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+      <geometry>
+        <box size="0.033891 0.518524 0.43"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.822905 0.458928 0"/>
+      <geometry>
+        <box size="0.033891 0.518524 0.43"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.034815 0.466524 -0.208891"/>
+      <geometry>
+        <box size="1.57884 0.562595 0.037426"/>
+      </geometry>
+    </collision>
+
+  </link>
+  <joint name="left_slide" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.43573 0.46828 0.18"/>
+    <parent link="body"/>
+    <child link="left_door"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="0.8" velocity="1.0"/>
+  </joint>
+
+  <link name="left_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="door.glb" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.74 0.5 0.026"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_slide" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.34 0.46828 0.2"/>
+    <parent link="body"/>
+    <child link="right_door"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="-0.76" upper="0" velocity="1.0"/>
+  </joint>
+
+  <link name="right_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="door.glb" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.74 0.5 0.026"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/cabinet/cabinet_dynamic.urdf b/assets/scene_datasets/replica_cad_dataset/urdf/cabinet/cabinet_dynamic.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..078bc021d5bacf9c56fa06bc8f72426d6741da34
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/cabinet/cabinet_dynamic.urdf
@@ -0,0 +1,114 @@
+<?xml version="1.0" ?>
+<robot name="cabinet">
+  <link name="root">
+  </link>
+  <joint name="body_transform" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="root"/>
+    <child link="body"/>
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="25.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="cabinet.glb" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0348 0.75 0"/>
+      <geometry>
+        <box size="1.58 0.028 0.43"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0348 0.180406 0"/>
+      <geometry>
+        <box size="1.58 0.03 0.43"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.746944 0.458928 0"/>
+      <geometry>
+        <box size="0.033891 0.518524 0.43"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.822905 0.458928 0"/>
+      <geometry>
+        <box size="0.033891 0.518524 0.43"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.034815 0.466524 -0.208891"/>
+      <geometry>
+        <box size="1.57884 0.562595 0.037426"/>
+      </geometry>
+    </collision>
+
+  </link>
+  <joint name="left_slide" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.43573 0.46828 0.18"/>
+    <parent link="body"/>
+    <child link="left_door"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="0.8" velocity="1.0"/>
+  </joