, -0.986726, 0.160714, 1.63196], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.96737, 0.0543729, 0.247465, 1.21784], [-0.253254, -0.178233, -0.950839, 2.25386], [-0.00759378, -0.982485, 0.186187, 1.66595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.984146, 0.0079551, 0.177181, 1.2784], [-0.177272, -0.0754315, -0.981267, 2.2145], [0.00555879, -0.997119, 0.0756458, 1.63331], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.899499, 0.0307015, 0.435842, 1.27557], [-0.436845, -0.0819679, -0.895795, 2.27254], [0.00822267, -0.996162, 0.0871419, 1.59078], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.848811, 0.0789675, 0.522766, 1.1519], [-0.527261, -0.199253, -0.826011, 2.32908], [0.0389342, -0.976761, 0.210764, 1.61642], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.912525, 0.0605214, 0.404519, 1.13268], [-0.408735, -0.171963, -0.896306, 2.3019], [0.0153163, -0.983243, 0.181657, 1.6377], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.995125, 0.0138694, 0.0976425, 1.15649], [-0.0984963, -0.0896883, -0.991088, 2.18611], [-0.00498858, -0.995873, 0.0906171, 1.65829], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.981507, 0.00933683, -0.191201, 1.45285], [0.191321, 0.0142969, -0.981424, 2.09061], [-0.00642988, -0.999854, -0.0158189, 1.55359], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.927095, 0.101425, -0.360843, 1.74834], [0.372202, 0.13539, -0.918224, 1.86742], [-0.044277, -0.985588, -0.16327, 1.48366], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.787422, 0.185498, -0.587841, 2.06417], [0.615214, 0.177009, -0.768231, 1.80118], [-0.0384525, -0.96657, -0.253502, 1.46841], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.694837, 0.137576, -0.705886, 2.27982], [0.717705, 0.0700894, -0.692811, 1.92392], [-0.0458388, -0.988008, -0.147439, 1.54702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.691033, -0.0279553, -0.722282, 2.38591], [0.722762, -0.0397199, -0.689955, 2.03312], [-0.00940111, -0.99882, 0.0476528, 1.67911], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.509153, -0.0298476, -0.860159, 2.52968], [0.858986, -0.0802314, -0.505674, 1.99179], [-0.0539186, -0.996329, 0.0664886, 1.75722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.342339, 0.195542, -0.919003, 2.57184], [0.939441, 0.0546142, -0.338332, 1.93507], [-0.0159674, -0.979174, -0.202396, 1.58293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.381948, 0.312199, -0.869855, 2.66949], [0.92319, 0.172523, -0.343447, 1.92408], [0.0428465, -0.93422, -0.354114, 1.40596], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.223492, 0.357924, -0.90661, 2.72029], [0.970441, 0.168623, -0.172656, 1.87118], [0.0910778, -0.918399, -0.38503, 1.42688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.0426508, 0.386924, -0.921125, 2.75171], [0.997434, 0.0365673, 0.0615446, 1.75344], [0.0574961, -0.921386, -0.384372, 1.43368], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.0588552, 0.402854, -0.91337, 2.70762], [0.997222, 0.0181299, 0.072255, 1.66296], [0.0456675, -0.915085, -0.400668, 1.39116], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.0642059, 0.136353, -0.988578, 2.579], [0.997835, -0.0229764, 0.061638, 1.64294], [-0.0143095, -0.990394, -0.137532, 1.52668], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.148501, -0.0401303, -0.988098, 2.55664], [0.988735, 0.0249569, 0.147583, 1.53253], [0.0187373, -0.998883, 0.0433842, 1.64143], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.372873, -0.0236534, -0.927581, 2.5181], [0.927486, 0.0386958, 0.371849, 1.36689], [0.027098, -0.998971, 0.0363668, 1.65911], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.501554, 0.0811614, -0.861311, 2.43168], [0.864295, -0.00338371, 0.502974, 1.34573], [0.0379076, -0.996695, -0.0718446, 1.56591], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.642866, 0.119911, -0.756535, 2.2341], [0.764586, -0.0409283, 0.643221, 1.30209], [0.0461657, -0.991941, -0.117994, 1.47906], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.810292, 0.0677362, -0.582099, 2.05622], [0.585522, -0.0523785, 0.808963, 1.20094], [0.0243067, -0.996327, -0.0821029, 1.52295], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.942814, 0.0441135, -0.330388, 1.87054], [0.332329, -0.0480279, 0.94194, 1.22572], [0.0256845, -0.997872, -0.0599415, 1.51562], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.999559, -0.0215656, -0.0204222, 1.63905], [0.0192177, -0.0546483, 0.998321, 1.31344], [-0.0226453, -0.998273, -0.0542099, 1.55019], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.962983, -0.0945913, 0.25242, 1.39692], [-0.263347, -0.130213, 0.955873, 1.26823], [-0.0575488, -0.986964, -0.150303, 1.56468], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.91024, -0.13617, 0.391052, 1.27855], [-0.406216, -0.110434, 0.90708, 1.37921], [-0.0803311, -0.984511, -0.155835, 1.53678], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.872701, -0.101873, 0.477509, 1.17408], [-0.479739, 0.00295291, 0.877406, 1.42939], [-0.090794, -0.994793, -0.0462955, 1.64405], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.880356, -0.0435826, 0.472307, 1.1621], [-0.46403, 0.127092, 0.876655, 1.32621], [-0.0982332, -0.990933, 0.0916624, 1.72487], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.889278, -0.132545, 0.43774, 1.16227], [-0.437619, 0.0316153, 0.898605, 1.23724], [-0.132945, -0.990673, -0.0298894, 1.64381], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.862157, -0.21796, 0.45736, 1.12061], [-0.493179, -0.154338, 0.856128, 1.21761], [-0.116014, -0.963677, -0.240557, 1.52396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.811276, -0.258121, 0.5246, 1.11719], [-0.575223, -0.19179, 0.795195, 1.17864], [-0.104643, -0.946885, -0.304072, 1.51203], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.710979, -0.247992, 0.658035, 1.13211], [-0.701373, -0.182404, 0.689061, 1.19996], [-0.0508531, -0.951435, -0.30362, 1.51115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.553711, -0.148051, 0.819442, 1.11976], [-0.832377, -0.0706133, 0.549693, 1.41419], [-0.023519, -0.986456, -0.162334, 1.55864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.373368, -0.0722705, 0.924864, 1.18717], [-0.927618, -0.0409007, 0.371284, 1.53265], [0.0109949, -0.996546, -0.0823105, 1.58901], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.226726, 0.0664101, 0.971692, 1.27046], [-0.973826, -0.000986487, 0.227291, 1.67891], [0.0160532, -0.997792, 0.0644483, 1.62955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.0147572, 0.106512, 0.994202, 1.24118], [-0.99964, 0.0238734, 0.0122803, 1.85694], [-0.0224268, -0.994025, 0.106826, 1.67802], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.0543115, -0.0497253, 0.997285, 1.23926], [-0.998433, 0.0162371, -0.0535644, 1.89793], [-0.0135295, -0.998631, -0.0505292, 1.5456], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.118324, -0.231489, 0.965615, 1.25156], [-0.991685, 0.0771127, -0.103032, 1.94368], [-0.0506102, -0.969777, -0.238689, 1.35955], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.306328, -0.352018, 0.884447, 1.26103], [-0.951411, 0.143793, -0.27229, 2.03004], [-0.0313265, -0.924882, -0.378962, 1.29271], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.285457, -0.325455, 0.90144, 1.25952], [-0.958314, 0.108891, -0.264154, 1.83622], [-0.0121886, -0.939267, -0.342972, 1.31164], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0790_00"}, {"annotation": [{"question_id": "test-scene0791-0", "question": "What is in the front left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-1", "question": "How many chairs are on the frontmost row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-2", "question": "What color is the chair in the front row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-3", "question": "What is in the front right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-4", "question": "How is a chair folded up?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-5", "question": "Where is a chair tucked?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-6", "question": "How many whiteboards are in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-7", "question": "What is under the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-8", "question": "What color is the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-9", "question": "How many chairs are in the front row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-10", "question": "What color is the folding chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-11", "question": "What is in front of the black box hanging off the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-12", "question": "How may rows of seats are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-13", "question": "What is on the end of the first row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-14", "question": "Where is the grey chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-15", "question": "What is tucked under the grey table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-16", "question": "What is hanging off the wall to the right of the grey table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-17", "question": "What type of desk is near the black table near the front of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-18", "question": "Where is the pew desk located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-19", "question": "Where is the black theater chair from the left in the front row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-20", "question": "What type of table is near the doorway to the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-21", "question": "Where is the pew desk table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-22", "question": "What color are the seats?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-23", "question": "What is at the square table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-24", "question": "What do you look at at the front of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-25", "question": "What color are the chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-26", "question": "Where is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-27", "question": "What size is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-28", "question": "How many legs does the table have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-29", "question": "Where is the podium located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-30", "question": "What is pulled up to the podium?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-31", "question": "Imagine standing at the from of the room looking at what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-32", "question": "What color is the table at the front of the classroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-33", "question": "How many chairs are in the first row of the classroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-34", "question": "What is on the front left side of the first row of chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-35", "question": "Where is the pew at the head of the classroom located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-36", "question": "On what side of the classroom is the chair in the front row of the classroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-37", "question": "What type of table is in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-38", "question": "Where is the pew located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-39", "question": "Where is the black table in the student's room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-40", "question": "What is in the front of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-41", "question": "In what room is the student's chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-42", "question": "What shape is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-43", "question": "What is the chair in the first row on the far right side?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0791-44", "question": "On which side of the lecture room is the chair located?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.321272, -0.357805, 0.87679, 7.0898], [-0.94683, -0.138262, 0.290513, 2.16398], [0.0172803, -0.923504, -0.3832, 1.5274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.422071, -0.38216, 0.822077, 7.12154], [-0.906563, -0.177204, 0.38307, 2.12746], [-0.000718527, -0.906947, -0.421244, 1.46762], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.389005, -0.3702, 0.843581, 7.36425], [-0.921202, -0.16421, 0.352736, 2.06732], [0.00794174, -0.914324, -0.404907, 1.47508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.445051, -0.236456, 0.863724, 7.51508], [-0.895199, -0.0922471, 0.436015, 1.99894], [-0.0234226, -0.967253, -0.25273, 1.54391], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.379052, -0.153393, 0.912574, 7.42529], [-0.925376, -0.0633554, 0.37372, 2.10679], [0.000490645, -0.986132, -0.165961, 1.63767], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.333822, -0.171637, 0.926879, 7.13737], [-0.942443, -0.0408553, 0.331862, 2.26947], [-0.0190919, -0.984313, -0.175396, 1.65013], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.356153, -0.29373, 0.887062, 6.85825], [-0.934208, -0.0913142, 0.344846, 2.35331], [-0.0202902, -0.951517, -0.306926, 1.51699], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.345993, -0.363512, 0.864956, 6.73321], [-0.936898, -0.183096, 0.297822, 2.4911], [0.0501084, -0.913419, -0.403923, 1.44323], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.290026, -0.375425, 0.880308, 6.71169], [-0.956879, -0.129467, 0.26004, 2.72249], [0.0163455, -0.917766, -0.396785, 1.50026], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.268033, -0.289114, 0.919006, 6.86676], [-0.962977, -0.0518088, 0.264559, 2.71262], [-0.028875, -0.955892, -0.292296, 1.65159], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.231666, -0.0903496, 0.968591, 6.83393], [-0.972622, -0.00266171, 0.232381, 2.62], [-0.0184175, -0.995906, -0.0884925, 1.78599], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.217702, 0.000284895, 0.976016, 6.79731], [-0.975962, -0.0104722, 0.217693, 2.53534], [0.010283, -0.999945, -0.00200173, 1.92525], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.28064, 0.0616307, 0.957833, 6.75505], [-0.959732, 0.0310195, 0.279201, 2.48857], [-0.0125042, -0.997617, 0.0678543, 1.98683], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.461027, 0.179227, 0.869099, 6.81053], [-0.886943, 0.0621184, 0.457683, 2.52673], [0.0280421, -0.981845, 0.187602, 1.79159], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.500623, 0.0402065, 0.864731, 6.92225], [-0.864842, -0.0203356, 0.501633, 2.5359], [0.0377537, -0.998984, 0.0245918, 1.67075], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.996227, -0.0730612, 0.0468475, 1.95093], [-0.0595596, 0.182889, -0.981328, 5.62263], [0.063129, -0.980415, -0.18655, 2.22967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.975452, -0.124399, 0.18171, 1.99911], [-0.20724, 0.239534, -0.948513, 5.33413], [0.0744686, -0.962886, -0.259434, 2.10871], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.934709, -0.152437, 0.321064, 1.93265], [-0.353274, 0.299512, -0.886279, 5.05827], [0.0389392, -0.941836, -0.333808, 2.06908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.915536, -0.160181, 0.368969, 1.94185], [-0.401681, 0.315817, -0.8596, 4.77407], [0.0211648, -0.935201, -0.353483, 2.03297], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.850425, -0.202976, 0.485364, 1.93888], [-0.525875, 0.301166, -0.795459, 4.47277], [0.015284, -0.931719, -0.362859, 2.0135], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.694508, -0.285179, 0.660555, 1.78223], [-0.719034, 0.242578, -0.651265, 4.14853], [0.0254909, -0.927269, -0.373526, 2.0114], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.621977, -0.320938, 0.714243, 1.86847], [-0.782148, 0.211213, -0.586204, 3.88594], [0.0372778, -0.923249, -0.38239, 1.97886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.4263, -0.407564, 0.807564, 1.94184], [-0.903843, 0.155835, -0.398477, 3.58894], [0.036558, -0.899782, -0.434806, 1.94735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.322637, -0.39376, 0.860732, 2.15229], [-0.946475, 0.125031, -0.297579, 3.33248], [0.00955635, -0.91067, -0.413024, 1.93194], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.214726, -0.416863, 0.883243, 2.46237], [-0.976674, 0.092248, -0.193902, 3.12378], [-0.000647023, -0.904276, -0.426947, 1.91881], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.12834, -0.384912, 0.913987, 2.76863], [-0.989523, 0.111167, -0.0921297, 2.8229], [-0.0661433, -0.916234, -0.395146, 1.93138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.0948675, -0.429975, 0.897843, 3.21509], [-0.994361, 0.0838658, -0.0649026, 2.71413], [-0.0473918, -0.898937, -0.435506, 1.84453], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.0664652, -0.448, 0.89156, 3.66715], [-0.997522, -0.00915302, 0.0697653, 2.57999], [-0.0230944, -0.893987, -0.447498, 1.79134], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.0134009, -0.453076, 0.891372, 4.18842], [-0.999744, -0.022353, 0.00366841, 2.54733], [0.0182627, -0.891192, -0.453259, 1.7188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.167251, -0.416577, 0.893583, 4.70423], [-0.985835, -0.0822229, 0.146187, 2.38066], [0.0125749, -0.905375, -0.424428, 1.69295], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.134947, -0.41773, 0.898494, 5.24141], [-0.990304, -0.0870562, 0.108262, 2.32847], [0.0329952, -0.904391, -0.425428, 1.62761], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.21319, -0.407248, 0.888088, 5.66068], [-0.977006, -0.0918863, 0.192399, 2.23319], [0.00324892, -0.908684, -0.417472, 1.60123], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.22602, -0.367233, 0.90225, 6.13021], [-0.973729, -0.111502, 0.198542, 2.2212], [0.0276918, -0.923422, -0.382787, 1.58951], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.301174, -0.333792, 0.89324, 6.58571], [-0.953433, -0.121287, 0.276146, 2.1537], [0.0161628, -0.934812, -0.354776, 1.54526], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.331147, -0.401539, 0.853878, 7.06184], [-0.943296, -0.118709, 0.310002, 2.09624], [-0.0231148, -0.908116, -0.41808, 1.48159], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.436922, -0.310746, 0.844119, 7.38114], [-0.8995, -0.15137, 0.409863, 2.01609], [0.000411224, -0.938362, -0.345653, 1.51394], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.518634, -0.170974, 0.837728, 7.68078], [-0.854948, -0.093207, 0.510272, 2.0764], [-0.00916085, -0.980857, -0.194514, 1.54621], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.664795, -0.016822, 0.746837, 7.92357], [-0.745961, -0.0683019, 0.662478, 2.05499], [0.0398661, -0.997523, -0.0579552, 1.63922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.731448, -0.130064, 0.669378, 8.01292], [-0.68164, -0.166447, 0.712505, 2.10092], [0.018745, -0.977435, -0.210404, 1.50678], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.860447, -0.209681, 0.464398, 8.03095], [-0.50896, -0.310186, 0.80296, 2.03739], [-0.0243157, -0.927264, -0.373617, 1.43094], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.938291, -0.155962, 0.308686, 7.9976], [-0.345774, -0.404516, 0.846645, 2.02962], [-0.00717607, -0.901134, -0.433481, 1.3954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.965979, -0.117955, 0.230156, 7.79709], [-0.257648, -0.516052, 0.816889, 2.1383], [0.0224158, -0.848397, -0.528886, 1.33806], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[0.987905, -0.0650136, 0.140772, 7.79906], [-0.154835, -0.462465, 0.873014, 2.27163], [0.00834438, -0.884251, -0.466938, 1.36807], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[0.999886, 0.00912764, -0.0120907, 8.00172], [0.0147478, -0.403978, 0.91465, 2.50425], [0.00346431, -0.914723, -0.404066, 1.43555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[0.993465, 0.0784667, -0.0828967, 8.0914], [0.100514, -0.257233, 0.961108, 2.76427], [0.0540912, -0.963158, -0.263439, 1.48225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.992265, 0.0587862, -0.109338, 8.19475], [0.11897, -0.198779, 0.972797, 2.95729], [0.0354529, -0.97828, -0.204235, 1.50954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.97816, 0.0719227, -0.195016, 8.26561], [0.206246, -0.21932, 0.953605, 3.15776], [0.025815, -0.972998, -0.229364, 1.50807], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.992933, 0.0455503, -0.109595, 8.21643], [0.116237, -0.186689, 0.975519, 3.49373], [0.023975, -0.981363, -0.190664, 1.53217], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.99666, 0.0403352, -0.0710075, 8.27294], [0.0765065, -0.157072, 0.98462, 3.9015], [0.0285616, -0.986763, -0.159633, 1.5455], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.987538, 0.0871198, -0.131072, 8.32353], [0.143437, -0.155459, 0.977374, 4.29679], [0.0647724, -0.983993, -0.166017, 1.53268], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.943288, 0.121883, -0.308794, 8.50031], [0.329685, -0.234797, 0.914428, 4.53078], [0.0389493, -0.964373, -0.261664, 1.47742], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.864526, 0.202352, -0.460053, 8.84419], [0.498419, -0.227527, 0.836547, 4.5972], [0.0646027, -0.952515, -0.297559, 1.47697], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.699939, 0.313959, -0.641496, 9.01264], [0.707816, -0.185075, 0.681722, 4.79543], [0.095308, -0.931224, -0.351765, 1.46566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.430062, 0.335651, -0.838084, 9.26776], [0.901924, -0.118861, 0.415218, 4.99061], [0.0397527, -0.934457, -0.353849, 1.48483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.180817, 0.365663, -0.913015, 9.31522], [0.983343, -0.0497636, 0.174815, 5.18342], [0.0184885, -0.929416, -0.368571, 1.49345], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[-0.151139, 0.374421, -0.914859, 9.28925], [0.988465, 0.0663677, -0.136137, 5.22205], [0.00974432, -0.924881, -0.380133, 1.49139], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[-0.409196, 0.367846, -0.835015, 9.29995], [0.912447, 0.165577, -0.374201, 5.46817], [0.000610966, -0.915027, -0.403393, 1.43947], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[-0.611678, 0.27456, -0.741935, 9.10398], [0.788776, 0.283615, -0.54534, 5.57702], [0.0606955, -0.918792, -0.390047, 1.43559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.832261, 0.184636, -0.522734, 8.98573], [0.553866, 0.31769, -0.769614, 5.78289], [0.0239692, -0.930045, -0.366664, 1.43352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.958001, 0.0765588, -0.276358, 8.87165], [0.28493, 0.362993, -0.88716, 5.78611], [0.032396, -0.928642, -0.369561, 1.39839], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.99939, -0.0345472, 0.00523317, 8.65371], [-0.0175497, 0.366785, -0.930141, 5.68702], [0.0302142, -0.929664, -0.367167, 1.40361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.930493, -0.100145, 0.352356, 8.34132], [-0.365008, 0.334539, -0.868823, 5.54347], [-0.0308682, -0.937046, -0.347839, 1.40279], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.893208, -0.14291, 0.426328, 8.22536], [-0.449559, 0.302171, -0.840589, 5.18173], [-0.00869533, -0.94248, -0.334148, 1.44847], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.831749, -0.145545, 0.535734, 8.11312], [-0.552937, 0.303309, -0.776057, 4.77362], [-0.0495421, -0.941711, -0.332754, 1.43136], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.766709, -0.20591, 0.608078, 8.14232], [-0.641608, 0.278686, -0.714615, 4.37373], [-0.022316, -0.938049, -0.345784, 1.41436], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.704993, -0.246616, 0.664955, 8.05829], [-0.709019, 0.267123, -0.65264, 3.92473], [-0.0166736, -0.931572, -0.363175, 1.39964], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.585215, -0.349763, 0.731567, 8.03764], [-0.80994, 0.208725, -0.548117, 3.56578], [0.0390151, -0.913291, -0.405435, 1.35649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.4, -0.462784, 0.791095, 7.79533], [-0.914222, 0.14045, -0.380095, 3.24135], [0.0647926, -0.875274, -0.479267, 1.38338], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.167292, -0.436127, 0.884199, 7.5157], [-0.985324, 0.0430962, -0.165167, 2.86561], [0.0339283, -0.898853, -0.436936, 1.42058], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[0.15536, -0.420596, 0.893847, 7.1544], [-0.9876, -0.0868045, 0.13081, 2.54527], [0.022572, -0.903086, -0.428867, 1.46867], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0791_00"}, {"annotation": [{"question_id": "test-scene0793-0", "question": "How many monitors are in front of the door with two papers attached onto it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-1", "question": "What is the chair in the middle of the screen called?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-2", "question": "What is the chair facing the screen called?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-3", "question": "What is placed in the middle of a room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-4", "question": "What is next to the active monitor in the right corner in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-5", "question": "A white printer is placed next to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-6", "question": "What is to the right of the powered monitor in the back corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-7", "question": "What type of table has a computer on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-8", "question": "Where is the black trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-9", "question": "What is in between to other monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-10", "question": "What is immediately next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-11", "question": "What color is the trash can next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-12", "question": "What color is the office chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-13", "question": "Where is the garbage can located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-14", "question": "What colors is the monitor lit up in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-15", "question": "What color is the table on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-16", "question": "Where is the printer located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-17", "question": "What color office chair is to the left of the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-18", "question": "The office chair is to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-19", "question": "What color monitor is to the right of the printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-20", "question": "What color monitor is to the left of the black monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-21", "question": "What color office chair is at the end of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-22", "question": "What color printer is in the far corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-23", "question": "What's in front of the grey office chair next to the dry erase board by the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-24", "question": "What type of trash can is on the floor by the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-25", "question": "Where is the trash can on the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-26", "question": "What colors are the working monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-27", "question": "How many monitors are sitting over the back wall long table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-28", "question": "What color are the active monitors on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-29", "question": "What color is the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-30", "question": "What color is the chair on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-31", "question": "On what side of the screen is the black monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-32", "question": "What is sitting next to a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-33", "question": "What color is the chair in the middle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-34", "question": "How is the monitor on the right different from the ones to the left on the same table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-35", "question": "Where is the monitor that is next to a box on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-36", "question": "What is the color of the non-brown door in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-37", "question": "How many blackboard panels are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-38", "question": "What is currently closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-39", "question": "How many panel blackboards are on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-40", "question": "Where is the blackboard located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-41", "question": "What is on the far end of the room away from the center table.?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-42", "question": "What is on the table between two monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-43", "question": "What is next to the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-44", "question": "What color are the chairs in front of the monitors ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-45", "question": "How many wheels do the office chairs have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-46", "question": "How many whiteboard panels are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-47", "question": "What is the office chair in front of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-48", "question": "Where is the trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-49", "question": "How many other monitors are on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-50", "question": "On what side of the door are computers and table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-51", "question": "What is seen on the left of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-52", "question": "What is next to a printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-53", "question": "What is between two computers?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-54", "question": "What type of chair has a back facing the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-55", "question": "What is left of a shorter desk with four monitors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-56", "question": "Where is the white door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-57", "question": "What color monitor is in the right corner ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-58", "question": "What color is the monitor second from the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-59", "question": "What color is the chair second from the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-60", "question": "What color is the chair cushion?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-61", "question": "What color are the chairs at the small rectangular table ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-62", "question": "What color is the chair in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-63", "question": "How many purple monitors are there ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-64", "question": "What color is the desk?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-65", "question": "What is tucked in under a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-66", "question": "What kind of chair is in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-67", "question": "What is placed on the table and is currently on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-68", "question": "Where is an office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-69", "question": "What is next to the monitor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-70", "question": "Where is a printer located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-71", "question": "What kind of chairs are in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-72", "question": "How many windows are in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-73", "question": "What color are the blinds covering the windows?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-74", "question": "What is next to the printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-75", "question": "What type of chair is the one closest to the trashcan?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-76", "question": "What is long and stretches from the left wall of the room nearly to the right wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-77", "question": "What color is the table in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-78", "question": "The office chair is close to what color double doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-79", "question": "What is all along the wall across from the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-80", "question": "What color is the blackboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-81", "question": "What color chalk is on the blackboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-82", "question": "How many pieces is the board divided into?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-83", "question": "What is the second monitor from the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-84", "question": "What is facing the second monitor from the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-85", "question": "What is facing the monitor directly in front of the brown door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-86", "question": "The office chair is the third chair away from what color double doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-87", "question": "What color is the printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-88", "question": "What is in the dead center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-89", "question": "How many computer desks are in the back wall of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-90", "question": "What is at the head of the last table before the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-91", "question": "What type of chair is the one near the printer in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-92", "question": "Where is the first computer monitor located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-93", "question": "What is on the table in front of the brown doors?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-94", "question": "What type of chair is in the second row?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-95", "question": "In what row is the office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-96", "question": "Where is the printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-97", "question": "Where is the black board located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-98", "question": "What is in front of the desks?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-99", "question": "What is on the left side of the classroom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0793-100", "question": "What is on the table in the middle of the classroom?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.399967, -0.108042, 0.910139, 5.03575], [-0.916516, 0.0526169, -0.396523, 6.29403], [-0.00504763, -0.992753, -0.120067, 1.78], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.452075, -0.125996, 0.883037, 4.8944], [-0.891649, 0.0907965, -0.443528, 6.39102], [-0.024294, -0.987867, -0.153391, 1.74969], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.535897, -0.193742, 0.821754, 4.82658], [-0.844136, 0.104729, -0.525801, 6.45433], [0.0158087, -0.975446, -0.219669, 1.71894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.656265, -0.324519, 0.681178, 4.85409], [-0.754459, 0.26976, -0.598349, 6.49862], [0.0104208, -0.906596, -0.42187, 1.60219], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.636182, -0.252137, 0.729177, 4.85038], [-0.771537, 0.205799, -0.601978, 6.49481], [0.00171721, -0.945555, -0.325458, 1.68129], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.675767, -0.125842, 0.726294, 4.80022], [-0.736021, 0.168872, -0.655557, 6.37662], [-0.0401542, -0.977572, -0.20674, 1.79536], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.63534, -0.104151, 0.765177, 4.71725], [-0.771424, 0.130921, -0.622707, 6.15624], [-0.035322, -0.985907, -0.163524, 1.78134], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.644595, -0.0318325, 0.763861, 4.78264], [-0.759379, 0.142383, -0.634879, 5.91312], [-0.088551, -0.9893, -0.115952, 1.75591], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.613373, -0.0841333, 0.785299, 4.81852], [-0.787967, 0.132761, -0.601234, 5.68744], [-0.0536736, -0.987571, -0.147727, 1.73532], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.517234, -0.109037, 0.84887, 4.82165], [-0.855221, 0.10367, -0.507788, 5.43651], [-0.0326348, -0.988617, -0.146873, 1.74032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.405627, -0.152258, 0.901268, 4.76792], [-0.913648, 0.0387138, -0.404659, 5.1334], [0.0267209, -0.987582, -0.154813, 1.74308], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.389324, -0.134859, 0.911175, 4.70342], [-0.920725, 0.0852271, -0.380791, 4.77663], [-0.0263037, -0.987193, -0.157349, 1.76069], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.428706, -0.124927, 0.894765, 4.74537], [-0.902974, 0.0911974, -0.419906, 4.43909], [-0.0291423, -0.987966, -0.151903, 1.76669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.365493, -0.159423, 0.91706, 4.7106], [-0.930575, 0.0849063, -0.356119, 4.12046], [-0.0210906, -0.983552, -0.179387, 1.77231], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.443904, -0.118772, 0.888168, 4.72635], [-0.895903, 0.0781985, -0.437312, 3.87698], [-0.017513, -0.989838, -0.141121, 1.78377], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.425307, -0.100101, 0.899497, 4.70429], [-0.904127, 0.0918503, -0.417274, 3.61592], [-0.0408493, -0.990729, -0.129569, 1.82435], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.504195, -0.103453, 0.857371, 4.75575], [-0.862237, 0.115843, -0.493079, 3.54549], [-0.0483098, -0.987865, -0.147609, 1.84923], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.504543, -0.0706016, 0.860495, 4.7016], [-0.863387, 0.0415345, -0.50283, 3.32144], [-0.000239627, -0.99664, -0.0819124, 1.93452], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.676313, -0.140893, 0.723015, 4.83144], [-0.735725, 0.177438, -0.653624, 3.57979], [-0.0361991, -0.973994, -0.223662, 1.77639], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.675253, -0.260552, 0.690034, 4.82517], [-0.73646, 0.186479, -0.650271, 3.86211], [0.0407532, -0.947279, -0.317807, 1.6835], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.544109, -0.358821, 0.758415, 4.73081], [-0.837997, 0.187911, -0.512299, 4.15764], [0.0413096, -0.914296, -0.402935, 1.61417], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.550755, -0.276383, 0.78758, 4.81161], [-0.832369, 0.111896, -0.542809, 4.38645], [0.0618961, -0.954511, -0.29168, 1.68518], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.549357, -0.077697, 0.831968, 4.83109], [-0.835392, 0.0725967, -0.544839, 4.27669], [-0.0180657, -0.99433, -0.104789, 1.78411], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.705675, -0.0232259, 0.708155, 4.83387], [-0.706598, -0.0508017, -0.70579, 4.07706], [0.052368, -0.998439, 0.0194381, 1.98697], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.934672, -0.0218073, 0.354842, 5.03419], [-0.355404, 0.0327263, -0.93414, 4.04167], [0.00875833, -0.999227, -0.0383387, 1.86025], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.97867, -0.0539699, 0.198222, 5.10076], [-0.202688, 0.0963156, -0.974495, 3.93209], [0.0335015, -0.993887, -0.1052, 1.79465], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.97929, -0.0500606, 0.196175, 5.06979], [-0.202453, 0.233262, -0.951106, 3.79281], [0.00185288, -0.971125, -0.238566, 1.74023], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.989789, -0.0885147, 0.111727, 5.14862], [-0.132065, 0.274538, -0.952464, 3.74753], [0.0536338, -0.957494, -0.283424, 1.70265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.99973, 0.0184763, 0.0140606, 5.34371], [-0.0111922, 0.147087, -0.98906, 3.56785], [-0.0203422, -0.988951, -0.14684, 1.81502], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.996904, 0.0217227, -0.0755646, 5.29925], [0.0773222, 0.0966383, -0.992312, 3.33568], [-0.0142533, -0.995083, -0.0980188, 1.85672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.982724, 0.0388775, -0.180947, 5.28306], [0.182705, 0.0477551, -0.982007, 3.00134], [-0.0295368, -0.998102, -0.0540332, 1.86075], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.934771, 0.0547232, -0.351011, 5.19857], [0.351475, -0.00121091, -0.936196, 2.83282], [-0.0516568, -0.998501, -0.0181019, 1.97754], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.867648, 0.0617829, -0.493326, 5.01491], [0.495585, 0.0280815, -0.868105, 2.89876], [-0.0397808, -0.997695, -0.0549835, 1.98862], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.815194, 0.126553, -0.565192, 4.92971], [0.574351, 0.0507877, -0.817032, 2.98271], [-0.0746927, -0.990659, -0.114087, 1.90334], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.800157, 0.137225, -0.583882, 5.15433], [0.599191, 0.139364, -0.788383, 3.00764], [-0.0268136, -0.980687, -0.193737, 1.79757], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.813572, 0.15543, -0.560306, 5.34794], [0.581246, 0.190979, -0.790999, 3.08624], [-0.0159384, -0.96921, -0.245718, 1.75875], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.827382, 0.207616, -0.521857, 5.43716], [0.560814, 0.25502, -0.787688, 3.23695], [-0.0304524, -0.944384, -0.327433, 1.72372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.78773, 0.269646, -0.55387, 5.65911], [0.615905, 0.327343, -0.716594, 3.2643], [-0.011921, -0.905615, -0.423934, 1.65786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.709157, 0.239417, -0.663157, 5.70008], [0.704759, 0.267755, -0.656979, 3.29162], [0.0202717, -0.933267, -0.358612, 1.7024], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.650638, 0.240251, -0.720382, 5.59838], [0.758799, 0.168325, -0.629198, 3.39599], [-0.0299071, -0.956005, -0.291821, 1.74008], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.514251, 0.261529, -0.816792, 5.62808], [0.857498, 0.139458, -0.495226, 3.38858], [-0.0156075, -0.955068, -0.295977, 1.73681], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.580778, 0.27501, -0.766202, 5.52435], [0.810207, 0.103784, -0.576883, 3.4475], [-0.079129, -0.955824, -0.28309, 1.74418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.713635, 0.293564, -0.636039, 5.32451], [0.699557, 0.251127, -0.668995, 3.60051], [-0.0366664, -0.922364, -0.384578, 1.69108], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.809509, 0.257271, -0.527738, 5.21201], [0.586645, 0.318789, -0.74446, 3.59148], [-0.0232911, -0.912242, -0.408989, 1.6781], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.890054, 0.209108, -0.405066, 4.92779], [0.455252, 0.362001, -0.81345, 3.82988], [-0.0234641, -0.908421, -0.417397, 1.6628], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.924006, 0.19167, -0.330873, 4.88117], [0.379781, 0.359306, -0.852447, 4.04662], [-0.0445039, -0.913325, -0.404793, 1.66281], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.960999, 0.122344, -0.24802, 4.94165], [0.276298, 0.386194, -0.880065, 4.24342], [-0.0118866, -0.914268, -0.404935, 1.63429], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.979428, 0.141444, -0.143925, 4.92137], [0.188818, 0.390734, -0.90093, 4.33869], [-0.0711942, -0.909572, -0.409403, 1.6646], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.892541, 0.237029, -0.38365, 5.05799], [0.443047, 0.302158, -0.844044, 4.40873], [-0.0841396, -0.923319, -0.374704, 1.68827], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.778681, 0.33055, -0.533284, 5.18878], [0.623249, 0.309676, -0.718096, 4.52416], [-0.0722214, -0.891537, -0.447154, 1.66589], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.762599, 0.345244, -0.547037, 5.3093], [0.644406, 0.3317, -0.688996, 4.69879], [-0.0564198, -0.877941, -0.475432, 1.67304], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.609038, 0.353963, -0.709777, 5.40676], [0.787647, 0.164769, -0.593686, 4.79995], [-0.0931939, -0.920631, -0.379149, 1.71932], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.454793, 0.363448, -0.813061, 5.28491], [0.884054, 0.0737706, -0.461527, 5.02503], [-0.107761, -0.928689, -0.354858, 1.72003], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.289249, 0.430326, -0.855076, 5.22769], [0.953353, 0.0489346, -0.297867, 5.1048], [-0.0863371, -0.901346, -0.424407, 1.66921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.345398, 0.449594, -0.823751, 5.17113], [0.932144, 0.0627247, -0.356613, 5.2284], [-0.108661, -0.891028, -0.440751, 1.64041], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.562048, 0.398028, -0.725036, 5.20617], [0.825178, 0.210048, -0.524367, 5.49087], [-0.0564205, -0.893003, -0.446501, 1.64425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.624472, 0.39885, -0.671531, 5.41352], [0.779045, 0.256554, -0.572074, 5.64393], [-0.055888, -0.880397, -0.470933, 1.61882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.598414, 0.420991, -0.681665, 5.49012], [0.800471, 0.278203, -0.530894, 5.9031], [-0.0338603, -0.863348, -0.503472, 1.58715], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.444277, 0.487187, -0.751842, 5.55708], [0.895139, 0.207046, -0.39479, 6.05563], [-0.0366703, -0.848399, -0.528086, 1.60179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.297321, 0.484291, -0.822838, 5.75509], [0.954487, 0.129496, -0.268674, 6.09902], [-0.0235627, -0.86527, -0.500751, 1.63073], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.129384, 0.5176, -0.845784, 5.89641], [0.990938, 0.0364536, -0.12928, 6.21969], [-0.0360835, -0.854846, -0.517626, 1.62503], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.107129, 0.513401, -0.851436, 5.85117], [0.994191, -0.046379, 0.097125, 6.20442], [0.0103753, -0.856895, -0.515387, 1.63782], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.306243, 0.438574, -0.844907, 5.68186], [0.951751, -0.122742, 0.281256, 5.91056], [0.0196457, -0.890274, -0.455002, 1.64431], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.647703, 0.310426, -0.695785, 5.39286], [0.76101, -0.219656, 0.610421, 5.69295], [0.0366572, -0.924871, -0.37851, 1.65311], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.788687, 0.201414, -0.580866, 5.21777], [0.613921, -0.207644, 0.761568, 5.41869], [0.0327765, -0.957244, -0.287418, 1.7228], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.794277, 0.200859, -0.573393, 5.14642], [0.602184, -0.135049, 0.786852, 5.37449], [0.0806104, -0.970267, -0.228221, 1.73104], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.900141, 0.177087, -0.397977, 4.98845], [0.427262, -0.181053, 0.885814, 5.21661], [0.0848117, -0.967399, -0.238636, 1.71418], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.98081, 0.126291, -0.148535, 4.82976], [0.168166, -0.162509, 0.972271, 5.03692], [0.098651, -0.978592, -0.180628, 1.80366], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.994091, 0.0396358, 0.101056, 4.79061], [-0.0943562, -0.144742, 0.98496, 4.98033], [0.0536667, -0.988675, -0.140147, 1.87679], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.964731, -0.0204586, 0.262441, 4.69356], [-0.262487, -0.14997, 0.95321, 4.8669], [0.019857, -0.988479, -0.150051, 1.91516], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.900271, -0.0266602, 0.434513, 4.69354], [-0.430764, -0.19874, 0.880309, 4.82273], [0.062886, -0.97969, -0.190404, 1.78376], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.83549, -0.0527273, 0.54697, 4.6287], [-0.545289, -0.202613, 0.813392, 4.97342], [0.0679352, -0.977838, -0.198033, 1.69202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[0.769883, 0.0440272, 0.636664, 4.61834], [-0.630425, -0.102626, 0.769436, 5.0935], [0.0992147, -0.993745, -0.0512545, 1.76107], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[0.739853, 0.0627046, 0.66984, 4.64686], [-0.670498, -0.0129899, 0.741797, 5.17547], [0.0552153, -0.997948, 0.0324327, 1.88725], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[0.571526, -0.0425395, 0.819481, 4.61483], [-0.819576, -0.0790902, 0.567486, 5.31583], [0.0406723, -0.995959, -0.0800664, 1.75539], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[0.457687, -0.113215, 0.881876, 4.59297], [-0.885596, -0.146189, 0.44085, 5.39324], [0.0790102, -0.982757, -0.167172, 1.66148], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[0.304611, -0.129704, 0.943604, 4.65124], [-0.949782, -0.115828, 0.290685, 5.34235], [0.0715929, -0.984764, -0.158473, 1.70106], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[0.273646, -0.047866, 0.960639, 4.7146], [-0.957234, -0.111079, 0.267142, 5.4215], [0.09392, -0.992658, -0.0762154, 1.73048], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[-0.0184057, -0.0558382, 0.99827, 4.95926], [-0.99823, -0.0554474, -0.0215064, 5.55452], [0.0565524, -0.996899, -0.0547188, 1.75434], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[-0.289395, -0.106492, 0.951268, 5.05165], [-0.957192, 0.0383094, -0.286908, 5.77975], [-0.00588915, -0.993575, -0.11302, 1.78301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[-0.406388, -0.159604, 0.899653, 4.98933], [-0.913661, 0.080132, -0.3985, 5.91982], [-0.00848893, -0.983924, -0.178388, 1.71358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[-0.547241, -0.213223, 0.80936, 5.01637], [-0.836586, 0.16882, -0.521175, 6.18402], [-0.0255097, -0.962308, -0.270764, 1.6579], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[-0.64201, -0.288098, 0.710509, 5.13891], [-0.765501, 0.189129, -0.615011, 6.56885], [0.0428055, -0.938738, -0.341962, 1.61593], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[-0.687297, -0.24916, 0.682307, 5.14133], [-0.726365, 0.230474, -0.647515, 6.87981], [0.00408067, -0.940639, -0.339385, 1.53253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[-0.758321, -0.247283, 0.603159, 5.42285], [-0.651413, 0.322533, -0.686756, 7.07968], [-0.0247154, -0.913687, -0.405667, 1.43936], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[-0.940303, -0.127889, 0.315396, 5.60919], [-0.340168, 0.382541, -0.859039, 6.97677], [-0.0107905, -0.915045, -0.403208, 1.54914], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[-0.924611, -0.038057, 0.379007, 5.84799], [-0.372916, 0.293252, -0.880305, 6.97839], [-0.0776428, -0.955278, -0.285336, 1.66725], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[-0.901755, -0.025767, 0.431479, 5.67294], [-0.428517, 0.18415, -0.884569, 6.86946], [-0.056664, -0.98256, -0.1771, 1.77235], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[-0.958608, 0.0204075, 0.283998, 5.52273], [-0.269348, 0.258399, -0.927729, 6.83921], [-0.0923172, -0.965823, -0.242207, 1.74163], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[-0.993012, 0.10151, -0.0601891, 5.73913], [0.0866052, 0.280373, -0.955976, 6.98142], [-0.0801657, -0.954509, -0.287205, 1.66325], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[-0.960578, 0.115804, -0.252747, 5.90177], [0.277785, 0.362942, -0.889443, 6.94937], [-0.0112689, -0.924588, -0.380803, 1.59334], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[-0.775879, 0.242171, -0.582551, 6.00895], [0.629891, 0.245624, -0.736822, 6.70389], [-0.0353487, -0.938628, -0.343115, 1.64777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1840", "pose": [[-0.576955, 0.339813, -0.742731, 6.22005], [0.816327, 0.209781, -0.538147, 6.52555], [-0.0270586, -0.916799, -0.398433, 1.65702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1860", "pose": [[-0.33801, 0.44411, -0.829769, 6.27331], [0.940421, 0.12485, -0.316262, 6.69425], [-0.0368579, -0.887231, -0.459851, 1.64674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1880", "pose": [[-0.194943, 0.418326, -0.887131, 6.25059], [0.980809, 0.0861007, -0.174928, 6.64528], [0.00320567, -0.904207, -0.427083, 1.66607], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1900", "pose": [[0.35495, 0.308052, -0.882675, 6.02309], [0.929964, -0.0195909, 0.367129, 6.20513], [0.0958026, -0.951168, -0.293431, 1.71978], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1920", "pose": [[0.687487, 0.160127, -0.708323, 5.74309], [0.722732, -0.0557029, 0.68888, 6.03609], [0.0708524, -0.985524, -0.154024, 1.73099], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1940", "pose": [[0.926874, 0.102638, -0.361069, 5.58335], [0.372269, -0.127889, 0.919271, 5.91859], [0.0481759, -0.986463, -0.156746, 1.77048], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1960", "pose": [[0.995545, 0.0401846, -0.0852947, 5.71043], [0.0890104, -0.102177, 0.990776, 5.92946], [0.0310987, -0.993954, -0.105299, 1.83727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1980", "pose": [[0.940348, 0.0732725, -0.33223, 5.64098], [0.337082, -0.0684529, 0.938983, 5.89147], [0.0460596, -0.99496, -0.0890685, 1.83887], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2000", "pose": [[0.832687, 0.131003, -0.538024, 5.24897], [0.547748, -0.0522736, 0.835009, 5.87141], [0.0812643, -0.990003, -0.115284, 1.75996], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2020", "pose": [[0.775221, 0.120339, -0.620122, 4.94225], [0.62762, -0.0354644, 0.777712, 5.98112], [0.0715968, -0.992099, -0.10302, 1.73066], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2040", "pose": [[0.693331, 0.0913872, -0.714801, 4.64561], [0.718858, -0.0183965, 0.694914, 6.12668], [0.0503564, -0.995646, -0.0784492, 1.6602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2060", "pose": [[0.607379, 0.155407, -0.779063, 4.33227], [0.790336, -0.0189946, 0.612379, 6.2721], [0.0803701, -0.987668, -0.134361, 1.62096], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2080", "pose": [[0.508767, 0.152577, -0.847276, 4.11232], [0.857702, -0.00501956, 0.514123, 6.44902], [0.0741904, -0.988279, -0.133419, 1.5727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2100", "pose": [[0.444712, 0.113919, -0.8884, 3.77777], [0.895286, -0.0273428, 0.444652, 6.51637], [0.0263631, -0.993114, -0.11415, 1.64313], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2120", "pose": [[0.247164, 0.0468926, -0.967838, 3.53496], [0.968428, 0.0215705, 0.24836, 6.68467], [0.032523, -0.998667, -0.0400807, 1.63081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2140", "pose": [[0.10345, 0.0595631, -0.99285, 3.27218], [0.994286, 0.0202276, 0.104813, 6.69814], [0.026326, -0.99802, -0.0571302, 1.56655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2160", "pose": [[-0.0317107, 0.303327, -0.952359, 3.1303], [0.997923, 0.0630543, -0.0131449, 6.73248], [0.0560631, -0.950798, -0.304697, 1.42632], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2180", "pose": [[-0.11802, 0.191238, -0.974423, 3.09365], [0.991695, 0.0732091, -0.105744, 6.88793], [0.0511143, -0.97881, -0.19829, 1.58708], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2200", "pose": [[-0.259088, 0.0672605, -0.963509, 2.9385], [0.960956, 0.118283, -0.250144, 6.78443], [0.0971422, -0.990699, -0.0952802, 1.54503], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2220", "pose": [[-0.399172, 0.144179, -0.905469, 2.6949], [0.914651, 0.131378, -0.3823, 6.70883], [0.0638391, -0.980792, -0.184316, 1.48508], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2240", "pose": [[-0.380887, 0.115987, -0.917318, 2.59434], [0.921436, 0.129889, -0.366174, 6.53129], [0.0766784, -0.984721, -0.156347, 1.44561], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2260", "pose": [[-0.375236, 0.121663, -0.91891, 2.52162], [0.922769, 0.142852, -0.357898, 6.21839], [0.0877249, -0.982238, -0.16587, 1.41817], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2280", "pose": [[-0.456983, 0.0774007, -0.886101, 2.33542], [0.886181, 0.125275, -0.446082, 6.01188], [0.0764796, -0.989098, -0.12584, 1.43878], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2300", "pose": [[-0.527101, 0.0456016, -0.848578, 2.33483], [0.846728, 0.113046, -0.519877, 5.67175], [0.0722213, -0.992543, -0.0981988, 1.4671], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2320", "pose": [[-0.629884, 0.0680785, -0.7737, 2.27592], [0.774967, 0.121389, -0.620235, 5.52752], [0.051694, -0.990268, -0.12922, 1.44448], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2340", "pose": [[-0.689397, 0.0696837, -0.721024, 2.13636], [0.722244, 0.142556, -0.676787, 5.33945], [0.0556256, -0.987331, -0.148607, 1.41918], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2360", "pose": [[-0.647315, 0.0251147, -0.761809, 2.18617], [0.75415, 0.166179, -0.635328, 4.92427], [0.110641, -0.985776, -0.126511, 1.41705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2380", "pose": [[-0.662663, 0.0702869, -0.745612, 2.18396], [0.747849, 0.115254, -0.653787, 4.61522], [0.0399822, -0.990846, -0.128939, 1.4352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2400", "pose": [[-0.64595, 0.0382488, -0.762421, 2.2231], [0.762077, 0.0906362, -0.641111, 4.30504], [0.0445812, -0.995149, -0.087695, 1.47322], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2420", "pose": [[-0.729288, 0.0661566, -0.681001, 2.22551], [0.682166, 0.147118, -0.716244, 4.01285], [0.0528029, -0.986904, -0.152421, 1.4826], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2440", "pose": [[-0.784252, 0.0729299, -0.616141, 2.17672], [0.618184, 0.176499, -0.765961, 3.77173], [0.0528868, -0.981595, -0.183504, 1.472], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2460", "pose": [[-0.771587, 0.104669, -0.627453, 2.33363], [0.634721, 0.192145, -0.748472, 3.56053], [0.0422195, -0.975769, -0.214692, 1.46009], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2480", "pose": [[-0.815205, 0.0766111, -0.574083, 2.31918], [0.579017, 0.130761, -0.804762, 3.38068], [0.013414, -0.98845, -0.150956, 1.50933], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2500", "pose": [[-0.874557, 0.0539962, -0.481907, 2.15757], [0.484304, 0.0470968, -0.873631, 3.17588], [-0.0244766, -0.99743, -0.0673394, 1.59745], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2520", "pose": [[-0.926181, 0.0476164, -0.374062, 2.12418], [0.373991, -0.0107293, -0.92737, 2.98401], [-0.0481714, -0.998808, -0.00787082, 1.71354], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2540", "pose": [[-0.988333, 0.0432057, -0.14605, 1.96065], [0.143552, -0.0561813, -0.988047, 3.10565], [-0.0508946, -0.997485, 0.0493235, 1.66885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2560", "pose": [[-0.997599, 0.0559052, -0.0408826, 1.91345], [0.0384145, -0.0445322, -0.998269, 3.31114], [-0.057629, -0.997443, 0.0422777, 1.75368], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2580", "pose": [[-0.997494, 0.0699693, -0.0104544, 2.08257], [0.0160444, 0.0798135, -0.996681, 3.4635], [-0.0689026, -0.994351, -0.0807362, 1.52704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2600", "pose": [[-0.994071, 0.00672007, 0.108524, 1.99429], [-0.102972, 0.262345, -0.959464, 3.49497], [-0.0349183, -0.964951, -0.260098, 1.40483], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2620", "pose": [[-0.961692, -0.018579, 0.273501, 2.03426], [-0.272007, 0.188638, -0.943625, 3.49965], [-0.0340609, -0.981871, -0.186465, 1.43241], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2640", "pose": [[-0.951091, -0.0187815, 0.308339, 2.24291], [-0.308467, 0.00426156, -0.951226, 3.29929], [0.0165514, -0.999815, -0.00984659, 1.50829], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2660", "pose": [[-0.909498, 0.0243737, 0.414994, 2.36829], [-0.415011, -0.111069, -0.903011, 3.05006], [0.0240833, -0.993514, 0.111133, 1.49922], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2680", "pose": [[-0.814723, 0.00546594, 0.579825, 2.55181], [-0.57732, -0.100972, -0.810251, 2.92472], [0.0541173, -0.994874, 0.0854198, 1.48073], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2700", "pose": [[-0.725393, 0.0152846, 0.688165, 2.79565], [-0.686223, -0.0943114, -0.721251, 2.9178], [0.0538776, -0.995425, 0.0789015, 1.53962], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2720", "pose": [[-0.606678, 0.0363633, 0.794115, 2.8272], [-0.794667, -0.0542874, -0.604614, 2.94275], [0.0211246, -0.997863, 0.0618317, 1.536], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2740", "pose": [[-0.592576, -0.0400669, 0.804518, 2.50418], [-0.805508, 0.0335817, -0.591633, 2.87532], [-0.00331217, -0.998633, -0.0521739, 1.50894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2760", "pose": [[-0.661258, -0.0765639, 0.746241, 2.34497], [-0.750103, 0.0795049, -0.656524, 3.03781], [-0.0090638, -0.99389, -0.110004, 1.45569], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2780", "pose": [[-0.659792, -0.0297705, 0.750858, 2.24223], [-0.748728, 0.110994, -0.653519, 3.22611], [-0.0638856, -0.993375, -0.0955233, 1.46068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2800", "pose": [[-0.605876, -0.0101195, 0.795495, 2.17233], [-0.792805, 0.0907992, -0.602673, 3.15093], [-0.0661316, -0.995818, -0.0630359, 1.45544], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2820", "pose": [[-0.578906, -0.0421185, 0.814306, 2.21282], [-0.813927, 0.0897424, -0.573994, 2.7983], [-0.048902, -0.995074, -0.0862337, 1.46505], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2840", "pose": [[-0.4702, -0.101533, 0.8767, 2.17406], [-0.881261, 0.107892, -0.460151, 2.47844], [-0.0478687, -0.988964, -0.140208, 1.4735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2860", "pose": [[-0.316993, -0.141329, 0.937839, 2.17511], [-0.947993, 0.0771452, -0.3088, 2.19848], [-0.0287075, -0.986952, -0.158433, 1.47536], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2880", "pose": [[-0.308521, -0.154932, 0.938515, 2.04682], [-0.951217, 0.0510876, -0.304263, 1.84537], [-0.000806553, -0.986603, -0.163135, 1.48228], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2900", "pose": [[-0.435691, -0.167357, 0.884401, 2.0149], [-0.900052, 0.0907244, -0.426233, 1.79388], [-0.00890369, -0.981713, -0.190158, 1.46461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2920", "pose": [[-0.269566, -0.173793, 0.94717, 2.10185], [-0.961617, -0.00376586, -0.274369, 2.1685], [0.0512501, -0.984775, -0.166107, 1.44691], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2940", "pose": [[-0.347881, -0.227554, 0.909505, 2.1208], [-0.935778, 0.0248425, -0.351714, 2.32812], [0.0574395, -0.973449, -0.221582, 1.4415], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2960", "pose": [[-0.516922, -0.194934, 0.833542, 2.18859], [-0.850143, 0.00287997, -0.526543, 2.39692], [0.100241, -0.980812, -0.167211, 1.43271], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "2980", "pose": [[-0.709582, -0.190559, 0.678367, 2.29171], [-0.699073, 0.0697831, -0.711637, 2.71703], [0.0882706, -0.979192, -0.182732, 1.43937], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3000", "pose": [[-0.760195, -0.118943, 0.638715, 2.27036], [-0.649491, 0.163784, -0.74252, 3.08602], [-0.0162933, -0.979299, -0.20176, 1.42133], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3020", "pose": [[-0.82749, -0.113494, 0.54989, 2.21577], [-0.559121, 0.256239, -0.788495, 3.37012], [-0.0514134, -0.959927, -0.275492, 1.37718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3040", "pose": [[-0.814042, -0.136655, 0.564501, 2.14888], [-0.580576, 0.218809, -0.784254, 3.6536], [-0.0163456, -0.966151, -0.257459, 1.40844], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3060", "pose": [[-0.833679, -0.120671, 0.538905, 2.16157], [-0.551741, 0.223897, -0.8034, 3.97743], [-0.0237122, -0.967114, -0.253237, 1.40055], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3080", "pose": [[-0.89264, -0.0790769, 0.443779, 2.05717], [-0.449535, 0.228975, -0.863417, 4.19473], [-0.0333382, -0.970215, -0.23994, 1.39586], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3100", "pose": [[-0.950146, -0.0610346, 0.305774, 2.0674], [-0.311805, 0.187945, -0.931372, 4.46966], [-0.000622511, -0.980281, -0.197606, 1.43502], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3120", "pose": [[-0.978072, -0.0422939, 0.203927, 1.96028], [-0.207797, 0.132424, -0.969167, 4.7201], [0.013985, -0.990291, -0.138309, 1.50402], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3140", "pose": [[-0.961202, -0.0560929, 0.270083, 1.95377], [-0.275728, 0.22409, -0.93475, 4.89585], [-0.00808992, -0.972953, -0.230862, 1.50317], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3160", "pose": [[-0.907841, -0.129898, 0.398687, 1.97554], [-0.419293, 0.271571, -0.866281, 5.16488], [0.0042563, -0.953612, -0.301008, 1.53456], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3180", "pose": [[-0.79261, -0.166379, 0.58659, 1.81165], [-0.607714, 0.293723, -0.737842, 5.42912], [-0.0495336, -0.9413, -0.333918, 1.5384], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3200", "pose": [[-0.778813, -0.2203, 0.587297, 1.76594], [-0.626775, 0.309988, -0.714885, 5.74123], [-0.0245662, -0.924865, -0.379501, 1.52943], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3220", "pose": [[-0.718697, -0.292266, 0.630916, 1.63702], [-0.695008, 0.329292, -0.639164, 5.92537], [-0.0209495, -0.897857, -0.439788, 1.49136], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3240", "pose": [[-0.584218, -0.352326, 0.731134, 1.55774], [-0.811595, 0.251683, -0.527228, 6.08612], [0.00174254, -0.9014, -0.432984, 1.497], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3260", "pose": [[-0.343486, -0.39441, 0.852325, 1.55282], [-0.93891, 0.123381, -0.321286, 6.30295], [0.021558, -0.910614, -0.412695, 1.50068], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3280", "pose": [[-0.0892796, -0.371, 0.924331, 1.55869], [-0.996006, 0.0343532, -0.0824141, 6.13812], [-0.00117821, -0.927997, -0.372585, 1.50566], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3300", "pose": [[0.144358, -0.404456, 0.903093, 1.64635], [-0.989514, -0.0545198, 0.133755, 5.9575], [-0.00486173, -0.912931, -0.408085, 1.48383], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3320", "pose": [[0.548541, -0.302481, 0.779493, 1.78087], [-0.834961, -0.149015, 0.52975, 5.70206], [-0.0440833, -0.941435, -0.3343, 1.54793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3340", "pose": [[0.813832, -0.220779, 0.537526, 1.865], [-0.573937, -0.160596, 0.802998, 5.38722], [-0.0909602, -0.962011, -0.257411, 1.60349], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3360", "pose": [[0.936931, -0.0555398, 0.345074, 2.1271], [-0.348566, -0.075808, 0.934213, 5.19735], [-0.0257266, -0.995575, -0.0903862, 1.6785], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3380", "pose": [[0.999455, -0.026446, -0.0197662, 2.23295], [0.0181408, -0.0603483, 0.998012, 5.00202], [-0.0275863, -0.997827, -0.0598356, 1.62265], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3400", "pose": [[0.930493, -0.005073, -0.366276, 2.15859], [0.365793, -0.0402975, 0.929824, 4.77088], [-0.019477, -0.999175, -0.0356409, 1.53071], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3420", "pose": [[0.785738, 0.0105088, -0.61847, 2.07137], [0.618103, -0.0517465, 0.784392, 4.64362], [-0.0237606, -0.998605, -0.0471547, 1.47866], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "3440", "pose": [[0.590048, -0.00851256, -0.807324, 2.10386], [0.807318, -0.00491648, 0.590096, 4.77535], [-0.00899242, -0.999952, 0.00397136, 1.51401], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0793_00"}, {"annotation": [{"question_id": "test-scene0794-0", "question": "What color is the chair at the white table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-1", "question": "Where is the silver chair on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-2", "question": "What color is the table on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-3", "question": "Where is the silver chair closest to me?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-4", "question": "What color is the single chair by itself around table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-5", "question": "Where is the chair on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-6", "question": "How many chairs are on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-7", "question": "What is the black chair made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-8", "question": "How many chairs are around the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-9", "question": "What color is the pole on the black metal table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-10", "question": "How many chairs are near the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-11", "question": "What color is the pole?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-12", "question": "What color metal chair is closest to the silver pole?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-13", "question": "How is the black metal chair facing the silver pole?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-14", "question": "What color paper is on the square metal table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-15", "question": "What color is the paper on the black metal chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-16", "question": "What color is the pole on the black metal chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-17", "question": "What color are the chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-18", "question": "What size metal table is near the silver pole?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-19", "question": "What color metal chairs are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-20", "question": "The one facing the table with the other chair is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-21", "question": "What color metal table is best for a square shaped table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-22", "question": "How many chairs does a black metal table have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-23", "question": "What do you do when you stand near the silver pole and face the one with four chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-24", "question": "What is between the tables?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-25", "question": "What color metal chair is closest to the metal pole?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-26", "question": "What color table has 4 black chairs around it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-27", "question": "How many chairs does the black square table have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-28", "question": "What shape is the black table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0794-29", "question": "What does the black metal chair sit near?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.36425, -0.514407, 0.776342, 2.09716], [-0.931293, 0.204606, -0.301379, 4.27363], [-0.00381275, -0.83278, -0.553591, 1.31794], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.332785, -0.544012, 0.770262, 2.18325], [-0.942988, 0.19649, -0.268635, 4.30889], [-0.00520769, -0.815747, -0.578385, 1.29121], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.257113, -0.598072, 0.759079, 2.14418], [-0.966358, 0.153668, -0.206249, 4.37747], [0.00670575, -0.786573, -0.617462, 1.26595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.409875, -0.540378, 0.734842, 1.9343], [-0.911922, 0.225106, -0.343111, 4.42451], [0.0199926, -0.810753, -0.585048, 1.28912], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.574319, -0.441236, 0.689542, 1.79592], [-0.818624, 0.30592, -0.486074, 4.50345], [0.0035282, -0.843638, -0.536901, 1.31675], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.714729, -0.375662, 0.589949, 1.71145], [-0.699401, 0.384291, -0.602627, 4.53151], [-0.0003284, -0.843327, -0.537402, 1.36569], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.680611, -0.338201, 0.649914, 1.67601], [-0.732615, 0.322134, -0.599588, 4.42231], [-0.00657853, -0.884224, -0.467018, 1.39917], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.532956, -0.423591, 0.732481, 1.91758], [-0.845363, 0.229396, -0.482431, 4.52247], [0.0363253, -0.876327, -0.480345, 1.37868], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.595426, -0.458708, 0.659586, 2.28356], [-0.802867, 0.309545, -0.509497, 4.64261], [0.0295388, -0.832929, -0.552592, 1.35301], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.656616, -0.434703, 0.616351, 2.55915], [-0.752658, 0.325, -0.57261, 4.75273], [0.0486011, -0.839887, -0.540582, 1.336], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.77153, -0.359524, 0.524865, 2.80453], [-0.633, 0.351272, -0.689869, 5.04], [0.0636536, -0.864495, -0.498595, 1.36812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.827516, -0.345437, 0.442593, 3.1208], [-0.55667, 0.402262, -0.726846, 5.11218], [0.0730406, -0.847856, -0.525172, 1.33546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.805169, -0.319549, 0.499591, 3.37797], [-0.592632, 0.402094, -0.697931, 5.23474], [0.0221399, -0.858027, -0.513128, 1.3474], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.701428, -0.442975, 0.558364, 3.31642], [-0.708885, 0.352216, -0.611086, 5.0611], [0.074031, -0.82445, -0.561072, 1.31677], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.880792, -0.290978, 0.373546, 2.98324], [-0.472017, 0.477117, -0.741322, 5.09365], [0.0374825, -0.829272, -0.557587, 1.30983], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.933091, -0.193915, 0.30288, 2.65376], [-0.359441, 0.47494, -0.803265, 5.09475], [0.0119149, -0.858388, -0.512863, 1.35952], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.906654, -0.211504, 0.365026, 2.33568], [-0.421778, 0.472917, -0.773597, 4.95334], [-0.00900858, -0.855346, -0.51798, 1.35421], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.883755, -0.233481, 0.405541, 2.05113], [-0.467944, 0.445277, -0.763385, 4.64727], [-0.00234217, -0.864416, -0.502771, 1.37815], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.854505, -0.249661, 0.45551, 1.76339], [-0.519379, 0.424322, -0.741752, 4.45007], [-0.00809739, -0.870414, -0.492254, 1.42366], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.866662, -0.252778, 0.430116, 1.7416], [-0.49732, 0.36927, -0.785056, 4.33163], [0.0396152, -0.894284, -0.445743, 1.43902], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.855166, -0.229645, 0.464708, 1.65228], [-0.51617, 0.295055, -0.804059, 4.46906], [0.047533, -0.927473, -0.370856, 1.48942], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.895626, -0.139108, 0.422494, 1.55888], [-0.443142, 0.196962, -0.874546, 4.69699], [0.0384404, -0.970492, -0.238049, 1.5351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.944831, -0.1094, 0.308746, 1.56697], [-0.327443, 0.340117, -0.881533, 5.42976], [-0.0085708, -0.933998, -0.357175, 1.477], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.914412, -0.178747, 0.36318, 1.76715], [-0.403636, 0.470167, -0.78487, 5.16344], [-0.030463, -0.864288, -0.502075, 1.37306], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.930257, -0.224395, 0.29029, 1.91563], [-0.366796, 0.549256, -0.750852, 4.86599], [0.00904303, -0.804963, -0.593256, 1.29758], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.9538, -0.175328, 0.243978, 1.91696], [-0.300373, 0.573818, -0.761912, 4.48339], [-0.00641535, -0.799997, -0.599971, 1.3196], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.976047, -0.132083, 0.172871, 1.86962], [-0.217468, 0.569843, -0.792456, 4.12206], [0.00615971, -0.81107, -0.584917, 1.34247], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.986885, -0.0907326, 0.133509, 1.85948], [-0.161241, 0.514944, -0.841923, 3.80632], [0.00763942, -0.852409, -0.52282, 1.39056], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.962045, -0.127231, 0.241412, 1.70228], [-0.272499, 0.495094, -0.825001, 3.52723], [-0.0145564, -0.859474, -0.510973, 1.4046], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.970102, -0.134517, 0.202003, 1.62739], [-0.242586, 0.562246, -0.79059, 3.54962], [-0.00722872, -0.815957, -0.578068, 1.34288], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.969967, -0.149222, 0.192082, 1.56986], [-0.242705, 0.541719, -0.804758, 3.83107], [0.0160321, -0.827209, -0.561666, 1.37841], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.909304, -0.244596, 0.336656, 1.27633], [-0.415526, 0.490088, -0.766258, 3.94943], [0.0224319, -0.836652, -0.547275, 1.41257], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.798933, -0.339464, 0.496457, 1.06992], [-0.599673, 0.386767, -0.700574, 3.82148], [0.0458065, -0.857424, -0.512568, 1.41195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.64723, -0.392071, 0.653738, 0.906885], [-0.762206, 0.345908, -0.547164, 3.64789], [-0.0116063, -0.852425, -0.522721, 1.42386], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.552003, -0.412406, 0.724716, 0.914886], [-0.833535, 0.296485, -0.466171, 3.59761], [-0.0226157, -0.861405, -0.507415, 1.43567], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.400546, -0.483071, 0.778591, 1.02479], [-0.915639, 0.24272, -0.320457, 3.7645], [-0.0341759, -0.841267, -0.539539, 1.41489], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.321145, -0.492589, 0.808839, 1.25313], [-0.947027, 0.169218, -0.272957, 4.13119], [-0.00241433, -0.853652, -0.520838, 1.3793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.280524, -0.520883, 0.806217, 1.48468], [-0.958502, 0.196468, -0.206577, 4.15923], [-0.0507932, -0.830712, -0.554381, 1.34931], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.397625, -0.504334, 0.766512, 1.74629], [-0.917546, 0.216754, -0.333357, 4.25337], [0.00197882, -0.835862, -0.548936, 1.36016], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.477468, -0.468192, 0.743518, 2.04534], [-0.878384, 0.275134, -0.390824, 4.54963], [-0.0215864, -0.839701, -0.54262, 1.32463], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.633772, -0.44249, 0.634456, 2.33107], [-0.770503, 0.288766, -0.568278, 4.89785], [0.068248, -0.84901, -0.523951, 1.31686], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.825809, -0.362227, 0.432238, 2.38278], [-0.560179, 0.438405, -0.702852, 5.04706], [0.0650963, -0.822553, -0.564951, 1.30043], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.922151, -0.283797, 0.262862, 2.24077], [-0.370193, 0.450298, -0.81252, 5.03424], [0.112224, -0.846577, -0.520302, 1.33109], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.975008, -0.14889, 0.164897, 2.13031], [-0.216653, 0.472829, -0.854104, 4.97085], [0.0491985, -0.868485, -0.493269, 1.36871], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.995645, -0.0658112, 0.0660154, 2.31227], [-0.0891044, 0.463932, -0.881378, 4.78179], [0.0273771, -0.883424, -0.467775, 1.35029], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.9959, 0.0166286, -0.0889143, 2.50065], [0.0860554, 0.477026, -0.874666, 4.45269], [0.0278692, -0.878732, -0.476501, 1.3561], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.984888, 0.0389164, -0.168761, 2.58342], [0.166939, 0.472766, -0.865231, 4.18763], [0.0461121, -0.880329, -0.472118, 1.37905], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.970239, 0.0730042, -0.230881, 2.62621], [0.241526, 0.360106, -0.901105, 4.09344], [0.0173563, -0.930051, -0.367021, 1.43602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.989677, 0.0395553, -0.137744, 2.49433], [0.143239, 0.303614, -0.941967, 4.36397], [0.00456036, -0.951974, -0.306146, 1.50668], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.999645, 0.0133986, -0.023003, 2.38778], [0.025902, 0.290122, -0.956639, 4.72714], [-0.00614485, -0.956896, -0.290366, 1.47147], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.999745, 0.0196579, -0.0110758, 2.27131], [0.0170726, 0.338091, -0.940959, 4.93012], [-0.0147535, -0.940909, -0.33834, 1.47632], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0794_00"}, {"annotation": [{"question_id": "test-scene0795-0", "question": "What is outside?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0795-1", "question": "What is next to a simple table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0795-2", "question": "What is the table beside?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0795-3", "question": "What color is the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0795-4", "question": "What color is the chair on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0795-5", "question": "What do the chairs surround in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0795-6", "question": "What sits around a table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0795-7", "question": "What color is the metal chair next to the silver pole?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0795-8", "question": "Where is the metal chair that is black located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0795-9", "question": "What shape is the metal table that many chairs around it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0795-10", "question": "What is in the middle of the chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0795-11", "question": "What kind of furniture is around the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0795-12", "question": "What color is the pole on the side of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0795-13", "question": "How many black metal chairs are around the table?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.159985, -0.578828, 0.799603, 0.282855], [-0.986793, -0.0729338, 0.144641, 2.6161], [-0.0254042, -0.812182, -0.582851, 1.39524], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.151647, -0.603823, 0.782561, 0.260203], [-0.988102, -0.0720576, 0.135878, 2.58075], [-0.0256568, -0.793855, -0.607566, 1.33744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.046719, -0.626312, 0.778172, 0.0804134], [-0.998908, -0.0297633, 0.0360162, 2.61596], [0.000603743, -0.779004, -0.627018, 1.34407], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.127936, -0.503123, 0.854693, -0.0383953], [-0.991022, -0.0311047, 0.130033, 2.43008], [-0.0388374, -0.863655, -0.502585, 1.43215], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.151154, -0.464482, 0.872588, 0.134937], [-0.988473, -0.0633253, 0.13752, 2.41521], [-0.00861842, -0.883316, -0.468699, 1.45272], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.222186, -0.472294, 0.852979, 0.349095], [-0.975004, -0.106861, 0.194802, 2.39606], [-0.000853369, -0.87494, -0.484231, 1.45046], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.259542, -0.441574, 0.858866, 0.608023], [-0.965681, -0.109522, 0.235512, 2.11394], [-0.00993078, -0.890515, -0.454845, 1.45163], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.246015, -0.387784, 0.888314, 0.917813], [-0.968539, -0.133848, 0.209803, 2.07853], [0.0375407, -0.91198, -0.408512, 1.46431], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.334431, -0.390444, 0.857735, 1.16023], [-0.941856, -0.169975, 0.289856, 1.97988], [0.0326206, -0.904799, -0.424587, 1.46806], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.366888, -0.435382, 0.822093, 1.39182], [-0.930222, -0.18024, 0.319689, 1.90907], [0.0089873, -0.882018, -0.471129, 1.45042], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.344299, -0.405984, 0.846544, 1.62007], [-0.937977, -0.187844, 0.291401, 1.93511], [0.0407139, -0.894367, -0.445477, 1.46165], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.406987, -0.395408, 0.823417, 1.33558], [-0.913253, -0.158188, 0.375428, 1.94517], [-0.0181928, -0.904781, -0.425487, 1.45912], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.288373, -0.401804, 0.869135, 1.1017], [-0.957218, -0.0982467, 0.272179, 2.05003], [-0.023973, -0.91044, -0.412946, 1.47057], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.24289, -0.431906, 0.868598, 0.826181], [-0.969976, -0.0967476, 0.223131, 2.38058], [-0.012337, -0.896715, -0.442437, 1.457], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.174999, -0.47497, 0.862427, 0.752382], [-0.984019, -0.113654, 0.137079, 2.74505], [0.0329097, -0.872632, -0.487268, 1.42879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.0481785, -0.515151, 0.855744, 0.62987], [-0.998109, -0.0575807, 0.0215304, 3.11383], [0.0381828, -0.855163, -0.516951, 1.4188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.0130821, -0.51447, 0.857409, 0.661371], [-0.999238, -0.0382665, -0.00771508, 3.43269], [0.0367791, -0.856654, -0.514579, 1.40947], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.153651, -0.502617, 0.850746, 0.644162], [-0.987436, 0.0459433, -0.151195, 3.77646], [0.0369069, -0.863287, -0.503361, 1.43047], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.166215, -0.504505, 0.847259, 0.756522], [-0.983579, 0.0235487, -0.178936, 3.98245], [0.0703224, -0.863088, -0.500134, 1.40679], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.370321, -0.51744, 0.771439, 0.906839], [-0.926403, 0.144827, -0.347568, 4.13836], [0.0681206, -0.843375, -0.53299, 1.37761], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.686918, -0.455899, 0.565952, 0.826393], [-0.725422, 0.383333, -0.571681, 4.45338], [0.043681, -0.803251, -0.594037, 1.34753], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.78618, -0.330211, 0.522381, 0.6764], [-0.617057, 0.466048, -0.634066, 4.64511], [-0.034079, -0.820829, -0.570157, 1.39309], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.842109, -0.261062, 0.47191, 0.644595], [-0.539203, 0.424827, -0.727175, 4.76185], [-0.0106419, -0.866815, -0.498516, 1.46949], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.819054, -0.200755, 0.537446, 0.554493], [-0.573314, 0.32151, -0.75362, 4.76366], [-0.0215015, -0.92538, -0.37843, 1.51099], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.839012, -0.181448, 0.512969, 0.546001], [-0.543287, 0.331313, -0.771409, 5.02229], [-0.0299827, -0.925909, -0.376553, 1.48382], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.836923, -0.191755, 0.512631, 0.512217], [-0.547281, 0.304594, -0.779555, 5.16051], [-0.00666115, -0.93298, -0.359865, 1.50943], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.854049, -0.127569, 0.504308, 0.321584], [-0.520015, 0.234671, -0.821288, 5.33702], [-0.0135758, -0.963668, -0.266759, 1.5272], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.855293, -0.176666, 0.487098, 0.334869], [-0.516341, 0.369008, -0.772804, 5.26424], [-0.0432143, -0.912481, -0.406829, 1.47925], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.862854, -0.222156, 0.454017, 0.595272], [-0.505416, 0.390279, -0.76957, 4.96774], [-0.0062291, -0.893493, -0.449034, 1.44495], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.86113, -0.245669, 0.445087, 0.759706], [-0.508308, 0.431368, -0.745349, 4.57242], [-0.00888735, -0.868083, -0.496339, 1.40649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.824015, -0.327095, 0.462611, 0.827962], [-0.565997, 0.438568, -0.698073, 4.21153], [0.0254492, -0.837059, -0.546521, 1.36477], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.691389, -0.431323, 0.579606, 0.651114], [-0.720434, 0.351207, -0.598021, 3.8232], [0.0543785, -0.831032, -0.55356, 1.36623], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.629236, -0.444803, 0.637348, 0.507112], [-0.776933, 0.337914, -0.531216, 3.47481], [0.0209179, -0.829436, -0.55821, 1.39492], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.410561, -0.446408, 0.795085, 0.364513], [-0.911831, 0.199097, -0.35906, 3.2337], [0.00198823, -0.872399, -0.48879, 1.44479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.24493, -0.422881, 0.872457, 0.214687], [-0.968568, 0.147032, -0.200646, 2.96282], [-0.0434298, -0.894178, -0.445601, 1.47363], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.139571, -0.482626, 0.864634, 0.242254], [-0.990211, 0.0694988, -0.121049, 2.83281], [-0.00166956, -0.873065, -0.487601, 1.42962], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.0750345, -0.562448, 0.823421, 0.129038], [-0.997123, 0.0333918, -0.0680544, 2.76464], [0.0107815, -0.826158, -0.563335, 1.39671], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0795_00"}, {"annotation": [{"question_id": "test-scene0796-0", "question": "What color is the table by the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-1", "question": "Where is the red chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-2", "question": "How many windows does the door have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-3", "question": "What color is the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-4", "question": "How many chairs are around a dark brown square table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-5", "question": "What is the chair on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-6", "question": "What type of door is on the far wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-7", "question": "What type of door is to the right of a easel?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-8", "question": "Where is the black chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-9", "question": "What color is the tv on the far wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-10", "question": "Where is the black tv located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-11", "question": "Where is the door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-12", "question": "What color is the table on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-13", "question": "Where is the chair on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-14", "question": "What is pulled out of the table below the fire alarm?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-15", "question": "What is behind the black chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-16", "question": "What is on the wall to the left of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-17", "question": "What is on the wall above the table ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-18", "question": "What object is below the fire alarm ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-19", "question": "How far away is the black chair that sits closest to hanging tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-20", "question": "What color is the tv mounted on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-21", "question": "What color is the table in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-22", "question": "What is mounted high up on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-23", "question": "What is sitting at the table to the left of the TV?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-24", "question": "What is facing the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-25", "question": "Where is the red chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-26", "question": "What type of chair is on the corner of the table on the left side of the room facing the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-27", "question": "On what part of the table is the fabric chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-28", "question": "What is the table with the brown chairs in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-29", "question": "What is the size of the office table in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-30", "question": "Where is the television located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-31", "question": "What color is the chair in the center aisle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-32", "question": "To what side of the door is the first chair you see when you enter the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-33", "question": "What is on the left side of the table with matching chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-34", "question": "What color is the chair in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-35", "question": "The correct chair is close to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-36", "question": "What color is the fire alarm above the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-37", "question": "What is in front of the fire alarm?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-38", "question": "On what part of the room is the television located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-39", "question": "How many chairs at wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-40", "question": "What is the position of the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-41", "question": "What is in front of the television?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-42", "question": "Where is the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-43", "question": "What is between the two red chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-44", "question": "What color is the large table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-45", "question": "What color is the chair that sits at the large table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-46", "question": "What color is the chair at the table on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-47", "question": "How many glass windows does the black door have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-48", "question": "What is to the right of the large table toward the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-49", "question": "What is hanging from the back wall behind the black chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-50", "question": "What type of television is hanging on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-51", "question": "Where is the rectangular television on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0796-52", "question": "How many red chairs are at a rectangular table?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.364858, -0.393943, 0.843616, 4.43433], [-0.930915, -0.138181, 0.338088, 2.0892], [-0.0166164, -0.908688, -0.417144, 1.37285], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.359774, -0.390474, 0.847404, 4.23813], [-0.932912, -0.165552, 0.319793, 2.18928], [0.0154187, -0.905606, -0.42384, 1.40646], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.32328, -0.326143, 0.888325, 4.09351], [-0.945913, -0.138317, 0.293456, 2.11907], [0.0271622, -0.935147, -0.353218, 1.52565], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.31266, -0.2362, 0.920029, 4.00128], [-0.949831, -0.0860154, 0.300705, 1.99302], [0.00811024, -0.96789, -0.251243, 1.62219], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.259768, -0.154902, 0.953166, 3.97453], [-0.965645, -0.048917, 0.255219, 1.98433], [0.00709197, -0.986718, -0.162288, 1.76975], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.128433, -0.233455, 0.963849, 4.04098], [-0.991714, -0.0273823, 0.125514, 1.91832], [-0.00290949, -0.971982, -0.235037, 1.80189], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.0234818, -0.380842, 0.924342, 4.07835], [-0.999694, -0.00176077, 0.0246705, 1.86666], [-0.00776802, -0.924638, -0.380767, 1.70382], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.00856107, -0.438289, 0.898793, 4.07333], [-0.999509, 0.0233273, 0.0208958, 1.90629], [-0.0301248, -0.898531, -0.437874, 1.57283], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.110957, -0.445778, 0.88824, 4.03467], [-0.993636, -0.0323102, 0.107907, 2.03774], [-0.0194032, -0.89456, -0.446526, 1.44256], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.352379, -0.396412, 0.847754, 4.12132], [-0.935409, -0.121132, 0.332172, 1.97018], [-0.0289864, -0.910046, -0.413492, 1.49115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.517502, -0.380893, 0.766233, 4.01888], [-0.854103, -0.175546, 0.489584, 2.0535], [-0.05197, -0.907802, -0.416166, 1.42172], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.702016, -0.327486, 0.632397, 4.22426], [-0.711783, -0.351581, 0.608075, 2.09108], [0.023203, -0.877008, -0.479914, 1.37974], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.72728, -0.321105, 0.606593, 4.50903], [-0.684293, -0.271032, 0.676967, 1.96602], [-0.0529709, -0.907432, -0.416846, 1.43325], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.758061, -0.375921, 0.532943, 4.80428], [-0.643881, -0.301406, 0.703258, 1.86314], [-0.103737, -0.876264, -0.470532, 1.41469], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.898611, -0.236458, 0.369575, 5.02888], [-0.437255, -0.413269, 0.798759, 1.93418], [-0.0361394, -0.879373, -0.474761, 1.39204], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.994559, -0.0534191, 0.0894387, 5.26362], [-0.102942, -0.372117, 0.92246, 1.84624], [-0.0159952, -0.926647, -0.375592, 1.42239], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.996835, -0.0445001, 0.0658829, 5.31897], [-0.0747325, -0.241718, 0.967464, 1.79513], [-0.0271271, -0.969326, -0.244278, 1.48821], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.960996, -0.055362, 0.270965, 5.16046], [-0.27651, -0.173162, 0.945281, 1.8085], [-0.00541162, -0.983336, -0.181717, 1.52702], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.929752, -0.014333, 0.367908, 4.90039], [-0.361303, -0.227847, 0.904183, 1.90709], [0.0708671, -0.973591, -0.217019, 1.4615], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.884647, -0.0410874, 0.464449, 4.5099], [-0.461155, -0.224134, 0.858545, 2.03593], [0.0688236, -0.973692, -0.217227, 1.47802], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.857888, -0.0105752, 0.513729, 4.14595], [-0.512273, -0.0955543, 0.85349, 2.08313], [0.0400633, -0.995368, -0.0873923, 1.5371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.815698, -0.0934614, 0.570878, 3.95512], [-0.575794, -0.0362336, 0.816791, 2.21795], [-0.0556534, -0.994963, -0.0833703, 1.5671], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.769651, -0.0499272, 0.63651, 3.71519], [-0.63743, -0.00334625, 0.770501, 2.26502], [-0.036339, -0.998747, -0.0344006, 1.6136], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.728793, -0.191124, 0.657521, 3.52732], [-0.683902, -0.155834, 0.712737, 2.29806], [-0.033757, -0.969117, -0.244281, 1.48125], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.731391, -0.30852, 0.60818, 3.34787], [-0.680803, -0.278437, 0.677481, 2.31246], [-0.0396767, -0.909554, -0.413687, 1.41482], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.71843, -0.338835, 0.607494, 3.09422], [-0.695582, -0.356143, 0.623962, 2.35443], [0.00493416, -0.870835, -0.491551, 1.35803], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.833722, -0.278118, 0.477031, 2.90492], [-0.552125, -0.407095, 0.727621, 2.22235], [-0.00816779, -0.870014, -0.492959, 1.36146], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.906301, -0.164508, 0.389302, 2.79703], [-0.419945, -0.45426, 0.78568, 2.22852], [0.0475937, -0.875548, -0.480781, 1.32222], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.879154, -0.199624, 0.432711, 2.95197], [-0.474993, -0.440139, 0.76201, 2.30163], [0.0383372, -0.875459, -0.48177, 1.3319], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.908611, -0.194014, 0.369845, 3.31876], [-0.417642, -0.42481, 0.803188, 2.24015], [0.00128409, -0.884248, -0.467016, 1.41514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.956269, -0.0738168, 0.283021, 3.44957], [-0.287906, -0.408167, 0.866319, 2.38852], [0.0515709, -0.909918, -0.41157, 1.43425], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.998637, 0.0186613, 0.0487547, 3.64934], [-0.0369213, -0.407776, 0.912335, 2.33365], [0.0369064, -0.912891, -0.406531, 1.46348], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.997386, 0.0553995, -0.0463894, 3.76461], [0.0637873, -0.37346, 0.925451, 2.44105], [0.0339449, -0.925991, -0.376018, 1.44835], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.99037, 0.0566497, -0.126323, 3.88974], [0.138036, -0.334063, 0.932388, 2.5935], [0.0106196, -0.940847, -0.338666, 1.49325], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.982342, 0.0322051, -0.1843, 4.05292], [0.186382, -0.254195, 0.949024, 2.68936], [-0.0162848, -0.966617, -0.255709, 1.54606], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.992767, 0.0488262, -0.109684, 3.98042], [0.11541, -0.136286, 0.983924, 2.80922], [0.0330928, -0.989466, -0.140936, 1.58358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.999345, 0.0360542, 0.00329262, 3.79163], [-0.00130841, -0.0549194, 0.99849, 2.82192], [0.0361806, -0.99784, -0.0548362, 1.58488], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.992068, 0.0663201, 0.106789, 3.5608], [-0.101529, -0.0781851, 0.991756, 2.74706], [0.0741226, -0.99473, -0.0708315, 1.56947], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.965573, 0.0238874, 0.259035, 3.18668], [-0.255886, -0.092006, 0.962319, 2.74538], [0.0468201, -0.995472, -0.0827261, 1.58588], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.915984, -0.0540335, 0.397559, 2.94241], [-0.400223, -0.192664, 0.895936, 2.68836], [0.0281847, -0.979776, -0.198103, 1.50135], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.849502, -0.108937, 0.516216, 2.77366], [-0.526952, -0.22312, 0.820085, 2.82548], [0.0258403, -0.968685, -0.246946, 1.47638], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.777604, -0.22128, 0.58853, 2.66448], [-0.62875, -0.277145, 0.726543, 2.84049], [0.00233875, -0.935, -0.354639, 1.42], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.798227, -0.238429, 0.553159, 2.55209], [-0.602356, -0.315286, 0.733322, 2.74259], [-0.000441566, -0.918557, -0.395289, 1.39371], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.716911, -0.272294, 0.64179, 2.35941], [-0.6955, -0.342916, 0.631418, 2.76325], [0.0481494, -0.899035, -0.435221, 1.36879], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.704305, -0.255404, 0.662362, 2.42813], [-0.708319, -0.315023, 0.6317, 2.7646], [0.0473208, -0.914073, -0.402779, 1.40302], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.762123, -0.192707, 0.618088, 2.62832], [-0.64689, -0.265715, 0.714793, 2.74208], [0.0264892, -0.944595, -0.327168, 1.45571], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.740742, -0.203335, 0.640278, 2.62593], [-0.669525, -0.301637, 0.678787, 2.7891], [0.0551102, -0.931488, -0.359573, 1.42453], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.841039, -0.144488, 0.521322, 2.82631], [-0.539787, -0.287958, 0.791018, 2.66754], [0.0358261, -0.94668, -0.320177, 1.45741], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.921495, -0.134514, 0.364352, 3.10882], [-0.38726, -0.389706, 0.835559, 2.53321], [0.0295956, -0.911063, -0.411204, 1.3837], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.997987, 0.0183297, 0.060719, 3.3303], [-0.0475303, -0.417743, 0.907321, 2.39619], [0.0419959, -0.90838, -0.416031, 1.38547], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.962842, 0.144226, -0.228328, 3.47069], [0.269504, -0.458721, 0.846725, 2.25325], [0.0173813, -0.876798, -0.480545, 1.38115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.848546, 0.264531, -0.45825, 3.43847], [0.528625, -0.461337, 0.712547, 2.24854], [-0.0229169, -0.846871, -0.531304, 1.35212], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.690647, 0.371031, -0.62076, 3.44047], [0.723124, -0.342519, 0.59981, 2.29173], [0.00992569, -0.863143, -0.504861, 1.3603], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.550639, 0.421983, -0.720227, 3.47516], [0.833948, -0.240435, 0.496711, 2.36233], [0.0364354, -0.87414, -0.484305, 1.3767], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.515703, 0.449621, -0.729309, 3.22067], [0.853931, -0.200533, 0.480196, 2.31743], [0.0696558, -0.870418, -0.487361, 1.35608], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.477986, 0.460428, -0.748021, 3.13489], [0.876189, -0.189989, 0.442942, 2.20046], [0.0618268, -0.867128, -0.494234, 1.32684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.555561, 0.453814, -0.69671, 3.20621], [0.831476, -0.303974, 0.465025, 2.01159], [-0.000747263, -0.837647, -0.546211, 1.27946], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.836843, 0.330748, -0.436233, 3.14974], [0.545934, -0.445081, 0.70983, 1.99469], [0.0406156, -0.832171, -0.55303, 1.27882], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.99111, 0.116287, -0.0646433, 3.08769], [0.118586, -0.551822, 0.825488, 2.04386], [0.0603215, -0.825814, -0.560706, 1.32493], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.973163, -0.122049, 0.195087, 3.20411], [-0.230119, -0.517753, 0.824001, 2.23261], [0.000438303, -0.84678, -0.531943, 1.34352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.813263, -0.323427, 0.483734, 3.29398], [-0.581889, -0.447787, 0.678891, 2.33615], [-0.00296158, -0.833596, -0.552367, 1.34393], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.611748, -0.400447, 0.682207, 3.36884], [-0.790756, -0.333189, 0.513508, 2.38149], [0.0216715, -0.853596, -0.520484, 1.3707], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.558538, -0.362221, 0.746211, 3.67551], [-0.828295, -0.195509, 0.525075, 2.30683], [-0.0443022, -0.911357, -0.409225, 1.43657], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.439126, -0.370847, 0.818316, 3.96064], [-0.897283, -0.135099, 0.420276, 2.26431], [-0.0453044, -0.918815, -0.39208, 1.45016], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0796_00"}, {"annotation": [{"question_id": "test-scene0797-0", "question": "Where is the brown chair on the far right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-1", "question": "What type of chair is on the right near side of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-2", "question": "Where is the longest table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-3", "question": "How many chairs are around the rectangular table in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-4", "question": "What is the second chair from the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-5", "question": "Where is the square picture located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-6", "question": "Where is the chair located on the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-7", "question": "The chair is to the left of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-8", "question": "Where is the chair from the back left corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-9", "question": "Where is the table located in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-10", "question": "The chair is along a long rectangular table against what wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-11", "question": "How many chairs are on the long counter lining the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-12", "question": "How many chairs does the light brown table have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-13", "question": "What color chair is located on the table closest to the picture frame?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-14", "question": "Is the dark brown chair tucked in to a table or not?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-15", "question": "How many pictures are on the walls?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-16", "question": "What type of wooden table is abutted to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-17", "question": "Where is the semicircular wooden table abutted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-18", "question": "Where is the chair located in the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-19", "question": "What type of table is behind the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-20", "question": "What is on the right side of the bar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-21", "question": "How many chairs does one brown table have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-22", "question": "What color is the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-23", "question": "On what side of the table in front of you is the brown chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-24", "question": "How many televisions are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-25", "question": "Where is the long row of chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-26", "question": "Where is the square picture of the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-27", "question": "How many pictures are on the wall with the long row of chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-28", "question": "Where is the brown chair in relation to another chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-29", "question": "How many pictures are to the left of the TV?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-30", "question": "What is the position of the chair on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-31", "question": "What is on the right of the right most red-framed picture?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-32", "question": "What color framed picture is to the right of the large tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-33", "question": "What color is the table on the far wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-34", "question": "What is on the far right side of the wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-35", "question": "What color is the chair in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-36", "question": "What type of table is on the far wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-37", "question": "What type of material are the chairs made of ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-38", "question": "What is on the wall of the large brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-39", "question": "What type of photo is on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-40", "question": "What is the item that is second to the last from the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-41", "question": "How many pictures are in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-42", "question": "The picture is big with a picture of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-43", "question": "How many TVs are in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-44", "question": "What color is the chair in the table that's in front of the large picture?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-45", "question": "What is a wall mounted above bar tables closest to the corner of wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-46", "question": "What is the picture frame mounted above?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-47", "question": "How many chairs are in front of the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-48", "question": "What is the chair in between the paintings on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-49", "question": "To the left of the chair is what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-50", "question": "What is tucked under the table on the left side of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-51", "question": "How many chairs are around the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-52", "question": "Where is the wooden chair sitting from another chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-53", "question": "What objects are surrounding the big brown table ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-54", "question": "What kind of brown table is behind the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-55", "question": "Where is the chair located on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-56", "question": "What type of chair is tucked under the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-57", "question": "What is in front of a chair facing the wall 3rd from the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-58", "question": "What kind of picture is on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-59", "question": "Where is the picture on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-60", "question": "What color frame is the picture in?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-61", "question": "What is on the left of the picture?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-62", "question": "What is in front of the picture?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-63", "question": "What color are the frames of the pictures hung on the left side of the tv on the longer wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-64", "question": "The picture with a black frame is to the right of what on the longer wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-65", "question": "How many chairs are in a row at the bar table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-66", "question": "How many wooden chairs are in a row at the bar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-67", "question": "Where is the chair located at the bar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-68", "question": "What is the picture on the wall on the left to the bigger picture?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-69", "question": "Where is the picture located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-70", "question": "Where is the black table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-71", "question": "Where is the wooden chair sitting on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-72", "question": "What kind of picture is it on the left of the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-73", "question": "Where is the picture on the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-74", "question": "What type of chair is located on the leftmost end of the long table attached on the far wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-75", "question": "What type of chair is on the right side of the first table near the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-76", "question": "Where is the wooden table located in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-77", "question": "Where is the wooden chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-78", "question": "What color is the large table on the left side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-79", "question": "How many brown chairs are there at the bar table on the longer wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-80", "question": "What is behind you when you face the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-81", "question": "What sits at the bar table by the longer wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-82", "question": "What is the position of the chair on the left if you face the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-83", "question": "Where is the television in the dining room located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-84", "question": "What type of device is mounted on the wall in the back area of the dining hall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-85", "question": "What type of chair is on the grey table in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-86", "question": "To what side of the television is the painting on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-87", "question": "How many TVs are on the walls?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-88", "question": "What is near the painting?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-89", "question": "Where is the wooden table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-90", "question": "How many large TV screens are in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-91", "question": "What is the first table in the middle of the room that you see when you enter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-92", "question": "What is in the dining room above a rounded table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-93", "question": "What type of chair is next to the bar table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-94", "question": "What color is the table opposite the wall with a TV and with six chairs surrounding it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-95", "question": "Where is the dark brown wooden table in the back?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-96", "question": "What type of chair is next to the long brown wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-97", "question": "What is the second chair from the right end of the bar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-98", "question": "What is under the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-99", "question": "What is at the table nearest the rounded table on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-100", "question": "Where is the wooden chair at the table nearest the rounded table on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-101", "question": "What is hanging on the wall above the rounded table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-102", "question": "Where is the tv located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-103", "question": "The television in the corner has how many pictures to its left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-104", "question": "How many wooden chairs face away from the tv on the wall above the bar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-105", "question": "Which of the two wooden chairs face away from the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-106", "question": "What is on the left side of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-107", "question": "Where is the bar located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-108", "question": "What is above the long bar on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-109", "question": "What color is the second chair from the right at the bar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-110", "question": "How many chairs does the rectangular wooden table have around it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-111", "question": "What is on the walls?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-112", "question": "What are the chairs made out of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-113", "question": "Who is behind the first chair on the left side of the last table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0797-114", "question": "What is next to the tv?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.743234, -0.0920338, 0.66267, 4.19259], [-0.668244, -0.150166, 0.728629, 5.74082], [0.0324518, -0.984368, -0.173109, 1.58291], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.628498, -0.263033, 0.731986, 3.97937], [-0.777559, -0.1885, 0.599891, 5.86402], [-0.0198114, -0.946193, -0.322996, 1.52977], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.581965, -0.343545, 0.737084, 3.78619], [-0.812185, -0.199957, 0.548063, 5.7633], [-0.0408993, -0.917602, -0.395391, 1.50726], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.487884, -0.295568, 0.821346, 3.59777], [-0.872884, -0.15817, 0.461579, 5.75244], [-0.00651594, -0.942137, -0.335165, 1.55216], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.477246, -0.158806, 0.864301, 3.46412], [-0.878513, -0.0624754, 0.473615, 5.6615], [-0.0212151, -0.985331, -0.169329, 1.66213], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.438726, -0.0919797, 0.893901, 3.40566], [-0.897936, -0.00605614, 0.440083, 5.53526], [-0.0350652, -0.995742, -0.085249, 1.72675], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.276894, -0.104541, 0.955196, 3.39098], [-0.960882, -0.0240217, 0.275913, 5.54645], [-0.00589886, -0.99423, -0.107103, 1.73915], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.0602154, -0.298833, 0.952403, 3.32932], [-0.997521, 0.0167851, 0.0683344, 5.62851], [-0.0364067, -0.954158, -0.297082, 1.63044], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.00295972, -0.395839, 0.918315, 3.15493], [-0.999013, 0.0418605, 0.0148241, 5.62538], [-0.044309, -0.917365, -0.395573, 1.59752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.182633, -0.392353, 0.901501, 3.06549], [-0.982866, 0.0960618, -0.157309, 5.51044], [-0.024879, -0.914785, -0.403175, 1.64032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.28556, -0.263824, 0.921332, 3.14625], [-0.95836, 0.0778824, -0.274736, 5.40507], [0.000726193, -0.961422, -0.275078, 1.69727], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.273995, -0.0950714, 0.95702, 3.26458], [-0.960758, 0.0718161, -0.267931, 5.28205], [-0.0432569, -0.992877, -0.111018, 1.72896], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.246178, -0.039755, 0.968409, 3.30424], [-0.963726, 0.116319, -0.240212, 4.99297], [-0.103095, -0.992416, -0.0669481, 1.76314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.383903, -0.0946564, 0.918509, 3.32829], [-0.923023, 0.0667221, -0.378914, 4.87618], [-0.0254182, -0.993272, -0.112985, 1.77065], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.493021, -0.130803, 0.860129, 3.33808], [-0.869291, 0.114446, -0.480868, 4.82567], [-0.0355397, -0.984781, -0.17013, 1.7783], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.54604, -0.245025, 0.801126, 3.36713], [-0.837707, 0.149035, -0.525391, 4.93531], [0.00933847, -0.957993, -0.286638, 1.69877], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.47415, -0.383295, 0.792632, 3.40307], [-0.8784, 0.144635, -0.455515, 5.32469], [0.0599543, -0.912231, -0.405266, 1.64591], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.575648, -0.270463, 0.771673, 3.52593], [-0.817691, 0.19425, -0.541893, 5.28457], [-0.00333595, -0.94293, -0.332975, 1.63494], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.696711, -0.212647, 0.685109, 3.76576], [-0.717351, 0.206822, -0.665306, 5.03921], [-0.000220269, -0.95499, -0.296638, 1.65688], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.770507, -0.203546, 0.604059, 3.95781], [-0.637192, 0.220021, -0.738632, 4.86611], [0.0174401, -0.954023, -0.299226, 1.66671], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.865607, -0.163118, 0.47341, 4.05608], [-0.500247, 0.240457, -0.831825, 4.77061], [0.0218511, -0.956856, -0.28974, 1.66088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.923303, -0.126069, 0.362791, 4.33672], [-0.383962, 0.280428, -0.879735, 4.85439], [0.0091709, -0.95156, -0.307326, 1.62902], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.895056, -0.0862126, 0.437541, 4.33572], [-0.44467, 0.246929, -0.860985, 4.48531], [-0.0338139, -0.965191, -0.259352, 1.60135], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.928035, -0.0878193, 0.361991, 4.37934], [-0.372442, 0.234608, -0.897912, 4.04843], [-0.00607201, -0.968115, -0.250432, 1.58815], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.923622, -0.0545438, 0.379403, 4.34717], [-0.382129, 0.208454, -0.900291, 3.64665], [-0.0299828, -0.97651, -0.213376, 1.61956], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.940205, -0.0395874, 0.3383, 4.34456], [-0.340402, 0.143793, -0.92922, 3.40692], [-0.0118598, -0.988816, -0.148671, 1.6454], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.995989, -0.0396048, 0.0802303, 4.35939], [-0.0841025, 0.108419, -0.990541, 3.29798], [0.0305317, -0.993316, -0.111315, 1.71872], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.998721, -0.0504902, 0.00262982, 4.11804], [-0.00532992, 0.0534207, -0.998558, 3.11483], [0.0502769, -0.997295, -0.0536215, 1.7348], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.999565, -0.028894, -0.00585694, 3.94666], [0.00569369, 0.00572829, -0.999967, 2.89757], [0.0289266, -0.999566, -0.00556128, 1.71289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.997646, -0.0502085, 0.0466995, 3.68194], [-0.0483611, 0.0324037, -0.998304, 2.86895], [0.0486101, -0.998213, -0.0347555, 1.75514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.999356, -0.035809, -0.00200514, 3.49911], [-0.000284996, 0.0638364, -0.99796, 2.85732], [0.035864, -0.997318, -0.0638056, 1.79697], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.999363, -0.0191032, -0.0301342, 3.49283], [0.0263341, 0.174925, -0.984229, 2.81244], [0.0240732, -0.984397, -0.17431, 1.68997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.994704, -0.0956299, 0.0376465, 3.73746], [-0.0610925, 0.255633, -0.964841, 2.85877], [0.0826441, -0.962033, -0.260121, 1.58764], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.993714, -0.103119, -0.0435629, 4.09321], [0.0131276, 0.27912, -0.960166, 2.9165], [0.111171, -0.954703, -0.276012, 1.52505], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.994051, -0.0177095, -0.10746, 4.31847], [0.0941642, 0.356008, -0.929726, 3.12154], [0.0547219, -0.934315, -0.352223, 1.49509], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.968548, 0.0212152, -0.247919, 4.44398], [0.235169, 0.403584, -0.884203, 3.29189], [0.0812976, -0.914696, -0.39588, 1.48163], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.922459, 0.0843983, -0.376758, 4.54728], [0.373417, 0.443034, -0.815034, 3.40337], [0.0981295, -0.892523, -0.440197, 1.43946], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.887775, 0.202732, -0.413225, 4.47502], [0.459977, 0.423194, -0.780594, 3.6336], [0.0166234, -0.883067, -0.468953, 1.4226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.791551, 0.220407, -0.569971, 4.51464], [0.608645, 0.3679, -0.702994, 3.7914], [0.0547473, -0.903366, -0.425362, 1.44746], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.849992, 0.179829, -0.495151, 4.50076], [0.525046, 0.365737, -0.768481, 3.97063], [0.0429, -0.91318, -0.405292, 1.46202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.886146, 0.152206, -0.437696, 4.45483], [0.462093, 0.361258, -0.809915, 4.30429], [0.0348471, -0.91996, -0.390461, 1.46771], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.866159, 0.16982, -0.470031, 4.52653], [0.496886, 0.393482, -0.773483, 4.58654], [0.0535955, -0.903511, -0.4252, 1.42676], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.836716, 0.232184, -0.495981, 4.49996], [0.547605, 0.344946, -0.762326, 4.88674], [-0.005913, -0.909452, -0.415767, 1.4486], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.712145, 0.294305, -0.637365, 4.52784], [0.701909, 0.315509, -0.638575, 5.09049], [0.0131586, -0.90213, -0.431264, 1.44583], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.530751, 0.423173, -0.734321, 4.4827], [0.843519, 0.179584, -0.506186, 5.32216], [-0.0823324, -0.888073, -0.452269, 1.46092], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.319136, 0.475915, -0.819547, 4.47174], [0.945774, 0.104711, -0.307484, 5.5491], [-0.0605206, -0.873236, -0.483525, 1.45849], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.0569822, 0.486755, -0.871678, 4.53686], [0.998338, 0.035327, -0.045535, 5.50649], [0.00862937, -0.872824, -0.487959, 1.45705], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.0808596, 0.469295, -0.879331, 4.41656], [0.996578, -0.0228762, 0.0794323, 5.49888], [0.0171614, -0.882745, -0.469539, 1.465], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.322643, 0.442033, -0.836963, 4.08234], [0.945554, -0.110582, 0.306101, 5.5023], [0.0427542, -0.890156, -0.453645, 1.48499], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.725212, 0.341912, -0.597632, 3.91049], [0.688515, -0.355397, 0.63217, 5.34633], [0.00374992, -0.869936, -0.49315, 1.46776], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.879342, 0.216835, -0.423957, 4.07351], [0.474974, -0.462984, 0.748362, 5.138], [-0.034014, -0.859435, -0.510112, 1.45711], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.934885, 0.109597, -0.337605, 4.15751], [0.351806, -0.412397, 0.840334, 4.96733], [-0.0471293, -0.904388, -0.424101, 1.51397], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.965371, 0.055362, -0.254939, 4.10938], [0.260407, -0.263341, 0.928891, 4.82844], [-0.0157106, -0.963113, -0.268639, 1.60062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.964567, 0.0185354, -0.263185, 4.13591], [0.263715, -0.0979763, 0.959611, 4.90978], [-0.00799911, -0.995016, -0.0993929, 1.68595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.989717, 0.0130937, -0.142433, 4.13727], [0.14243, -0.181567, 0.973009, 5.05781], [-0.0131208, -0.983292, -0.181565, 1.62206], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.998936, 0.0259883, -0.0380826, 4.05839], [0.0452818, -0.397625, 0.91643, 5.07105], [0.00867373, -0.91718, -0.398379, 1.52203], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.995965, -0.0467589, 0.0765983, 4.15509], [-0.0894064, -0.443202, 0.891952, 4.97849], [-0.00775825, -0.895201, -0.445594, 1.48394], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.977743, -0.0891548, 0.189922, 4.31088], [-0.209211, -0.346108, 0.914571, 4.83144], [-0.0158048, -0.933949, -0.357057, 1.52079], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.95916, -0.0295732, 0.281314, 4.27472], [-0.281226, -0.206586, 0.937141, 4.95645], [0.0304013, -0.977981, -0.206466, 1.55718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.941815, 0.011164, 0.335947, 4.1982], [-0.335231, -0.0419726, 0.941201, 5.15104], [0.0246081, -0.999056, -0.035788, 1.6195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.936498, 0.0145839, 0.350369, 4.20971], [-0.350668, 0.0339933, 0.935882, 5.29053], [0.00173872, -0.999316, 0.0369488, 1.59653], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.827739, -0.0426542, 0.55949, 4.25762], [-0.559916, -0.127908, 0.818617, 5.49026], [0.0366456, -0.990868, -0.129757, 1.54445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.606898, -0.141815, 0.782025, 4.16792], [-0.794743, -0.0987671, 0.598856, 5.6882], [-0.00768838, -0.984954, -0.172648, 1.56597], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.448478, -0.324295, 0.832886, 3.92869], [-0.893192, -0.128414, 0.43095, 5.68774], [-0.0328008, -0.937199, -0.347249, 1.53777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.207892, -0.425087, 0.880955, 3.67748], [-0.978125, -0.0836675, 0.190451, 5.73412], [-0.0072508, -0.901277, -0.433183, 1.52517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.00189594, -0.46002, 0.887906, 3.43022], [-0.999387, 0.0301707, 0.0177652, 5.64494], [-0.034961, -0.887396, -0.459681, 1.55061], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.0415345, -0.301432, 0.952583, 3.20578], [-0.99904, 0.0258074, -0.0353939, 5.62551], [-0.0139148, -0.953138, -0.302214, 1.71712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.130263, -0.194166, 0.972281, 3.03743], [-0.991475, 0.0225618, -0.128329, 5.61276], [0.00298066, -0.980709, -0.19545, 1.75626], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.326963, -0.355004, 0.875823, 2.91007], [-0.945036, 0.123945, -0.302562, 5.59162], [-0.00114298, -0.926612, -0.376017, 1.68808], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0797_00"}, {"annotation": [{"question_id": "test-scene0798-0", "question": "What's over the brown chair against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-1", "question": "What are all of the chairs facing?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-2", "question": "Where does the chair face on the second table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-3", "question": "What is the color of the chair on the second table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-4", "question": "What color is the chair facing the wall on the second table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-5", "question": "What is the first chair that faces the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-6", "question": "What is the first chair that faces the wall made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-7", "question": "How many pictures on the wall are there ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-8", "question": "How many tables are there ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-9", "question": "What color are the bar chairs ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-10", "question": "What is mounted in between the two bar tables?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-11", "question": "Where is the black table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-12", "question": "What color chair is on the left side of the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-13", "question": "What is the position of the black chair at the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-14", "question": "Where is the tallest chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-15", "question": "In what part of the picture is the table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-16", "question": "How many chairs are at the tables ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-17", "question": "What color is the chair next to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-18", "question": "On what side of the table is the chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-19", "question": "What is the picture second from the right above the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-20", "question": "What color are the chairs on the right ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-21", "question": "What color is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-22", "question": "What color is the picture in the middle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-23", "question": "How many pictures are on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-24", "question": "Which chair is placed on the right side table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-25", "question": "What is the wall with photos on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-26", "question": "What is sitting at the table on the left when facing the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-27", "question": "What is the table to the right made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-28", "question": "What type of wooden chair is located at the table on your left when facing the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-29", "question": "What is at the table on your left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-30", "question": "How many chairs are at the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-31", "question": "How do you find the one on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-32", "question": "How many black and white pictures are on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-33", "question": "What do you do when you face the pictures on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-34", "question": "What type of chair faces left at the left table when you look toward the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-35", "question": "How close is the dark wooden chair to the other table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-36", "question": "What is the dark wooden chair against the wall under?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-37", "question": "What is in the center of the chairs in front of the photo?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-38", "question": "What are the photos on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-39", "question": "How many dark wooden chairs are there between the dark wooden tables?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-40", "question": "Which picture should you choose on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-41", "question": "What is at the table on the left when you face the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-42", "question": "What is the wooden furniture leaning against the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-43", "question": "Where do you want the wooden chair to be located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-44", "question": "What color is the chair on the far right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-45", "question": "How many paintings are on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-46", "question": "Find which of the paintings on the wall from the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-47", "question": "What is the wall with pictures on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-48", "question": "What is the picture on the wall with pictures on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-49", "question": "What type of chair is found between the two tables?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-50", "question": "How many chairs are between the dark wooden tables?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0798-51", "question": "What type of photos are on the wall?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.312241, 0.00279649, 0.949999, 0.453178], [-0.949813, -0.0191014, 0.312236, 5.79463], [0.0190195, -0.999814, -0.00330808, 1.4142], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.317524, 0.0331549, 0.947671, 0.449709], [-0.947425, -0.0306107, 0.318513, 5.74114], [0.0395691, -0.998982, 0.0216922, 1.44943], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.206786, -0.0264651, 0.978028, 0.349143], [-0.977981, -0.0343763, 0.205846, 5.73663], [0.0281732, -0.999059, -0.0329909, 1.40742], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.0302592, -0.0365343, 0.998874, 0.0496825], [-0.99946, -0.0139435, 0.0297669, 5.68311], [0.0128403, -0.999235, -0.0369364, 1.43963], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.0665779, -0.0906476, 0.993655, -0.249956], [-0.997774, 0.00979897, -0.06596, 5.5613], [-0.00375764, -0.995835, -0.0910982, 1.48823], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.0537748, -0.195164, 0.979295, -0.497369], [-0.99835, -0.0092671, -0.056668, 5.69072], [0.0201348, -0.980727, -0.194344, 1.41062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.0653032, -0.210287, 0.975456, -0.709605], [-0.99769, -0.00460814, -0.0677851, 5.67473], [0.0187495, -0.977629, -0.2095, 1.39722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.120432, -0.128822, 0.984328, -0.731373], [-0.992629, 0.00207609, -0.121176, 5.53386], [0.0135666, -0.991666, -0.128122, 1.44127], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.177362, -0.0431053, 0.983201, -0.386064], [-0.984127, 0.00163137, -0.177458, 5.51005], [0.00604542, -0.999069, -0.0427104, 1.59209], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.353774, 0.0248595, 0.935001, -0.122582], [-0.935157, 0.00987232, -0.354096, 5.38267], [-0.0180333, -0.999642, 0.0197549, 1.66492], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.608089, -0.0743879, 0.790376, 0.15063], [-0.793859, 0.0619058, -0.604943, 5.43544], [-0.00392843, -0.995306, -0.0966977, 1.58076], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.66568, -0.161496, 0.728553, 0.366666], [-0.74581, 0.110931, -0.656858, 5.55394], [0.0252611, -0.980619, -0.194289, 1.50012], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.759604, -0.25518, 0.598235, 0.361382], [-0.650296, 0.28266, -0.705138, 5.67074], [0.0108399, -0.924655, -0.380652, 1.43054], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.742774, -0.208823, 0.636144, 0.122938], [-0.666975, 0.313886, -0.675737, 5.63057], [-0.0585677, -0.926212, -0.372426, 1.46104], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.715864, -0.183639, 0.673659, -0.125432], [-0.695682, 0.270096, -0.665639, 5.37294], [-0.0597153, -0.945159, -0.321106, 1.46611], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.572457, -0.152666, 0.805597, -0.303114], [-0.816658, 0.19392, -0.543567, 5.01515], [-0.0732369, -0.969066, -0.235687, 1.5195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.400933, -0.1442, 0.904687, -0.438731], [-0.914502, 0.121436, -0.385927, 4.64608], [-0.0542113, -0.982069, -0.180559, 1.57728], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.258043, -0.120318, 0.958613, -0.31501], [-0.964329, 0.092698, -0.247947, 4.32478], [-0.0590291, -0.988398, -0.139946, 1.60763], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.136255, -0.0924223, 0.986353, -0.162661], [-0.9901, 0.0466022, -0.132406, 4.05191], [-0.0337289, -0.994629, -0.097857, 1.62712], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.0101825, -0.0751779, 0.997118, 0.00616491], [-0.999483, 0.0311855, -0.00785552, 4.03583], [-0.030505, -0.996682, -0.0754565, 1.63396], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.0109651, -0.135211, 0.990756, -0.178431], [-0.999448, 0.0325746, -0.00661583, 3.9898], [-0.0313789, -0.990281, -0.135493, 1.56277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.147823, -0.182889, 0.971957, -0.433178], [-0.988988, 0.0344466, -0.143932, 4.03356], [-0.00715705, -0.98253, -0.185967, 1.55719], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.359062, -0.145217, 0.921947, -0.685141], [-0.933308, 0.0594142, -0.354128, 4.05466], [-0.00335119, -0.987614, -0.156866, 1.58457], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.425511, -0.144356, 0.893366, -0.795947], [-0.904833, 0.0839961, -0.4174, 3.9107], [-0.0147849, -0.985954, -0.166359, 1.58361], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.391332, -0.129667, 0.911068, -0.630543], [-0.92013, 0.071066, -0.38511, 3.61794], [-0.0148098, -0.989008, -0.147121, 1.60649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.303936, -0.0770417, 0.949572, -0.430227], [-0.951461, 0.0752162, -0.298438, 3.28367], [-0.048431, -0.994187, -0.096163, 1.60241], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.356176, -0.147164, 0.922758, -0.19621], [-0.934417, 0.053949, -0.352072, 3.13041], [0.00203067, -0.98764, -0.156728, 1.55369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.440147, -0.263613, 0.858358, -0.213485], [-0.897841, 0.116039, -0.424756, 3.22711], [0.0123679, -0.957624, -0.287756, 1.48721], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.492298, -0.253924, 0.832565, -0.380342], [-0.87024, 0.123783, -0.476823, 3.44434], [0.0180195, -0.959271, -0.281913, 1.5118], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.576947, -0.258067, 0.774941, -0.542246], [-0.816584, 0.161351, -0.554218, 3.66055], [0.0179883, -0.952558, -0.303824, 1.50726], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.486711, -0.23823, 0.840452, -0.663298], [-0.873413, 0.114876, -0.473237, 3.47459], [0.0161916, -0.964391, -0.263985, 1.51956], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.376807, -0.216503, 0.900635, -0.655124], [-0.926191, 0.0736673, -0.36979, 3.13814], [0.0137132, -0.973499, -0.228281, 1.5369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.224724, -0.224599, 0.948185, -0.597187], [-0.974391, 0.0596112, -0.216815, 2.69811], [-0.00782582, -0.972626, -0.232244, 1.57281], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.0346088, -0.182207, 0.982651, -0.48903], [-0.999395, 0.00291166, -0.0346587, 2.3114], [0.003454, -0.983256, -0.182198, 1.56516], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.190311, -0.247211, 0.950089, -0.354221], [-0.981139, -0.0144815, 0.192763, 1.95229], [-0.0338942, -0.968854, -0.245304, 1.56064], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.335279, -0.177837, 0.925182, -0.206133], [-0.941804, -0.0378758, 0.334022, 1.67072], [-0.0243595, -0.983331, -0.180186, 1.54713], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.516688, -0.179802, 0.837081, -0.0123478], [-0.855974, -0.0873582, 0.509585, 1.47967], [-0.0184988, -0.979816, -0.199043, 1.52954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.593318, -0.244866, 0.766821, 0.0131806], [-0.804769, -0.159242, 0.57183, 1.22736], [-0.0179118, -0.95639, -0.291542, 1.4559], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.55616, -0.226148, 0.799714, -0.225992], [-0.831003, -0.164018, 0.531538, 1.07601], [0.0109613, -0.960185, -0.27915, 1.47096], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.606239, -0.1849, 0.77349, -0.34138], [-0.795276, -0.145178, 0.588609, 0.835647], [0.00346052, -0.971975, -0.235059, 1.4774], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.59502, -0.151, 0.789399, -0.28608], [-0.803707, -0.108744, 0.585004, 0.748446], [-0.0024939, -0.982534, -0.186065, 1.52924], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.555176, -0.0454416, 0.830491, -0.119571], [-0.829741, -0.0993259, 0.54924, 0.88705], [0.0575308, -0.994017, -0.0928481, 1.56744], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.591852, -0.00930507, 0.805993, -0.0741449], [-0.80451, -0.0685522, 0.589971, 0.917611], [0.0497629, -0.997604, -0.0480587, 1.58165], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0798_00"}, {"annotation": [{"question_id": "test-scene0799-0", "question": "What color is the bookshelf on wheels?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-1", "question": "What color is the table next to another table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-2", "question": "What is next to the brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-3", "question": "What is next to the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-4", "question": "Where is a bookshelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-5", "question": "What is the table in the middle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-6", "question": "What type of table is on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-7", "question": "What color is the table closest to the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-8", "question": "Where is the shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-9", "question": "What color table is closest to the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-10", "question": "What color is the chair by the pillar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-11", "question": "What color is the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-12", "question": "How many rows does the bookshelf have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-13", "question": "What is next to a sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-14", "question": "What is in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-15", "question": "What is the size of the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-16", "question": "What is next to a chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-17", "question": "What is perpendicular to a wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-18", "question": "What is in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-19", "question": "Where is a display stand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-20", "question": "What type of chair has a jacket laying on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-21", "question": "What is laying on the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-22", "question": "What type of table is connected to another table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-23", "question": "How is the table connected to another table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-24", "question": "What type of table has books on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-25", "question": "What object is in the middle of room with nothing touching it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-26", "question": "When do you face the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-27", "question": "What is the shape of a table that is in line with another table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-28", "question": "What is in front of the big bookshelf ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-29", "question": "Where is the tall wooden bookshelf if you are sitting in it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-30", "question": "What is at the end of the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-31", "question": "Where is the display rack located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-32", "question": "What is draped over the chair ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-33", "question": "What material are the shelves made out of ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-34", "question": "Where is the bookshelf located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-35", "question": "What is behind the book rack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-36", "question": "What size is the correct bookshelf from floor to ceiling?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-37", "question": "How many chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-38", "question": "What color clothing is on the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-39", "question": "What shape is the correct display rack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-40", "question": "What shape is the display rack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-41", "question": "What is next to the display rack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-42", "question": "What is the bookshelf made from?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-43", "question": "How many rows of shelves are on the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-44", "question": "Where is the bookshelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-45", "question": "What is located at the end of the tall bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-46", "question": "How many tables with books are located next to the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-47", "question": "What is close to the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-48", "question": "The L-shaped table has what on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-49", "question": "What is the bargain book sign on the desk in the library?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-50", "question": "What color fabric is over the arm rest of the brown chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-51", "question": "What shape is the table with the bargain books sign?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-52", "question": "What sign is on the desk in the library?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-53", "question": "What's at the left end of the giant book shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0799-54", "question": "Where is the display shelving unit located in the library?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.0536986, -0.48927, 0.870478, 2.47298], [-0.998273, -0.0471192, 0.0350979, 3.96504], [0.0238439, -0.870859, -0.490955, 1.43069], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.0525275, -0.551262, 0.832677, 2.47751], [-0.998617, -0.0310223, 0.0424576, 4.00596], [0.00242627, -0.833755, -0.552129, 1.37821], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.0305716, -0.495843, 0.867875, 2.32029], [-0.999045, 0.0119531, 0.0420215, 4.06873], [-0.0312098, -0.86833, -0.495004, 1.43773], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.0679413, -0.332961, 0.94049, 2.2146], [-0.997247, 0.0507383, -0.0540786, 4.22108], [-0.0297129, -0.941575, -0.335491, 1.55974], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.161049, -0.22892, 0.960031, 2.14878], [-0.986941, 0.0339486, -0.157469, 4.41176], [0.00345602, -0.972853, -0.231398, 1.65778], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.208937, -0.16162, 0.964482, 2.02759], [-0.9778, 0.018504, -0.208721, 4.45073], [0.0158866, -0.98668, -0.161898, 1.72529], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.298818, -0.0480781, 0.953099, 2.01541], [-0.954126, 0.0346806, -0.29739, 4.56976], [-0.0187561, -0.998241, -0.0562358, 1.79413], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.334018, 0.00246686, 0.942564, 1.91107], [-0.942516, -0.0112644, -0.333971, 4.68518], [0.00979336, -0.999933, 0.00608751, 1.89718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.354747, -0.128783, 0.926051, 1.78742], [-0.934894, 0.0608792, -0.349668, 4.76729], [-0.0113459, -0.989802, -0.141995, 1.73921], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.413346, -0.326358, 0.85008, 1.81857], [-0.909022, 0.202385, -0.364308, 4.80658], [-0.0531482, -0.923326, -0.380322, 1.51718], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.614683, -0.364545, 0.69948, 1.9054], [-0.788754, 0.290389, -0.541794, 4.6968], [-0.00561267, -0.884749, -0.466033, 1.48588], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.725539, -0.280829, 0.628274, 2.09818], [-0.688171, 0.300883, -0.66022, 4.52406], [-0.00362796, -0.911375, -0.411561, 1.52812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.773484, -0.184585, 0.606343, 2.15343], [-0.632622, 0.28355, -0.720687, 4.25825], [-0.0389007, -0.941025, -0.336094, 1.60294], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.852294, -0.159186, 0.498253, 2.2758], [-0.522909, 0.282468, -0.804225, 4.09901], [-0.0127186, -0.945977, -0.323985, 1.61315], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.91353, -0.148105, 0.378852, 2.46586], [-0.406549, 0.3016, -0.862413, 4.0637], [0.0134657, -0.941861, -0.335732, 1.58303], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.921374, -0.210458, 0.326769, 2.32407], [-0.388611, 0.4832, -0.784538, 4.06661], [0.00721774, -0.849839, -0.526994, 1.47186], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.90907, -0.206654, 0.361783, 2.20772], [-0.416583, 0.465672, -0.780774, 4.12614], [-0.00712231, -0.86049, -0.509417, 1.48287], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.930324, -0.16517, 0.327439, 2.48047], [-0.36583, 0.355108, -0.860272, 4.08336], [0.0258152, -0.920118, -0.390789, 1.55119], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.962019, -0.147307, 0.229827, 2.74861], [-0.266642, 0.326657, -0.906751, 4.04586], [0.0584963, -0.933593, -0.353528, 1.52036], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.99809, -0.0275295, -0.055318, 3.08704], [0.0430605, 0.332168, -0.942237, 3.97843], [0.0443142, -0.942819, -0.330347, 1.531], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.929808, 0.0873965, -0.357519, 3.34498], [0.36642, 0.311009, -0.876932, 4.09474], [0.0345508, -0.94638, -0.321203, 1.556], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.854359, 0.122713, -0.504988, 3.46135], [0.519554, 0.179962, -0.835271, 4.22342], [-0.0116199, -0.975989, -0.217508, 1.60451], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.760815, 0.0547702, -0.646653, 3.51105], [0.648724, 0.0915283, -0.755499, 4.19667], [0.0178082, -0.994295, -0.105167, 1.63181], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.771859, 0.0486919, -0.633927, 3.46302], [0.635677, 0.0782413, -0.76798, 4.18395], [0.0122048, -0.995745, -0.0913437, 1.64737], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.724163, 0.0732779, -0.685724, 3.60449], [0.686983, 0.163667, -0.708003, 4.20421], [0.0603497, -0.983791, -0.168862, 1.5777], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.699065, 0.103717, -0.707497, 3.64361], [0.714531, 0.139327, -0.685591, 4.37946], [0.0274662, -0.9848, -0.171507, 1.56552], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.718818, 0.114188, -0.685757, 3.68591], [0.694625, 0.15805, -0.701795, 4.54563], [0.028247, -0.980806, -0.192927, 1.54764], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.604085, 0.130199, -0.786213, 3.7812], [0.796919, 0.0968665, -0.59627, 4.61864], [-0.00147586, -0.986745, -0.162273, 1.57706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.594177, 0.139828, -0.792087, 3.94237], [0.803929, 0.0719818, -0.590354, 4.78218], [-0.0255321, -0.987556, -0.155182, 1.55614], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.563607, 0.172094, -0.807918, 4.01923], [0.825366, 0.0777175, -0.559224, 5.00588], [-0.0334498, -0.98201, -0.185843, 1.54316], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.519505, 0.193537, -0.832261, 4.1532], [0.854304, 0.0985942, -0.510337, 5.10599], [-0.0167133, -0.976126, -0.21656, 1.50324], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.418808, 0.160039, -0.893861, 4.24704], [0.908029, 0.0638741, -0.414009, 5.25155], [-0.00916311, -0.985042, -0.172071, 1.54358], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.298495, 0.124794, -0.946218, 4.29812], [0.953522, -0.00379518, -0.3013, 5.45741], [-0.0411915, -0.992175, -0.117861, 1.60812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.149138, 0.149036, -0.977521, 4.277], [0.98835, -0.00790233, -0.151995, 5.51681], [-0.0303773, -0.9888, -0.146121, 1.58845], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.122806, 0.23372, -0.964518, 4.24249], [0.992383, 0.038467, -0.117033, 5.3945], [0.00974921, -0.971543, -0.236663, 1.51569], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.00141132, 0.299157, -0.954203, 4.14437], [0.999025, 0.0425336, 0.0118573, 5.20219], [0.0441329, -0.953256, -0.298925, 1.47977], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.14391, 0.144081, -0.979046, 3.82002], [0.989585, -0.0175317, 0.142879, 4.99648], [0.00342178, -0.989411, -0.145104, 1.56238], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.313819, 0.0747167, -0.946539, 3.5621], [0.948497, -0.0701021, 0.308934, 4.77258], [-0.0432718, -0.994738, -0.0928678, 1.59052], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.532124, 0.116167, -0.83866, 3.21818], [0.846475, -0.0941055, 0.524047, 4.54849], [-0.0180455, -0.988762, -0.148408, 1.51085], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.763588, 0.109816, -0.636297, 2.92811], [0.644783, -0.182303, 0.742308, 4.35787], [-0.0344816, -0.977091, -0.210012, 1.51442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.866956, 0.125445, -0.48234, 2.81959], [0.498356, -0.228622, 0.836286, 4.1015], [-0.00536591, -0.965399, -0.260721, 1.50136], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.922143, 0.147855, -0.357479, 2.77429], [0.386641, -0.321971, 0.864201, 3.87933], [0.0126787, -0.935133, -0.354071, 1.4854], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.985969, 0.0664125, -0.153154, 2.68223], [0.166809, -0.356417, 0.919316, 3.68392], [0.00646704, -0.931964, -0.362494, 1.47941], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.999424, -0.00697168, 0.0332097, 2.72425], [-0.0329737, -0.430661, 0.901911, 3.50861], [0.00801429, -0.902487, -0.430643, 1.48233], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.975899, -0.051825, 0.211981, 2.62076], [-0.214396, -0.408832, 0.887069, 3.4324], [0.040692, -0.911137, -0.410089, 1.48342], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.906696, -0.135381, 0.399469, 2.34554], [-0.421175, -0.341555, 0.84021, 3.38272], [0.0226927, -0.93006, -0.366705, 1.49724], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.886119, -0.211813, 0.412225, 2.09672], [-0.462369, -0.34308, 0.817625, 3.30591], [-0.0317577, -0.915113, -0.401946, 1.46687], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.829883, -0.185533, 0.526186, 1.79031], [-0.557699, -0.303455, 0.772585, 3.37156], [0.0163334, -0.934608, -0.355303, 1.45553], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.751209, -0.200717, 0.628807, 1.62882], [-0.660063, -0.22666, 0.7162, 3.53075], [-0.00122821, -0.953068, -0.302755, 1.4506], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.777197, -0.202691, 0.59572, 1.47645], [-0.629028, -0.275833, 0.726801, 3.76575], [0.0170029, -0.939592, -0.341874, 1.42305], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.669803, -0.261536, 0.694955, 1.36986], [-0.74218, -0.264892, 0.615631, 3.84633], [0.0230781, -0.928133, -0.371532, 1.41745], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.484224, -0.317055, 0.815478, 1.53604], [-0.874881, -0.164226, 0.455647, 3.81734], [-0.0105426, -0.93408, -0.356907, 1.44461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.42943, -0.35394, 0.830853, 1.82355], [-0.901204, -0.10835, 0.419634, 3.81039], [-0.0585027, -0.928971, -0.3655, 1.46426], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.270095, -0.385409, 0.882332, 2.11456], [-0.961148, -0.0537258, 0.270754, 3.9662], [-0.056947, -0.921181, -0.384946, 1.46706], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.0033139, -0.449613, 0.893218, 2.3484], [-0.996308, 0.0751415, 0.0415198, 3.9417], [-0.0857855, -0.890057, -0.447704, 1.46577], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.268702, -0.399317, 0.876553, 2.32352], [-0.96211, 0.15501, -0.224314, 4.06686], [-0.0463025, -0.903614, -0.425838, 1.4968], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.353341, -0.287131, 0.890341, 2.18341], [-0.935215, 0.131685, -0.328682, 4.11757], [-0.0228697, -0.948797, -0.315058, 1.57801], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.325203, -0.346785, 0.879763, 2.13009], [-0.945381, 0.141195, -0.293802, 4.07883], [-0.0223319, -0.927256, -0.373761, 1.5479], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0799_00"}, {"annotation": [{"question_id": "test-scene0800-0", "question": "What color is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-1", "question": "What color is the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-2", "question": "What is to the left of the display rack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-3", "question": "What is on the display rack in front of you?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-4", "question": "What type of book shelf is to the left of a chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-5", "question": "Where is the brown bookshelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-6", "question": "To what side of the bookshelf is the brown chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-7", "question": "What color table is to the left of the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-8", "question": "What type of table is to the left of the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-9", "question": "The table is to the diagonal right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-10", "question": "How tall is the dispay rack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-11", "question": "The display rack is to the right of the chair with the white shirt and to the left of the tables with what on them?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-12", "question": "The table is directly to the right of what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-13", "question": "Where is the long table from the display rack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-14", "question": "How many tiers does the table have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-15", "question": "What type of rack is it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-16", "question": "Where is the brown chair relative to the display rack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-17", "question": "What type of rack is in the center of the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-18", "question": "What is the table on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-19", "question": "What color is the table on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-20", "question": "What is the table on the left?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-21", "question": "What' is located to the right of the chair in front of the pillar?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-22", "question": "What's located to the right of the item stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-23", "question": "What is on the arm of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-24", "question": "What is on the person's back?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-25", "question": "What is the shirt on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-26", "question": "What type of chair is in the library?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-27", "question": "What is on the other chair in the library?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-28", "question": "Where is the brown wooden chair located in the library?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-29", "question": "What is behind an armchair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-30", "question": "What is on the right side of the chair with the cloth on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-31", "question": "What type of unit is on the side of the chair with the cloth fabric on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-32", "question": "Where is the wooden display case shelving unit located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-33", "question": "What is on the wooden book shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-34", "question": "What does the correct chair have behind it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-35", "question": "How many levels does the table across from the arm chair have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-36", "question": "Is there a shelf under the table across from the arm chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-37", "question": "Who is standing next to the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-38", "question": "What is on the other end of the bookshelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-39", "question": "What color is the clothing in front of the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-40", "question": "Where is the table located in relation to the man with the back pack?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-41", "question": "How does the table appear to be compared to most other objects in the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-42", "question": "What size is the table next to the end of the large rectangular table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-43", "question": "When standing in the middle of the room and facing all the tables?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-44", "question": "Where is the cash register when standing in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-45", "question": "What is located on the outside of the cash register table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0800-46", "question": "How many tables are in the room?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[-0.0410617, -0.449214, 0.89248, 4.05698], [-0.998463, 0.0517274, -0.0199017, 4.74176], [-0.0372255, -0.891926, -0.450647, 1.3965], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[-0.118434, -0.410535, 0.904121, 4.05137], [-0.991055, 0.105272, -0.082021, 4.69805], [-0.061506, -0.905748, -0.419331, 1.41658], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[-0.280137, -0.380516, 0.881324, 4.03204], [-0.958788, 0.156264, -0.237292, 4.59838], [-0.047426, -0.911476, -0.408609, 1.44439], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[-0.462966, -0.42894, 0.775676, 4.0226], [-0.885842, 0.254277, -0.388107, 4.6161], [-0.030762, -0.866807, -0.497694, 1.40333], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[-0.574528, -0.449626, 0.683925, 3.93696], [-0.817691, 0.352092, -0.455426, 4.52006], [-0.0360336, -0.820895, -0.569942, 1.39182], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[-0.65748, -0.373932, 0.654137, 3.78482], [-0.753337, 0.34265, -0.561315, 4.39314], [-0.0142464, -0.861839, -0.506982, 1.43748], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.706677, -0.283422, 0.648289, 3.71482], [-0.706907, 0.321437, -0.630047, 4.34134], [-0.0298154, -0.903521, -0.427506, 1.47906], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.856264, -0.212802, 0.470667, 3.67315], [-0.516324, 0.378871, -0.768028, 4.26271], [-0.0148836, -0.900651, -0.434288, 1.49115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.939816, -0.152033, 0.305994, 3.69499], [-0.341052, 0.36305, -0.867109, 4.18602], [0.0207385, -0.919283, -0.393051, 1.52355], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.98161, -0.0415108, 0.18633, 3.84527], [-0.190388, 0.284178, -0.939678, 4.13232], [-0.0139441, -0.957872, -0.286855, 1.58627], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.997312, 0.0670741, 0.0294809, 3.95057], [-0.0149336, 0.207835, -0.97805, 3.99957], [-0.0717289, -0.975862, -0.206275, 1.60795], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.965759, 0.104148, -0.237621, 4.1874], [0.257559, 0.274699, -0.926393, 3.93611], [-0.0312073, -0.955873, -0.292117, 1.55746], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.87817, 0.196878, -0.435955, 4.48198], [0.477288, 0.299966, -0.825964, 4.01887], [-0.0318425, -0.933413, -0.357389, 1.5002], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.782861, 0.276333, -0.557467, 4.71729], [0.622157, 0.337548, -0.706387, 4.08817], [-0.00702593, -0.899834, -0.436175, 1.46573], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.592747, 0.3121, -0.742459, 4.84997], [0.805386, 0.227274, -0.547449, 3.94002], [-0.0021172, -0.922464, -0.386077, 1.49703], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.497994, 0.291594, -0.816686, 4.74884], [0.866743, 0.137454, -0.479441, 3.88384], [-0.0275451, -0.946615, -0.321188, 1.54253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.36107, 0.394382, -0.84504, 4.59481], [0.932396, 0.136812, -0.334546, 3.72953], [-0.0163277, -0.908706, -0.417118, 1.49062], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.12227, 0.439413, -0.889925, 4.47659], [0.991852, 0.0217678, -0.125526, 3.53291], [-0.0357862, -0.898021, -0.438494, 1.49976], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.0978325, 0.404546, -0.90927, 4.22923], [0.993495, -0.0931985, 0.0654294, 3.47134], [-0.0582734, -0.909756, -0.411032, 1.49759], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.296897, 0.377717, -0.877031, 3.97333], [0.954789, -0.132012, 0.266366, 3.42439], [-0.0151674, -0.916462, -0.399834, 1.51081], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.530044, 0.346624, -0.773889, 3.76935], [0.847966, -0.219554, 0.482441, 3.27323], [-0.00268476, -0.911947, -0.410299, 1.51846], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.758004, 0.204065, -0.619506, 3.51214], [0.647986, -0.344031, 0.679527, 3.24778], [-0.0744615, -0.916515, -0.393008, 1.53421], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.935482, 0.114325, -0.334369, 3.28319], [0.352004, -0.384723, 0.853277, 3.11741], [-0.0310883, -0.915925, -0.400144, 1.51932], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.996381, -0.0475827, -0.0704387, 3.26222], [0.0420553, -0.44419, 0.894945, 2.94835], [-0.0738722, -0.894668, -0.440581, 1.47779], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.987936, -0.10252, 0.116071, 3.16118], [-0.151206, -0.476628, 0.866004, 2.84132], [-0.0334607, -0.873107, -0.486379, 1.47445], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.931377, -0.203071, 0.302158, 2.95091], [-0.361644, -0.420691, 0.832005, 2.90152], [-0.0418406, -0.884184, -0.465261, 1.49129], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.905751, -0.206521, 0.370087, 2.87049], [-0.420774, -0.333862, 0.843496, 3.15555], [-0.0506419, -0.91972, -0.389294, 1.50704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.844872, -0.228852, 0.483548, 2.60124], [-0.534782, -0.337384, 0.774713, 3.46512], [-0.014153, -0.913126, -0.407432, 1.4759], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.702083, -0.310844, 0.640668, 2.64216], [-0.712073, -0.299315, 0.635109, 3.64505], [-0.00565764, -0.902101, -0.431487, 1.46498], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.448206, -0.357035, 0.819535, 2.86363], [-0.893861, -0.190413, 0.405901, 3.78006], [0.0111294, -0.914478, -0.404483, 1.45852], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.196159, -0.242067, 0.950224, 2.9682], [-0.98017, -0.0761377, 0.182946, 3.94372], [0.0280628, -0.967268, -0.252202, 1.50643], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.0758258, -0.271244, 0.95952, 3.18575], [-0.996663, 0.00855889, 0.0811806, 4.01687], [-0.0302322, -0.962473, -0.26969, 1.476], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.204104, -0.314968, 0.926896, 3.35788], [-0.978739, 0.0852773, -0.186542, 4.14598], [-0.0202884, -0.945263, -0.325677, 1.51494], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.390503, -0.344395, 0.853756, 3.32164], [-0.920413, 0.12727, -0.369652, 4.30494], [0.0186487, -0.930158, -0.366684, 1.52002], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.495569, -0.355829, 0.792337, 3.14426], [-0.868563, 0.206188, -0.450649, 4.30806], [-0.00301616, -0.911522, -0.41124, 1.49514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.614774, -0.304472, 0.727565, 3.14156], [-0.788687, 0.2314, -0.569584, 4.2079], [0.00506437, -0.923986, -0.382392, 1.51707], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.765163, -0.239499, 0.597633, 3.21517], [-0.643753, 0.269707, -0.716128, 4.14385], [0.0103258, -0.932683, -0.360548, 1.55453], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0800_00"}, {"annotation": [{"question_id": "test-scene0801-0", "question": "What kind of table is in between two seats?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-1", "question": "The long table is in between what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-2", "question": "How many seats is the long table centered between?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-3", "question": "To what part of the table is the green bench located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-4", "question": "What kind of table is in between two benches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-5", "question": "How many benches is the long table centered between?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-6", "question": "Where is the square picture beside a rectangle picture?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-7", "question": "What shape is the table in between two benches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-8", "question": "On what side of the table is the green and gray bench?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-9", "question": "Where are the green benches located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-10", "question": "What color are the benches near the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-11", "question": "On what sides of the table are the green benches located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-12", "question": "What is hanging on the wall at the end of the white table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-13", "question": "On what side of the white table is a rectangular picture?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-14", "question": "Where is the yellow picture hanging over the booth?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-15", "question": "How many pictures?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-16", "question": "Where does the yellow picture hang?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-17", "question": "What color is the benches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-18", "question": "What color is the back rest of the bench?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-19", "question": "What color is the backrest of the bench?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-20", "question": "What is the bench directly in front of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-21", "question": "What is the picture frame mounted on?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-22", "question": "What color is the picture frame?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-23", "question": "What is in front of the bench with a green backrest?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-24", "question": "What color is the bench?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-25", "question": "How many paintings are on the wall at the end of the booth?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-26", "question": "What colors are the paintings on the wall at the end of the booth>?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-27", "question": "What color is the back of the bench?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-28", "question": "What color background does the left painting on the wall have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0801-29", "question": "What color is the right picture on the wall?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.107162, -0.255158, 0.960942, -0.804326], [-0.993921, -0.00295709, 0.110054, 0.539744], [-0.0252396, -0.966895, -0.253924, 1.60212], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.273086, -0.261274, 0.925829, -0.814212], [-0.961927, -0.0632271, 0.265891, 0.651195], [-0.0109328, -0.963192, -0.268593, 1.59999], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.333262, -0.366004, 0.868894, -0.846408], [-0.942793, -0.120813, 0.310715, 0.750596], [-0.00874937, -0.922738, -0.385329, 1.5477], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.356025, -0.450485, 0.818724, -0.799389], [-0.934476, -0.172433, 0.311482, 0.723324], [0.000856988, -0.875974, -0.482358, 1.48637], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.208437, -0.497569, 0.842008, -0.687125], [-0.977964, -0.116403, 0.173307, 0.573292], [0.0117798, -0.859578, -0.510868, 1.45045], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.0218397, -0.519187, 0.854381, -0.66694], [-0.999752, -0.0149295, 0.0164832, 0.738619], [0.00419767, -0.85453, -0.519385, 1.45399], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[-0.0483161, -0.539614, 0.840525, -0.622977], [-0.998502, 0.0477046, -0.0267712, 1.07226], [-0.0256508, -0.84056, -0.541111, 1.4586], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[-0.146977, -0.562458, 0.813657, -0.389778], [-0.98883, 0.0629759, -0.135087, 1.37402], [0.02474, -0.824424, -0.565432, 1.45768], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[-0.391784, -0.499136, 0.772895, -0.265918], [-0.919965, 0.224353, -0.321448, 1.70197], [-0.0129551, -0.836976, -0.547086, 1.49479], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[-0.488927, -0.466768, 0.736938, -0.097016], [-0.871514, 0.224979, -0.435713, 1.83491], [0.0375811, -0.855285, -0.516794, 1.49088], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.592514, -0.384818, 0.707701, -0.0620803], [-0.80554, 0.289171, -0.517189, 1.95381], [-0.00562295, -0.876524, -0.481325, 1.49096], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.496373, -0.25889, 0.828606, -0.145808], [-0.868005, 0.162743, -0.469128, 1.98793], [-0.0133977, -0.952098, -0.305499, 1.17603], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.480114, -0.234327, 0.845328, -0.195195], [-0.877142, 0.139797, -0.459431, 1.93885], [-0.0105172, -0.962054, -0.272657, 0.781868], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.450447, -0.216107, 0.866253, -0.237192], [-0.892699, 0.0942525, -0.440686, 1.90348], [0.013589, -0.97181, -0.235375, 0.633351], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.439482, -0.236394, 0.866586, -0.290909], [-0.898047, 0.0951073, -0.429493, 1.82961], [0.0191112, -0.966991, -0.254092, 0.614188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.474416, -0.306822, 0.825099, -0.329361], [-0.880297, 0.162831, -0.445603, 1.76137], [0.00236912, -0.937735, -0.347344, 0.768592], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.361698, -0.409963, 0.837319, -0.334174], [-0.932136, 0.142435, -0.332918, 1.66602], [0.0172207, -0.900912, -0.43366, 1.27537], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.383805, -0.444044, 0.80964, -0.264347], [-0.923063, 0.160326, -0.349642, 1.42124], [0.0254506, -0.881545, -0.471415, 1.4012], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.169289, -0.502635, 0.847761, -0.35363], [-0.984189, 0.0407613, -0.172365, 1.09555], [0.0520809, -0.863537, -0.501589, 1.40557], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.0643317, -0.546794, 0.834791, -0.338858], [-0.996647, -0.0775833, 0.0259871, 0.777082], [0.0505563, -0.833665, -0.549952, 1.40586], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.28927, -0.556373, 0.778955, -0.393913], [-0.954354, -0.230845, 0.189523, 0.458432], [0.0743722, -0.798223, -0.597753, 1.38098], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.512176, -0.49685, 0.700582, -0.383138], [-0.855599, -0.366391, 0.365661, 0.264756], [0.0750079, -0.786701, -0.612761, 1.43032], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.590164, -0.350114, 0.72741, -0.31671], [-0.80386, -0.337749, 0.489626, 0.203629], [0.0742571, -0.873697, -0.48077, 1.5168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.622339, -0.308334, 0.71946, -0.346186], [-0.781231, -0.301854, 0.546408, 0.121529], [0.0486956, -0.902117, -0.428736, 1.52816], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.531528, -0.316291, 0.785771, -0.309901], [-0.845, -0.262342, 0.465994, 0.236479], [0.0587513, -0.911667, -0.406709, 1.45735], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.495338, -0.232413, 0.837032, -0.314166], [-0.868518, -0.152188, 0.471713, 0.244329], [0.0177538, -0.960637, -0.27724, 1.17848], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.491625, -0.228047, 0.840416, -0.341412], [-0.870664, -0.111277, 0.479124, 0.259115], [-0.015744, -0.967271, -0.253259, 0.892274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.484195, -0.2561, 0.83664, -0.34716], [-0.87494, -0.148025, 0.46105, 0.252264], [0.00576842, -0.95525, -0.295745, 0.716349], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.474535, -0.24876, 0.844354, -0.341568], [-0.88013, -0.119191, 0.459526, 0.242895], [-0.0136723, -0.961204, -0.275502, 0.65397], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0801_00"}, {"annotation": [{"question_id": "test-scene0802-0", "question": "How many chairs are around the small, white table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-1", "question": "What color is the sofa chair that is next to another sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-2", "question": "Where is the brown coffee table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-3", "question": "How many trash can are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-4", "question": "Where is the black chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-5", "question": "What shape is a coffee table in the middle of a room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-6", "question": "What is a purple object that is standing by itself?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-7", "question": "What color is a stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-8", "question": "What is next to a white table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-9", "question": "What is next to a wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-10", "question": "What is in the middle of purple chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-11", "question": "What color is the stand next to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-12", "question": "How many chairs are against the wall ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-13", "question": "What does the chair furthest to the left have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-14", "question": "What color is the chair on the left that has no arms?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-15", "question": "What is located between the two light blue chairs near the glass door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-16", "question": "What is the door to the room that has a black edge?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-17", "question": "What color edge does the glass door to the room have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-18", "question": "What is the middle chair of the three?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-19", "question": "What type of chair is the one on the left side of the three?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-20", "question": "What color is the sofa chair near the window?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-21", "question": "What is closed?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-22", "question": "What is the door with glass by?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-23", "question": "What size is the trash cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-24", "question": "Where is the window door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-25", "question": "How many segments does the trash can have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-26", "question": "Where is a trash cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-27", "question": "What color is the chair on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-28", "question": "What is at the center of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-29", "question": "The chair on the left is beside what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-30", "question": "What color is the stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-31", "question": "Where is the chair to the right of the purple stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-32", "question": "What color is the chair closest to the trash bins?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-33", "question": "The stand is closest to which chair near the light brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-34", "question": "Where is the arrowhead shaped table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-35", "question": "Where is the middle bucket seat located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-36", "question": "What color sideing is on the windowed door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-37", "question": "What color is the siding around the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-38", "question": "What is next to the trash bins?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-39", "question": "What part of the three bucket seats are against the windowed seating?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-40", "question": "What is between the three bucket seats?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-41", "question": "How many recycling bins are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-42", "question": "What color cloth is around the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0802-43", "question": "What is the arrow head shaped table surrounded by?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.955885, 0.203843, -0.211502, 2.91371], [0.281324, -0.428139, 0.85881, 0.0145996], [0.0845104, -0.880423, -0.466597, 2.45992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.922166, 0.223454, -0.315719, 3.01917], [0.384648, -0.443905, 0.809318, -0.0353505], [0.040696, -0.867765, -0.495305, 2.4216], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.831952, 0.314996, -0.456765, 3.02813], [0.554466, -0.441456, 0.705468, 0.140623], [0.0205778, -0.840175, -0.541924, 2.37423], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.701948, 0.40142, -0.588329, 3.06373], [0.711299, -0.437293, 0.550299, 0.309493], [-0.0363709, -0.804759, -0.592486, 2.32427], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.579115, 0.488889, -0.652391, 3.17414], [0.814666, -0.377208, 0.440493, 0.572074], [-0.030735, -0.786576, -0.616728, 2.29191], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.585897, 0.490918, -0.644767, 3.14828], [0.80958, -0.390037, 0.438693, 0.884718], [-0.0361207, -0.779019, -0.625959, 2.24716], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.563144, 0.511273, -0.649206, 3.16482], [0.826194, -0.364045, 0.429971, 1.22998], [-0.0165073, -0.778506, -0.62742, 2.20655], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.587831, 0.524376, -0.616024, 3.09773], [0.808831, -0.39578, 0.434916, 1.59601], [-0.0157505, -0.753916, -0.656782, 2.11942], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.583982, 0.561853, -0.585907, 2.95313], [0.811758, -0.400752, 0.424792, 1.82418], [0.00386643, -0.723685, -0.69012, 2.08509], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.438396, 0.64115, -0.62987, 2.97965], [0.898438, -0.293235, 0.326837, 2.14278], [0.0248514, -0.709183, -0.704586, 2.05684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.271861, 0.697405, -0.663113, 2.91483], [0.962202, -0.185456, 0.199434, 2.38868], [0.0161078, -0.692267, -0.721462, 2.02093], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.123871, 0.717393, -0.685568, 2.95527], [0.992249, -0.0826654, 0.0927803, 2.7006], [0.00988707, -0.691747, -0.722072, 1.99656], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.114191, 0.712658, -0.692156, 2.97596], [0.993414, -0.0752676, 0.0863951, 3.04946], [0.00947332, -0.697462, -0.716559, 1.95793], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.048631, 0.698193, -0.714256, 2.90442], [0.997958, -0.0636181, 0.0057601, 3.37439], [-0.041418, -0.713078, -0.699861, 1.94569], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.251407, 0.669079, -0.699377, 2.91571], [0.966885, 0.140821, -0.212848, 3.65365], [-0.0439253, -0.729728, -0.682325, 1.90608], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.37491, 0.64991, -0.661106, 2.80396], [0.926473, 0.237243, -0.292173, 3.907], [-0.0330429, -0.722035, -0.691068, 1.852], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.286643, 0.676891, -0.677979, 2.72871], [0.955344, 0.148922, -0.255227, 4.15506], [-0.0717946, -0.720861, -0.689351, 1.83684], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.0409876, 0.649751, -0.759042, 2.76887], [0.997688, -0.0146164, -0.0663859, 4.42392], [-0.0542288, -0.760007, -0.647649, 1.83595], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.258734, 0.586818, -0.76727, 2.71164], [0.96509, -0.190541, 0.179713, 4.4762], [-0.0407374, -0.786981, -0.615631, 1.8353], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.541669, 0.358171, -0.760466, 2.65595], [0.83983, -0.269115, 0.471449, 4.40779], [-0.0357932, -0.894031, -0.446573, 1.74755], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.639972, 0.181977, -0.746539, 2.62792], [0.768021, -0.181957, 0.614033, 4.41823], [-0.0240976, -0.966321, -0.256209, 1.84968], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.726945, 0.0195115, -0.686419, 2.65223], [0.682719, -0.127962, 0.71939, 4.47866], [-0.0737987, -0.991587, -0.106342, 1.86743], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.680479, -0.0917696, -0.726999, 2.67611], [0.728259, -0.0251902, 0.684839, 4.44807], [-0.0811605, -0.995462, 0.0496905, 1.93851], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.625322, 0.110988, -0.772434, 2.80491], [0.774707, -0.207295, 0.597376, 4.21888], [-0.0938199, -0.971962, -0.21561, 1.91633], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.789405, 0.177535, -0.587642, 2.70446], [0.612557, -0.290473, 0.735119, 4.24338], [-0.0401846, -0.94027, -0.33805, 1.83365], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[0.911694, 0.158303, -0.37915, 2.57677], [0.41002, -0.409894, 0.814783, 4.32091], [-0.0264287, -0.898291, -0.438605, 1.74961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[0.929432, 0.204436, -0.307185, 2.4831], [0.368506, -0.471449, 0.801211, 4.59295], [0.0189738, -0.85787, -0.513516, 1.65277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[0.948403, 0.197614, -0.247952, 2.38092], [0.315482, -0.510036, 0.80021, 4.92048], [0.0316681, -0.837145, -0.546063, 1.62339], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[0.942787, 0.209537, -0.25932, 2.42855], [0.332774, -0.543959, 0.770306, 5.17026], [0.0203483, -0.812529, -0.582566, 1.59689], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[0.849216, 0.359375, -0.386887, 2.64145], [0.524536, -0.489777, 0.696406, 5.36177], [0.060782, -0.794335, -0.604431, 1.58965], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[0.794656, 0.409681, -0.447977, 2.74258], [0.602771, -0.444921, 0.662355, 5.65725], [0.0720393, -0.796371, -0.600502, 1.58179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[0.634824, 0.505636, -0.584236, 2.89892], [0.770824, -0.362396, 0.523928, 5.8868], [0.053192, -0.782945, -0.619813, 1.56021], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[0.490236, 0.579639, -0.650912, 3.03489], [0.868997, -0.267492, 0.416285, 6.14912], [0.0671816, -0.769719, -0.634839, 1.53627], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[0.382095, 0.609546, -0.694592, 3.03654], [0.923027, -0.215125, 0.318972, 6.47356], [0.0450037, -0.763004, -0.644825, 1.5485], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.283879, 0.451295, -0.846018, 3.05522], [0.957755, -0.0911022, 0.272775, 6.75042], [0.046028, -0.887712, -0.458092, 1.60783], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[0.340564, 0.319832, -0.884152, 2.9506], [0.940147, -0.103933, 0.324535, 6.8091], [0.0119039, -0.941757, -0.336084, 1.672], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.569103, 0.201584, -0.797174, 2.73271], [0.822258, -0.135121, 0.552843, 6.79584], [0.00372943, -0.970106, -0.242652, 1.71967], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.749812, 0.188349, -0.634277, 2.55644], [0.660285, -0.151448, 0.735586, 6.89825], [0.0424872, -0.970355, -0.237922, 1.69695], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.906596, 0.209449, -0.366354, 2.37598], [0.416808, -0.30867, 0.854982, 6.99448], [0.0659929, -0.927822, -0.367139, 1.61674], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.985854, 0.0780538, -0.148326, 2.18828], [0.167545, -0.434292, 0.885054, 6.9205], [0.0046649, -0.897384, -0.441226, 1.53442], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.998504, 0.0482958, 0.0256655, 2.14665], [0.00366116, -0.527248, 0.849704, 6.7655], [0.0545692, -0.848338, -0.526636, 1.471], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.971728, -0.120055, 0.203303, 2.17146], [-0.234949, -0.5768, 0.78237, 6.68312], [0.0233381, -0.808016, -0.588699, 1.43585], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.917739, -0.239643, 0.316745, 2.21199], [-0.397028, -0.575986, 0.71457, 6.85656], [0.0111988, -0.781544, -0.623749, 1.39397], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.823178, -0.393177, 0.409621, 2.29665], [-0.567728, -0.580124, 0.584074, 7.09035], [0.00798666, -0.71335, -0.700763, 1.37243], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.851473, -0.33272, 0.40533, 2.28018], [-0.522706, -0.600568, 0.605061, 7.27135], [0.0421124, -0.72706, -0.685281, 1.35892], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.902529, -0.160464, 0.399616, 2.22343], [-0.427366, -0.447789, 0.785394, 7.27242], [0.0529161, -0.879623, -0.472719, 1.09266], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.875072, -0.186728, 0.446521, 2.20413], [-0.483991, -0.339839, 0.806389, 7.20673], [0.00117001, -0.92176, -0.387759, 0.820893], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.818107, -0.205604, 0.537055, 2.27806], [-0.571545, -0.393908, 0.719843, 7.19007], [0.0635474, -0.895859, -0.43977, 0.926602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.667163, -0.287159, 0.687339, 2.43453], [-0.740142, -0.359806, 0.568094, 7.11135], [0.0841747, -0.887739, -0.452587, 1.20953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.698993, -0.344441, 0.626714, 2.50024], [-0.71259, -0.409252, 0.56985, 6.92591], [0.0602047, -0.84491, -0.531509, 1.32377], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.796383, -0.27042, 0.540969, 2.73729], [-0.596786, -0.49644, 0.630393, 6.79339], [0.0980875, -0.824876, -0.556739, 1.32857], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.877693, -0.191174, 0.439441, 3.07876], [-0.46573, -0.556352, 0.688164, 6.58586], [0.112925, -0.808656, -0.577341, 1.32509], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[0.974169, -0.00662342, 0.225724, 3.39051], [-0.181573, -0.617274, 0.76551, 6.42147], [0.134263, -0.786721, -0.602531, 1.32035], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[0.993879, 0.0670691, 0.0877929, 3.82927], [-0.0387974, -0.53216, 0.845755, 6.41149], [0.103444, -0.843983, -0.5263, 1.38019], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[0.965545, 0.212726, -0.149902, 4.19213], [0.238172, -0.490237, 0.838417, 6.38732], [0.104866, -0.845231, -0.524011, 1.39195], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[0.915496, 0.257443, -0.309179, 4.53878], [0.396051, -0.441438, 0.805157, 6.52965], [0.0707982, -0.859567, -0.506095, 1.41555], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[0.752093, 0.416254, -0.510969, 4.92728], [0.651479, -0.352317, 0.6719, 6.63613], [0.0996579, -0.838216, -0.536156, 1.41109], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[0.604143, 0.477515, -0.637959, 5.17964], [0.79106, -0.262832, 0.552398, 6.8684], [0.0961019, -0.838391, -0.536531, 1.41549], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[0.353835, 0.529193, -0.771204, 5.49278], [0.92802, -0.0959075, 0.359973, 7.0325], [0.116531, -0.843064, -0.525037, 1.34169], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[0.508549, 0.335893, -0.792814, 5.54605], [0.859002, -0.134702, 0.493936, 7.16909], [0.0591158, -0.932219, -0.357035, 0.955803], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[0.59162, 0.322054, -0.739099, 5.55479], [0.805735, -0.204462, 0.555867, 7.23772], [0.0279016, -0.924379, -0.380454, 0.789176], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[0.725985, 0.359511, -0.586258, 5.53065], [0.685699, -0.313258, 0.657029, 7.34623], [0.0525593, -0.878989, -0.473937, 1.17008], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[0.72794, 0.40179, -0.555579, 5.45389], [0.683807, -0.3662, 0.631116, 7.3551], [0.0501232, -0.839323, -0.541318, 1.40432], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[0.686161, 0.50623, -0.522413, 5.25734], [0.721383, -0.380952, 0.578346, 7.27361], [0.0937618, -0.773697, -0.626579, 1.41108], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[0.824273, 0.426179, -0.372755, 4.92481], [0.561613, -0.531846, 0.633823, 7.1187], [0.0718734, -0.731787, -0.677733, 1.41789], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[0.960539, 0.233537, -0.151081, 4.57156], [0.272243, -0.678068, 0.682722, 7.15848], [0.0569977, -0.696911, -0.714889, 1.39863], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[0.957454, -0.187439, 0.219428, 4.29252], [-0.288562, -0.631734, 0.719475, 7.19863], [0.00376309, -0.752183, -0.658944, 1.43617], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[0.879255, -0.284213, 0.382274, 4.0321], [-0.476272, -0.539183, 0.694584, 7.07988], [0.00870615, -0.792783, -0.609442, 1.42795], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[0.653397, -0.400177, 0.642597, 3.93298], [-0.75694, -0.357414, 0.547081, 7.10752], [0.0107439, -0.843868, -0.536443, 1.49284], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[0.499308, -0.292359, 0.815609, 3.90569], [-0.866311, -0.153153, 0.475448, 7.15354], [-0.0140886, -0.943965, -0.329744, 1.57806], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[0.40527, -0.119326, 0.906377, 3.9726], [-0.913812, -0.0816976, 0.397838, 7.13689], [0.0265766, -0.989488, -0.14215, 1.64801], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0802_00"}, {"annotation": [{"question_id": "test-scene0803-0", "question": "On what wall is the white shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-1", "question": "What color is the tool chest ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-2", "question": "What is on the wall across from the door ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-3", "question": "What color is the door ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-4", "question": "Where is the door located ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-5", "question": "What color shelf is to the right of the black cart?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-6", "question": "What color is the door's handle?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-7", "question": "What color is the cart?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-8", "question": "What is behind the cart?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-9", "question": "Where is the cart located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-10", "question": "What is on the cart?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-11", "question": "What color is the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-12", "question": "Where is the brown door located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-13", "question": "What is the color of the short cart with large wheels?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-14", "question": "Where is the tall shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-15", "question": "What color cabinet is on top of another bigger red cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-16", "question": "How many tiers does the cart have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-17", "question": "What color is the shelf in the back of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-18", "question": "The white shelf is closest to what wall if you are looking at it directly?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-19", "question": "Where are the boxes with red covers?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-20", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-21", "question": "What is the door on the left on the same wall as?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-22", "question": "What is the correct shelf for a home with a projector?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-23", "question": "What is on the black shelf beside the correct shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-24", "question": "In what part of the shelf is a tall white shelf beside it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-25", "question": "What is right of the white shelf behind the red cart?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-26", "question": "What is next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-27", "question": "What is in the red cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-28", "question": "Where is a cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-29", "question": "What is left of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-30", "question": "What color is the cart ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-31", "question": "What object is across from the red cart ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-32", "question": "What color is the cabinet in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-33", "question": "What color shelf is on the wall of the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-34", "question": "What color is the tool cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-35", "question": "Where is the correct cabinet to place tools like screwdrivers?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-36", "question": "What is in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-37", "question": "What is in front of bookcase on ground?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-38", "question": "Where does the red metal cabinet sit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-39", "question": "What is between the white cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-40", "question": "What is in front of the white cabinet closest to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-41", "question": "What type of shelves are on the tall white shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-42", "question": "Where is the tall white shelf located if you walk through the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-43", "question": "What type of cabinet would you be looking for?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-44", "question": "Where is the red metal cabinet located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-45", "question": "What are the drawers in the red tool cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-46", "question": "What color is the metal tool cabinet on top of the rolling cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-47", "question": "The tool cabinet and the rolling cabinet are near what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-48", "question": "What piece of furniture is closest to the door on the right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-49", "question": "What color metal table is near the white cabinets?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-50", "question": "Where is the white cabinet closest to the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-51", "question": "What color is the box right of door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-52", "question": "Where is the projector on the black shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-53", "question": "Where can you find the cabinet you are looking for?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-54", "question": "What is on top of the cabinet you are looking for?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-55", "question": "Where is the shelf closest to the red wagon located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-56", "question": "What is on the side of the red tool cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-57", "question": "What is the wooden door's handle made of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-58", "question": "Where is the wooden door with a metal handle located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-59", "question": "What color shelf sits near the red wagon and has a projector on it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-60", "question": "What does the black metal cart have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-61", "question": "Where is the black metal cart located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-62", "question": "What color shelf is beside the shelf in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-63", "question": "Where is the shelf that is identical to the shelf behind the cart?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-64", "question": "What color shelf is next to the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-65", "question": "What color is the shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-66", "question": "What is in front of the white shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-67", "question": "How many wheels are on the cart's bottom?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-68", "question": "The cart is next to a shelf and what else?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-69", "question": "Which door is on the left of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0803-70", "question": "What is directly to the left of the door?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.980128, -0.0529773, 0.191162, 1.15254], [-0.198359, -0.25302, 0.946908, 1.6764], [-0.00179694, -0.96601, -0.2585, 1.63662], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.973993, -0.0818407, 0.211283, 1.11486], [-0.226522, -0.372753, 0.899857, 1.69448], [0.00511149, -0.924315, -0.381597, 1.54079], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.942687, -0.0900135, 0.321307, 1.12597], [-0.33059, -0.382627, 0.862732, 1.70146], [0.0452832, -0.919508, -0.390455, 1.56183], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.917182, -0.066462, 0.392887, 1.12999], [-0.396146, -0.258393, 0.881079, 1.70031], [0.0429613, -0.963751, -0.263322, 1.67033], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.912504, -0.0299274, 0.407972, 1.17053], [-0.40763, -0.150082, 0.900729, 1.66425], [0.0342727, -0.98822, -0.14915, 1.74915], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.946908, 0.00133278, 0.321501, 1.20978], [-0.320954, -0.0545445, 0.945523, 1.61555], [0.0187963, -0.99851, -0.0512208, 1.77619], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.981747, 0.0101169, 0.189923, 1.21728], [-0.189644, -0.0236671, 0.981567, 1.58183], [0.0144254, -0.999669, -0.0213165, 1.73173], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.993929, -0.0284091, 0.106296, 1.16628], [-0.109966, -0.224454, 0.96826, 1.64022], [-0.00364884, -0.97407, -0.226216, 1.60037], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.999811, 0.00949882, 0.0169808, 1.13045], [-0.0131974, -0.310209, 0.950577, 1.66478], [0.014297, -0.950621, -0.310025, 1.51274], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.999303, -0.00148063, -0.0372968, 1.12733], [0.0344956, -0.345056, 0.937948, 1.7847], [-0.0142583, -0.938581, -0.344764, 1.45293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.999436, -0.0116032, 0.0315105, 1.18399], [-0.0335436, -0.388083, 0.921014, 2.09701], [0.00154194, -0.921552, -0.388253, 1.45808], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[0.999183, -0.00146308, 0.0403778, 1.30289], [-0.0366691, -0.452495, 0.891013, 2.37712], [0.0169671, -0.891766, -0.452179, 1.43812], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[0.999396, -0.0115412, -0.0327791, 1.43039], [0.0207858, -0.557393, 0.829988, 2.54486], [-0.02785, -0.830168, -0.556817, 1.3954], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[0.946803, 0.173893, -0.270785, 1.71676], [0.321576, -0.543505, 0.775365, 2.5468], [-0.0123422, -0.821196, -0.570513, 1.39876], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[0.918173, 0.217574, -0.331089, 1.88287], [0.395199, -0.444245, 0.804029, 2.67329], [0.0278512, -0.869084, -0.493879, 1.43318], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[0.815246, 0.216971, -0.536933, 2.07413], [0.578518, -0.263063, 0.772084, 2.8048], [0.0262732, -0.940065, -0.339983, 1.49217], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[0.682955, 0.172285, -0.709852, 2.21342], [0.730454, -0.157188, 0.664626, 2.92214], [0.00292495, -0.972425, -0.233199, 1.58379], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[0.450187, 0.140376, -0.881831, 2.25451], [0.892928, -0.0745053, 0.443992, 2.99162], [-0.00337517, -0.987291, -0.158887, 1.60199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[0.262017, 0.100541, -0.959812, 2.34955], [0.965061, -0.0295497, 0.260354, 3.09989], [-0.00218581, -0.994494, -0.104771, 1.64987], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[0.21932, -0.00219582, -0.975651, 2.37963], [0.975609, -0.00898907, 0.219331, 3.05121], [-0.00925179, -0.999957, 0.000170785, 1.71518], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[0.189183, -0.0182099, -0.981773, 2.40013], [0.981865, 0.0159976, 0.188904, 3.02164], [0.0122661, -0.999706, 0.0209061, 1.71872], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[0.18435, 0.194281, -0.963468, 2.34335], [0.982844, -0.0307293, 0.181861, 3.00898], [0.00572531, -0.980465, -0.196613, 1.56694], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[0.22726, 0.357953, -0.905661, 2.32874], [0.973778, -0.0735447, 0.215285, 2.99383], [0.0104552, -0.930839, -0.365281, 1.49023], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[0.227781, 0.513116, -0.827543, 2.33044], [0.97369, -0.114316, 0.197127, 2.97393], [0.00654772, -0.850672, -0.525655, 1.39138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[0.0405105, 0.47388, -0.879657, 2.38867], [0.999062, -0.0326841, 0.0284022, 3.06972], [-0.0152916, -0.879983, -0.47476, 1.31229], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[0.0452206, 0.37443, -0.926152, 2.38622], [0.998786, 0.00117397, 0.0492417, 3.07515], [0.0195249, -0.927254, -0.373923, 1.0268], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.223635, 0.387825, -0.894192, 2.42547], [0.972847, 0.144941, -0.180443, 2.91203], [0.0596252, -0.910266, -0.409709, 0.940696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.157285, 0.470247, -0.868406, 2.42809], [0.987518, 0.0674478, -0.142335, 2.95673], [-0.0083604, -0.879954, -0.474986, 1.30258], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.352659, 0.415742, -0.838326, 2.46403], [0.935299, 0.184473, -0.301969, 3.16169], [0.0291071, -0.890578, -0.453899, 1.30053], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.428114, 0.490904, -0.75877, 2.51293], [0.903627, 0.244882, -0.351413, 3.30277], [0.013299, -0.83609, -0.548432, 1.32419], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.412292, 0.427551, -0.804497, 2.51293], [0.911051, 0.192515, -0.364587, 3.41379], [-0.00100213, -0.883255, -0.468893, 1.44138], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.50538, 0.255153, -0.824311, 2.46389], [0.862795, 0.164104, -0.478178, 3.57718], [0.0132647, -0.952873, -0.30308, 1.54807], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.51356, 0.13873, -0.846764, 2.46779], [0.857948, 0.0675363, -0.509278, 3.65348], [-0.0134648, -0.988025, -0.153707, 1.61188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.528398, 0.0375389, -0.848167, 2.47017], [0.848374, -0.0149082, -0.529187, 3.7254], [-0.0325097, -0.999184, -0.0239697, 1.66542], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.558059, -0.0703579, -0.826813, 2.49693], [0.82945, -0.0762486, -0.553351, 3.77156], [-0.0241107, -0.994603, 0.10091, 1.67904], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.598393, -0.0109582, -0.801128, 2.49433], [0.80119, -0.0137425, -0.598251, 3.69454], [-0.00445378, -0.999846, 0.017003, 1.70038], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.603428, 0.239839, -0.760495, 2.46898], [0.797417, 0.182932, -0.575033, 3.57737], [0.00120381, -0.953422, -0.301638, 1.50767], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.653242, 0.299133, -0.695553, 2.4943], [0.756941, 0.279537, -0.590677, 3.54073], [0.0177417, -0.912348, -0.409031, 1.3871], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.677275, 0.299997, -0.671789, 2.45095], [0.735729, 0.274913, -0.618971, 3.47199], [-0.00100537, -0.913468, -0.406909, 1.40253], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[-0.659355, 0.228129, -0.716385, 2.31511], [0.751513, 0.17224, -0.636837, 3.29263], [-0.0218909, -0.958275, -0.285009, 1.47363], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[-0.743129, 0.181423, -0.644085, 2.17805], [0.667691, 0.137553, -0.73162, 3.29522], [-0.0441364, -0.973738, -0.223354, 1.49756], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[-0.803861, 0.131148, -0.580178, 2.16161], [0.59224, 0.0857922, -0.801181, 3.43762], [-0.0552987, -0.987644, -0.146636, 1.53369], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[-0.835627, 0.0785368, -0.543653, 2.28275], [0.548157, 0.0554977, -0.834532, 3.57344], [-0.03537, -0.995365, -0.089426, 1.5284], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[-0.891239, 0.00698543, -0.453479, 2.22485], [0.451285, -0.085769, -0.888248, 3.59849], [-0.0450992, -0.996291, 0.0732882, 1.59225], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[-0.940995, -0.000920475, -0.338421, 2.17322], [0.336898, -0.0973329, -0.936497, 3.55758], [-0.0320774, -0.995252, 0.0918999, 1.62377], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[-0.945053, 0.0734858, -0.318551, 2.19066], [0.324028, 0.081285, -0.942549, 3.51969], [-0.0433705, -0.993978, -0.10063, 1.49232], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[-0.930586, 0.113522, -0.348028, 2.19072], [0.365864, 0.25615, -0.894724, 3.44497], [-0.0124239, -0.959948, -0.279904, 1.42329], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[-0.922347, 0.120824, -0.366985, 2.12218], [0.38469, 0.375488, -0.843221, 3.25707], [0.035917, -0.918918, -0.39281, 1.36704], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[-0.948966, 0.138182, -0.283496, 1.92023], [0.315109, 0.378193, -0.870446, 3.15079], [-0.0130636, -0.915355, -0.402435, 1.37992], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[-0.980421, 0.0525308, -0.189773, 1.57963], [0.196719, 0.303623, -0.932263, 3.08092], [0.00864699, -0.951343, -0.308013, 1.42613], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[-0.998776, -0.00667621, -0.0490164, 1.41153], [0.0452858, 0.275381, -0.960268, 2.99189], [0.0199091, -0.961312, -0.274742, 1.38427], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[-0.999462, 0.012104, 0.0304807, 1.27029], [-0.0249702, 0.321688, -0.946517, 3.00444], [-0.0212619, -0.946768, -0.321213, 1.33894], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[-0.998095, -0.0616821, -0.000919029, 1.36695], [-0.0155133, 0.265389, -0.964016, 3.01569], [0.0597065, -0.962166, -0.26584, 1.18717], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1060", "pose": [[-0.999222, -0.0361935, 0.0156896, 1.37396], [-0.0214868, 0.165814, -0.985923, 3.06101], [0.0330825, -0.985493, -0.166463, 0.976065], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1080", "pose": [[-0.997061, -0.0507835, 0.057359, 1.38782], [-0.0669405, 0.213414, -0.974666, 3.05822], [0.0372557, -0.975641, -0.216186, 1.11786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1100", "pose": [[-0.990093, -0.0497288, 0.131316, 1.42518], [-0.140089, 0.285923, -0.947957, 3.09744], [0.00959444, -0.956962, -0.290057, 1.36864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1120", "pose": [[-0.966731, -0.136885, 0.216088, 1.33294], [-0.252088, 0.36653, -0.895605, 3.17482], [0.0433921, -0.920282, -0.388842, 1.31066], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1140", "pose": [[-0.95312, -0.13199, 0.272288, 1.24368], [-0.30057, 0.309128, -0.902273, 3.2099], [0.0349194, -0.941816, -0.334309, 1.38063], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1160", "pose": [[-0.963301, -0.107963, 0.245756, 1.29529], [-0.264543, 0.226697, -0.93735, 3.18349], [0.0454868, -0.967963, -0.246938, 1.48602], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1180", "pose": [[-0.942667, -0.0523482, 0.329604, 1.25524], [-0.332967, 0.0805257, -0.939494, 3.15947], [0.0226392, -0.995377, -0.0933391, 1.59786], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1200", "pose": [[-0.918272, 0.0270847, 0.395022, 1.17329], [-0.395728, -0.0294069, -0.917897, 3.16009], [-0.0132446, -0.9992, 0.0377216, 1.64709], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1220", "pose": [[-0.88657, 0.117561, 0.447408, 1.14149], [-0.461768, -0.167077, -0.871123, 3.21788], [-0.0276589, -0.97891, 0.202411, 1.67435], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1240", "pose": [[-0.839675, 0.0732625, 0.538126, 1.19125], [-0.541973, -0.0495181, -0.838936, 3.23966], [-0.0348156, -0.996083, 0.0812853, 1.65257], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1260", "pose": [[-0.75321, -0.000481334, 0.65778, 1.2165], [-0.656564, 0.0613305, -0.751773, 3.24337], [-0.0399801, -0.998117, -0.0465108, 1.59558], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1280", "pose": [[-0.758077, -0.104336, 0.643765, 1.22555], [-0.651303, 0.171854, -0.739101, 3.2255], [-0.0335184, -0.979582, -0.198233, 1.48307], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1300", "pose": [[-0.770661, -0.199678, 0.605153, 1.20788], [-0.637026, 0.266309, -0.723379, 3.21948], [-0.0167146, -0.942978, -0.332434, 1.40172], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1320", "pose": [[-0.789792, -0.227373, 0.569675, 1.21288], [-0.612919, 0.328317, -0.718705, 3.18573], [-0.02362, -0.916793, -0.398664, 1.35803], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1340", "pose": [[-0.855175, -0.239138, 0.459879, 1.24163], [-0.517718, 0.437498, -0.73523, 3.21896], [-0.0253745, -0.866838, -0.497943, 1.33805], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1360", "pose": [[-0.945345, -0.177444, 0.273564, 1.41776], [-0.325352, 0.45754, -0.827528, 3.31466], [0.0216729, -0.871304, -0.490265, 1.32938], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1380", "pose": [[-0.989043, -0.110288, 0.0981395, 1.47874], [-0.140257, 0.494492, -0.857791, 3.33884], [0.046075, -0.862156, -0.504543, 1.35199], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1400", "pose": [[-0.995147, -0.0633637, 0.0752846, 1.41468], [-0.0965954, 0.483166, -0.870183, 3.30472], [0.0187631, -0.873233, -0.486942, 1.36381], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1420", "pose": [[-0.990709, -0.0685034, 0.117487, 1.29874], [-0.135957, 0.477355, -0.868129, 3.20125], [0.00338689, -0.876036, -0.482234, 1.36415], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1440", "pose": [[-0.964054, -0.132523, 0.230297, 1.28986], [-0.264949, 0.414169, -0.870784, 3.04599], [0.0200173, -0.900501, -0.434393, 1.37259], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1460", "pose": [[-0.92896, -0.105971, 0.354687, 1.24419], [-0.370134, 0.250916, -0.89445, 2.89898], [0.00578898, -0.962191, -0.272315, 1.51347], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1480", "pose": [[-0.770404, -0.0176611, 0.637311, 1.09252], [-0.637233, 0.0531282, -0.768837, 2.73068], [-0.0202808, -0.998432, -0.0521845, 1.59953], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1500", "pose": [[-0.534587, -0.00619909, 0.845091, 1.00487], [-0.844014, 0.0549092, -0.533503, 2.69894], [-0.0430961, -0.998472, -0.0345859, 1.59357], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1520", "pose": [[-0.315444, 0.0151035, 0.948824, 0.969858], [-0.946004, 0.0736425, -0.315679, 2.7494], [-0.0746417, -0.99717, -0.00894214, 1.57886], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1540", "pose": [[-0.0930551, 0.0164768, 0.995525, 0.947231], [-0.991964, 0.0845481, -0.0941217, 2.79468], [-0.0857205, -0.996283, 0.00847679, 1.56427], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1560", "pose": [[0.116502, -0.212814, 0.970123, 1.02072], [-0.992781, 0.00309958, 0.119903, 2.83545], [-0.028524, -0.977088, -0.210916, 1.64722], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1580", "pose": [[0.302225, -0.328269, 0.89493, 1.10518], [-0.953002, -0.0832293, 0.291307, 2.8643], [-0.0211425, -0.940911, -0.337995, 1.57352], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1600", "pose": [[0.36198, -0.406948, 0.838668, 1.25776], [-0.931535, -0.124306, 0.341745, 2.8672], [-0.0348207, -0.904954, -0.424083, 1.51087], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1620", "pose": [[0.48264, -0.352512, 0.801744, 1.316], [-0.875816, -0.192092, 0.442772, 2.72832], [-0.00207376, -0.91588, -0.401447, 1.51294], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1640", "pose": [[0.697238, -0.297429, 0.652223, 1.29075], [-0.716828, -0.294546, 0.631981, 2.50188], [0.00414011, -0.908173, -0.418574, 1.51527], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1660", "pose": [[0.747111, -0.247074, 0.617074, 1.19907], [-0.664616, -0.262938, 0.699392, 2.47397], [-0.0105493, -0.93264, -0.360653, 1.52289], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1680", "pose": [[0.868462, -0.117279, 0.481683, 1.20334], [-0.491658, -0.328409, 0.806486, 2.24948], [0.063605, -0.937226, -0.342872, 1.53878], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1700", "pose": [[0.909127, -0.106735, 0.402611, 1.18308], [-0.414066, -0.336343, 0.845826, 2.08822], [0.0451363, -0.935671, -0.349974, 1.56137], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1720", "pose": [[0.930003, -0.110873, 0.350431, 1.10179], [-0.365754, -0.373351, 0.852545, 1.95059], [0.0363091, -0.921041, -0.38777, 1.54409], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1740", "pose": [[0.931288, -0.0530345, 0.360403, 1.13351], [-0.363966, -0.176855, 0.914468, 1.88181], [0.0152407, -0.982807, -0.184005, 1.6293], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1760", "pose": [[0.889488, -0.0177076, 0.456616, 1.15816], [-0.455817, -0.104988, 0.88386, 1.87879], [0.0322882, -0.994316, -0.101457, 1.73885], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1780", "pose": [[0.838567, -0.0676927, 0.540576, 1.16854], [-0.544636, -0.128326, 0.828797, 1.8786], [0.0132663, -0.989419, -0.144478, 1.73548], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1800", "pose": [[0.796646, -0.164635, 0.581594, 1.18296], [-0.60433, -0.235842, 0.761028, 1.9242], [0.0118726, -0.957744, -0.287377, 1.65904], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1820", "pose": [[0.789861, -0.185774, 0.584473, 1.17494], [-0.612175, -0.296159, 0.733165, 1.98009], [0.0368939, -0.936898, -0.34765, 1.61046], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0803_00"}, {"annotation": [{"question_id": "test-scene0804-0", "question": "What is next to a kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-1", "question": "What is a copier next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-2", "question": "What is to the right, of the small, brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-3", "question": "What is to the left, of the small, black trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-4", "question": "What brown object, is above the copier, on the top shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-5", "question": "What is hung above the kitchen counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-6", "question": "What is hung on top of a work space?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-7", "question": "How long are the correct mailboxes?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-8", "question": "How far above the counter are the correct mailboxes?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-9", "question": "What shape is the printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-10", "question": "What is the shape of mailboxes?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-11", "question": "What is under the sink and under the counter area?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-12", "question": "Where is the trash bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-13", "question": "Where does the trash bin fit?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-14", "question": "What is the trash bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-15", "question": "On what side of the corner is the cubicle shelving sorting unit located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-16", "question": "What color is the trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-17", "question": "What color is the trash can next to the cart?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-18", "question": "The cart is in between the trash can and what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-19", "question": "Where is the cart located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-20", "question": "What type of door is in the office room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-21", "question": "What is the door to the office room swung open near?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-22", "question": "Where is the paper in the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-23", "question": "Where is the correct cart located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-24", "question": "What is on the wall near the cart?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-25", "question": "What's the biggest item sitting on the brown desk in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-26", "question": "What color is the table that a printer sits on in the corner?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-27", "question": "What color is the printer in the corner of an office?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-28", "question": "What is the printer sitting on ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-29", "question": "What is sitting on the table ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-30", "question": "What color is the table with copier on top of it?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-31", "question": "Where is paper stored?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-32", "question": "What is next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-33", "question": "What color is the table next to the cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-34", "question": "What is next to the brown table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-35", "question": "What is on top of the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-36", "question": "Where is a trash can located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-37", "question": "What is next to the bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-38", "question": "What is next to the sink?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-39", "question": "Where is a copier located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-40", "question": "What is next to the recycling bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-41", "question": "What is over the work space?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-42", "question": "What color are the mailboxes on the wall ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-43", "question": "Where are the long double rows of white mailboxes located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-44", "question": "What color is the metal rolling shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-45", "question": "Where is the black metal rolling shelf located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-46", "question": "What color is the desk in the corner of the printing room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-47", "question": "What is on the brown desk in the corner of the printing room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-48", "question": "What is on top of a small desk in the corner of the printing room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-49", "question": "In what part of the printing room is the printing unit located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-50", "question": "What is in the room beneath the tack board?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-51", "question": "Where is the black trash bin located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-52", "question": "What shape is the printer on the desk in the corner of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-53", "question": "In what part of the room is the printer located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-54", "question": "What color pack of paper can be found in a nook under a long white counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-55", "question": "Where can you find the red and white pack of paper?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-56", "question": "What's sitting on top of the small wooden table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-57", "question": "What is open under the table near the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-58", "question": "What item is sitting in front of the printer?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-59", "question": "What type of door is open?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-60", "question": "The wooden door is across the room from what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-61", "question": "What is on the wall over the big trash can?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-62", "question": "What are hanging on the wall above the white counter?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-63", "question": "Where are the white mailboxes located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-64", "question": "What is sitting in the floor?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-65", "question": "What is next to the black metal shelf?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-66", "question": "What is under the small wood table with a printer on top?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-67", "question": "Where is the copier located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-68", "question": "What is on the wall next to the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-69", "question": "What is next to the cork board on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-70", "question": "What color is the door?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-71", "question": "What type of door does the wooden door need to be?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0804-72", "question": "What is sitting beside a table with a printer?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.842489, -0.100632, 0.529232, 2.70708], [-0.538015, -0.107119, 0.836102, 1.70618], [-0.0274476, -0.98914, -0.144388, 1.64552], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.829766, -0.169752, 0.531671, 2.6986], [-0.556717, -0.184428, 0.809971, 1.69652], [-0.0394389, -0.968076, -0.247536, 1.56233], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.771201, -0.273637, 0.57478, 2.62523], [-0.635646, -0.281795, 0.718711, 1.65486], [-0.0346963, -0.919627, -0.391257, 1.48278], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.686649, -0.371233, 0.62506, 2.71861], [-0.724218, -0.2743, 0.632667, 1.54088], [-0.063413, -0.8871, -0.457201, 1.45552], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.669995, -0.335477, 0.66224, 2.89307], [-0.742365, -0.303502, 0.597311, 1.45797], [0.00060723, -0.891819, -0.452391, 1.46709], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.594574, -0.229273, 0.770659, 3.02511], [-0.803948, -0.184076, 0.565494, 1.58621], [0.0122072, -0.955798, -0.293771, 1.53052], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.692677, -0.143296, 0.70687, 2.95197], [-0.721164, -0.12259, 0.681832, 1.55532], [-0.0110484, -0.982058, -0.188255, 1.63662], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.506662, 0.00593243, 0.862124, 2.82908], [-0.86056, -0.0571269, 0.506136, 1.66889], [0.0522531, -0.998349, -0.0238388, 1.72908], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.31266, 0.0197648, 0.949659, 2.60541], [-0.948581, -0.0454795, 0.313251, 1.92694], [0.0493813, -0.99877, 0.00452888, 1.70509], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.0315052, -0.0491423, 0.998295, 2.43061], [-0.998251, -0.0515428, 0.0289663, 2.13249], [0.0500314, -0.997461, -0.0506802, 1.63752], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[-0.169083, -0.23322, 0.957611, 2.43012], [-0.985548, 0.0501062, -0.161813, 2.31765], [-0.0102442, -0.971132, -0.238322, 1.4943], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.280239, -0.373583, 0.884252, 2.3431], [-0.954582, 0.205559, -0.215682, 2.29961], [-0.101191, -0.904534, -0.414221, 1.37435], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.503422, -0.35441, 0.788011, 2.30854], [-0.863066, 0.24957, -0.439127, 2.39252], [-0.041033, -0.901171, -0.431518, 1.35251], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.6422, -0.277734, 0.714453, 2.21287], [-0.764558, 0.299014, -0.571, 2.39348], [-0.0550456, -0.912937, -0.404371, 1.3822], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.688698, -0.286736, 0.665942, 2.09314], [-0.724226, 0.315805, -0.612996, 2.36131], [-0.0345394, -0.904461, -0.425156, 1.39978], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.683116, -0.176962, 0.708546, 2.2449], [-0.729214, 0.218407, -0.648495, 2.36042], [-0.0399918, -0.959679, -0.27824, 1.46188], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.570244, -0.123984, 0.812065, 2.45039], [-0.821273, 0.107951, -0.560229, 2.43312], [-0.0182043, -0.986395, -0.163383, 1.50367], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.450441, 0.0310878, 0.892265, 2.62], [-0.892792, -0.00995701, -0.45036, 2.41631], [-0.0051164, -0.999467, 0.03224, 1.57476], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.611667, 0.0783046, 0.787231, 2.80892], [-0.791062, -0.0489482, -0.609775, 2.46217], [-0.00921464, -0.995727, 0.0918837, 1.58669], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.700321, 0.050786, 0.712019, 2.90174], [-0.713193, -0.0918227, -0.694927, 2.48329], [0.0300869, -0.99448, 0.100526, 1.59547], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.885169, 0.036475, 0.463837, 2.99816], [-0.465202, -0.086303, -0.880987, 2.47655], [0.00789646, -0.995601, 0.093361, 1.58039], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.980424, 0.0133223, 0.196448, 3.04947], [-0.196838, -0.091208, -0.976184, 2.49787], [0.00491261, -0.995743, 0.0920449, 1.65859], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.998403, 0.0485722, 0.0288413, 2.92967], [-0.0318853, -0.0631113, -0.997497, 2.49664], [-0.0466304, -0.996824, 0.0645593, 1.68989], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.976612, 0.0216692, -0.213915, 2.93957], [0.213705, -0.0116, -0.976829, 2.4359], [-0.0236486, -0.999698, 0.00669791, 1.67965], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.946339, 0.0741869, -0.314545, 3.03947], [0.319351, 0.0653805, -0.945378, 2.37582], [-0.0495696, -0.995099, -0.0855638, 1.62726], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.912257, 0.135026, -0.386724, 3.09003], [0.408902, 0.244379, -0.879249, 2.2925], [-0.0242142, -0.960233, -0.278149, 1.514], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.902071, 0.187306, -0.388824, 3.11402], [0.431529, 0.406253, -0.805445, 2.22747], [0.00709672, -0.894357, -0.447297, 1.42135], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.940053, 0.175732, -0.292265, 3.09525], [0.341003, 0.494955, -0.79921, 2.31448], [0.00421114, -0.850963, -0.525209, 1.38141], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.991223, 0.0602698, -0.117658, 3.07503], [0.132196, 0.450172, -0.883102, 2.49501], [-0.00025795, -0.890905, -0.454189, 1.40012], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.999721, 0.0234686, 0.00260007, 3.11217], [0.00751854, 0.420772, -0.907135, 2.50776], [-0.0223832, -0.906863, -0.420831, 1.41202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.962716, 0.0927292, -0.254125, 3.09044], [0.270456, 0.310339, -0.911341, 2.42259], [-0.00564293, -0.946092, -0.323848, 1.45822], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.81317, 0.22511, -0.536731, 3.11542], [0.581946, 0.299073, -0.756237, 2.21896], [-0.00971463, -0.927297, -0.374199, 1.45432], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.685462, 0.305138, -0.661084, 3.13168], [0.728108, 0.28593, -0.622979, 1.92456], [-0.00107034, -0.908369, -0.418168, 1.41541], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.323358, 0.466174, -0.823481, 3.34705], [0.943545, 0.092762, -0.31799, 1.71333], [-0.0718512, -0.879816, -0.469852, 1.44407], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.22653, 0.53479, -0.814054, 3.65201], [0.973099, 0.0882353, -0.212822, 1.62846], [-0.0419865, -0.840366, -0.540391, 1.38315], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[-0.101547, 0.527506, -0.843461, 3.81926], [0.994423, 0.0295551, -0.101238, 1.61779], [-0.0284752, -0.849037, -0.527565, 1.29314], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.016662, 0.410441, -0.911735, 3.98715], [0.999856, 0.00978109, -0.013869, 1.57071], [0.0032253, -0.911835, -0.410544, 1.39517], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[-0.0405554, 0.244997, -0.968675, 4.24036], [0.998597, -0.0230988, -0.0476501, 1.63046], [-0.0340494, -0.969249, -0.243717, 1.49649], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[-0.0411006, 0.111651, -0.992897, 4.33709], [0.998568, -0.0294512, -0.0446468, 1.63459], [-0.0342269, -0.993311, -0.110281, 1.55859], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.0206859, 0.0267175, -0.999429, 4.40175], [0.999697, -0.0138485, 0.0203215, 1.59787], [-0.0132976, -0.999547, -0.026996, 1.59797], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.165561, 0.0342168, -0.985606, 4.37603], [0.985881, 0.0196323, 0.166289, 1.54121], [0.0250395, -0.999222, -0.0304834, 1.62546], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.307783, 0.135155, -0.941808, 4.31265], [0.951432, -0.0508304, 0.303634, 1.5578], [-0.00683478, -0.98952, -0.144236, 1.55997], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.369769, 0.235365, -0.898818, 4.25886], [0.929112, -0.098514, 0.356435, 1.5388], [-0.00465405, -0.966902, -0.255107, 1.46905], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.485713, 0.234713, -0.842017, 4.20555], [0.873993, -0.114087, 0.472357, 1.56783], [0.0148051, -0.965347, -0.260552, 1.3983], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.603079, 0.137421, -0.785755, 4.08011], [0.797646, -0.094597, 0.595661, 1.63896], [0.00752623, -0.985985, -0.166663, 1.4785], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.706006, 0.0488242, -0.706521, 3.90454], [0.706798, 0.0143155, 0.707271, 1.6387], [0.0446461, -0.998705, -0.024402, 1.59409], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.809047, 0.00794402, -0.58769, 3.60787], [0.58705, 0.0376258, 0.808676, 1.61673], [0.0285365, -0.99926, 0.0257775, 1.62653], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.903483, 0.0263205, -0.427814, 3.35278], [0.427745, 0.00849721, 0.903859, 1.68422], [0.0274253, -0.999618, -0.0035814, 1.58961], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.990227, -0.0105045, -0.139068, 3.03551], [0.137893, -0.0754624, 0.987568, 1.68288], [-0.0208682, -0.997093, -0.0732765, 1.56089], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "980", "pose": [[0.978574, -0.0663206, 0.194924, 2.90412], [-0.201063, -0.103839, 0.974059, 1.85158], [-0.0443595, -0.992381, -0.114948, 1.54839], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1000", "pose": [[0.903749, -0.100849, 0.416013, 2.70396], [-0.427036, -0.145149, 0.892509, 1.8653], [-0.0296245, -0.984257, -0.174245, 1.57277], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1020", "pose": [[0.921058, -0.099605, 0.376473, 2.59722], [-0.389424, -0.231771, 0.891421, 1.70428], [-0.00153461, -0.967658, -0.252263, 1.5271], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "1040", "pose": [[0.916117, -0.149686, 0.371918, 2.58038], [-0.400898, -0.334607, 0.85283, 1.5563], [-0.00321056, -0.930394, -0.366548, 1.47664], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0804_00"}, {"annotation": [{"question_id": "test-scene0805-0", "question": "Where is the round beanbag chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-1", "question": "What item is in front of the wall facing the couch near the bean bag chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-2", "question": "Where is the gray chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-3", "question": "What is the beanbag chair closest to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-4", "question": "Where is a beanbag chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-5", "question": "What is located in front of the whiteboard ?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-6", "question": "What is placed near a sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-7", "question": "A table is placed near what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-8", "question": "Where is the black sofa chair located on the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-9", "question": "Where is a sofa chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-10", "question": "The end table is located at the end of how many couches?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-11", "question": "What color pillow is on top of the end table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-12", "question": "The sofa chair is near what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-13", "question": "How close is the small chair to the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-14", "question": "The beanbag chair is closest to what on the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-15", "question": "What is above the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-16", "question": "What is in the middle of the room?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-17", "question": "What is on the three seated sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-18", "question": "Where is the ottoman located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-19", "question": "What is in front of the ottoman?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-20", "question": "Where is the black chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-21", "question": "Where is the black sofa chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-22", "question": "What type of table is to the left of a sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-23", "question": "What color are the beanbag chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-24", "question": "How many sections does the drawer beneath the Tv have?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-25", "question": "What color is the edge of the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-26", "question": "What is on the floor in front of the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-27", "question": "What color is the table to the left of the TV?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-28", "question": "What is sitting on the brown stand in front of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-29", "question": "What color is the table?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-30", "question": "The table is located touching what to its right?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-31", "question": "What is next to a simple light brown chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-32", "question": "What type of chair is closest to the screen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-33", "question": "The beanbag chair is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-34", "question": "What is behind the beanbag chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-35", "question": "What is next to a long sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-36", "question": "What is the end table next to?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-37", "question": "What is standing on top of a stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-38", "question": "How is a large tv mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-39", "question": "How many ottomans are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-40", "question": "What color is the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-41", "question": "What type of couch is there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-42", "question": "What is the brown pillow on top of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-43", "question": "What type of chair is beside the tv?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-44", "question": "What color is the chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-45", "question": "What shape is the whiteboard?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-46", "question": "Where is the whiteboard mounted?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-47", "question": "What is to the left of the sofa chair and to the right of the couch itself?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-48", "question": "What is on top of a brown cabinet?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-49", "question": "What is to the right of the couch and to the left of the sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-50", "question": "What is the color of the pillow on the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-51", "question": "How many dark office chairs are near each other?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-52", "question": "What color pillow is on the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-53", "question": "The stump is closest to what?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-54", "question": "Where is the orange square pillow on the long couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-55", "question": "Where can you find the dark office chairs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-56", "question": "Where is the tv stand located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-57", "question": "What material does the TV stand look to be made out of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-58", "question": "Where is the black office chair located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-62", "question": "What type of chair is furthest away from the screen?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-63", "question": "What is in front of the bin?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-64", "question": "How many single chairs are there?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-65", "question": "Where is an end table located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-66", "question": "What is on the ground closest o the flat-screen tv on the stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-67", "question": "What does the black long sofa sit against?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-68", "question": "What is the shape of the black plush sofa chair?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-69", "question": "What type of chair is next to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-70", "question": "What is on top of the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-71", "question": "Where is a pillow located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-72", "question": "What shape is the table next to the wall?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-73", "question": "What kind of chair is next to the couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-74", "question": "What is next to the long couch?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-75", "question": "What color is the end table in the center of the room in front of the sofa?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-76", "question": "What color are the chairs with four legs?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-77", "question": "What is sitting on top of the tv stand?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-78", "question": "What color couch is the tv stand directly across from?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-79", "question": "Where are the three end tables located?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-80", "question": "What color chair is the end table half-hidden behind?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-81", "question": "What is the sofa chair to the right of?", "answers": [], "object_ids": [], "object_names": []}, {"question_id": "test-scene0805-82", "question": "What color is the pillow?", "answers": [], "object_ids": [], "object_names": []}], "image_info": [{"image_id": "0", "pose": [[0.977324, -0.083295, 0.194677, 1.16219], [-0.211002, -0.460234, 0.862359, 4.10641], [0.0177669, -0.883882, -0.467373, 1.42549], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "20", "pose": [[0.981059, -0.103052, 0.164025, 1.21515], [-0.193695, -0.511139, 0.837388, 4.11547], [-0.00245514, -0.853298, -0.521418, 1.39306], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "40", "pose": [[0.95895, -0.151761, 0.239548, 1.2189], [-0.283559, -0.522056, 0.804396, 3.99492], [0.00298176, -0.839301, -0.543659, 1.36465], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "60", "pose": [[0.928907, -0.195506, 0.314499, 1.18536], [-0.370062, -0.458761, 0.807832, 3.7478], [-0.0136564, -0.866785, -0.498496, 1.41775], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "80", "pose": [[0.907112, -0.1837, 0.378686, 1.32525], [-0.420825, -0.379972, 0.823728, 3.47197], [-0.00742843, -0.906573, -0.421983, 1.47696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "100", "pose": [[0.824772, -0.232859, 0.515293, 1.39269], [-0.564897, -0.298443, 0.769301, 3.48599], [-0.0253532, -0.925585, -0.377689, 1.50131], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "120", "pose": [[0.695446, -0.237717, 0.67812, 1.32536], [-0.71775, -0.184487, 0.671416, 3.7255], [-0.0345024, -0.953654, -0.298922, 1.52469], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "140", "pose": [[0.680672, -0.194049, 0.706421, 1.30819], [-0.732233, -0.150197, 0.664286, 4.04214], [-0.0228013, -0.969426, -0.244324, 1.54548], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "160", "pose": [[0.571073, -0.162913, 0.804571, 1.2848], [-0.820896, -0.116258, 0.559119, 4.29822], [0.00244954, -0.979767, -0.200126, 1.5539], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "180", "pose": [[0.486821, -0.268743, 0.831133, 1.21497], [-0.87062, -0.226506, 0.43671, 4.5802], [0.070894, -0.936201, -0.344241, 1.45054], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "200", "pose": [[0.303334, -0.402548, 0.86368, 1.34322], [-0.952834, -0.137415, 0.270599, 4.73776], [0.00975373, -0.905026, -0.425244, 1.41423], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "220", "pose": [[-0.0204133, -0.421678, 0.906516, 1.34336], [-0.999644, 0.0241637, -0.0112704, 4.91916], [-0.0171523, -0.906424, -0.422021, 1.43692], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "240", "pose": [[-0.175972, -0.479996, 0.859441, 1.30554], [-0.984147, 0.105375, -0.142654, 4.96232], [-0.0220904, -0.870919, -0.49093, 1.39864], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "260", "pose": [[-0.211677, -0.509812, 0.833838, 1.26192], [-0.976198, 0.151521, -0.155176, 4.85253], [-0.0472333, -0.846838, -0.52975, 1.39134], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "280", "pose": [[-0.216744, -0.44044, 0.871226, 1.20502], [-0.976034, 0.11556, -0.184398, 4.8194], [-0.0194625, -0.890314, -0.454932, 1.45838], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "300", "pose": [[-0.245652, -0.290795, 0.924713, 1.16513], [-0.969243, 0.0883637, -0.229694, 4.87101], [-0.0149172, -0.952696, -0.303558, 1.5461], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "320", "pose": [[-0.181976, -0.106795, 0.977487, 1.09769], [-0.982983, 0.0451344, -0.178068, 4.87163], [-0.0251016, -0.993256, -0.113191, 1.57096], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "340", "pose": [[-0.0430717, 0.0102024, 0.99902, 1.0586], [-0.999072, -0.000186497, -0.0430721, 4.91199], [-0.000253171, -0.999948, 0.0102009, 1.53226], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "360", "pose": [[-0.149163, 0.0416325, 0.987936, 1.05972], [-0.988764, 0.0035919, -0.149439, 4.8869], [-0.00977013, -0.999127, 0.0406289, 1.61372], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "380", "pose": [[-0.370313, -0.0554015, 0.927254, 1.11679], [-0.928907, 0.0218609, -0.369667, 4.73195], [0.00020951, -0.998225, -0.0595582, 1.696], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "400", "pose": [[-0.516162, -0.0970439, 0.850976, 1.20168], [-0.855947, 0.0938524, -0.508474, 4.54801], [-0.0305218, -0.990845, -0.131507, 1.62784], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "420", "pose": [[-0.649484, -0.179264, 0.738942, 1.3096], [-0.759731, 0.192977, -0.620942, 4.40232], [-0.0312862, -0.964689, -0.261527, 1.47863], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "440", "pose": [[-0.691657, -0.230894, 0.684323, 1.30155], [-0.720015, 0.294532, -0.628355, 4.26347], [-0.0564718, -0.927329, -0.369962, 1.42076], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "460", "pose": [[-0.7443, -0.288925, 0.602112, 1.24111], [-0.664275, 0.413366, -0.622789, 4.05509], [-0.0689537, -0.863511, -0.499595, 1.36337], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "480", "pose": [[-0.793663, -0.260565, 0.549732, 1.27106], [-0.607264, 0.3935, -0.690209, 3.93551], [-0.036475, -0.881626, -0.470538, 1.38179], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "500", "pose": [[-0.812382, -0.235578, 0.533421, 1.47352], [-0.582359, 0.374641, -0.721458, 3.79002], [-0.0298817, -0.896743, -0.441542, 1.39455], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "520", "pose": [[-0.912109, -0.147793, 0.382381, 1.70395], [-0.407957, 0.419052, -0.811151, 3.73393], [-0.0403549, -0.895853, -0.442514, 1.39428], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "540", "pose": [[-0.982866, -0.0518306, 0.176887, 2.00446], [-0.180238, 0.471185, -0.863423, 3.9418], [-0.0385946, -0.88051, -0.472453, 1.40003], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "560", "pose": [[-0.993213, 0.0627469, -0.0979402, 2.26476], [0.116022, 0.474627, -0.872507, 3.99221], [-0.00826207, -0.877948, -0.478685, 1.39762], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "580", "pose": [[-0.903925, 0.216429, -0.368889, 2.50093], [0.426325, 0.387063, -0.817575, 4.04262], [-0.0341635, -0.896293, -0.442145, 1.41449], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "600", "pose": [[-0.800487, 0.263004, -0.538562, 2.67337], [0.598747, 0.310626, -0.73825, 4.00721], [-0.0268711, -0.913422, -0.406125, 1.42331], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "620", "pose": [[-0.660143, 0.269965, -0.70095, 2.74632], [0.750671, 0.204151, -0.628343, 3.87567], [-0.0265308, -0.940979, -0.337423, 1.43202], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "640", "pose": [[-0.406125, 0.363155, -0.838559, 2.79982], [0.912224, 0.106951, -0.395485, 3.77325], [-0.0539376, -0.92557, -0.374714, 1.43804], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "660", "pose": [[-0.246995, 0.482858, -0.840144, 2.77632], [0.967124, 0.0686739, -0.244857, 3.8386], [-0.060535, -0.873002, -0.483946, 1.40387], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "680", "pose": [[-0.113777, 0.406851, -0.906382, 2.75602], [0.990634, -0.0228627, -0.134616, 4.01167], [-0.0754907, -0.913209, -0.400439, 1.40991], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "700", "pose": [[0.0646939, 0.274422, -0.959431, 2.76386], [0.991983, -0.122276, 0.0319148, 4.21462], [-0.108557, -0.953804, -0.280132, 1.39524], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "720", "pose": [[-0.0158865, 0.305553, -0.952043, 2.75159], [0.99928, -0.027967, -0.0256506, 4.46908], [-0.0344634, -0.951764, -0.304889, 1.34007], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "740", "pose": [[0.0993052, 0.293209, -0.950877, 2.74729], [0.994577, -0.0589378, 0.0856951, 4.57776], [-0.030916, -0.95423, -0.297472, 1.3168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "760", "pose": [[0.212054, 0.293184, -0.932243, 2.75451], [0.975588, -0.119252, 0.184409, 4.69341], [-0.0571063, -0.94859, -0.311315, 1.26241], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "780", "pose": [[0.323798, 0.300507, -0.897135, 2.79257], [0.943483, -0.173382, 0.28245, 4.81304], [-0.0706688, -0.937888, -0.339664, 1.25661], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "800", "pose": [[0.411703, 0.364457, -0.835267, 2.83954], [0.908419, -0.237172, 0.344273, 4.75863], [-0.0726292, -0.900511, -0.428725, 1.28028], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "820", "pose": [[0.5469, 0.35141, -0.759876, 2.85619], [0.837196, -0.231711, 0.495392, 4.42254], [-0.00198588, -0.907095, -0.420922, 1.3168], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "840", "pose": [[0.729679, 0.302734, -0.613123, 2.73396], [0.683676, -0.339324, 0.646101, 4.28225], [-0.0124509, -0.890624, -0.45457, 1.38115], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "860", "pose": [[0.7667, 0.327351, -0.552279, 2.43777], [0.641634, -0.361479, 0.67649, 4.38811], [0.0218129, -0.873026, -0.487186, 1.36545], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "880", "pose": [[0.915455, 0.166807, -0.366221, 2.12883], [0.401606, -0.436567, 0.80506, 4.26832], [-0.0255905, -0.884073, -0.466648, 1.37291], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "900", "pose": [[0.975098, 0.0486267, -0.21638, 1.75978], [0.216374, -0.422631, 0.880094, 4.08912], [-0.0486529, -0.904996, -0.422628, 1.39491], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "920", "pose": [[0.999474, -0.0320917, -0.00471806, 1.54265], [-0.0115727, -0.488679, 0.872387, 3.96867], [-0.030302, -0.871873, -0.488793, 1.38569], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "940", "pose": [[0.998413, -0.030153, 0.0475757, 1.4132], [-0.0560616, -0.450168, 0.891182, 3.77662], [-0.00545469, -0.892434, -0.451144, 1.45605], [0.0, 0.0, 0.0, 1.0]]}, {"image_id": "960", "pose": [[0.99967, -0.0200834, 0.0160164, 1.4988], [-0.0208797, -0.272075, 0.96205, 3.58851], [-0.0149635, -0.962067, -0.272404, 1.5082], [0.0, 0.0, 0.0, 1.0]]}], "scene_id": "scene0805_00"}]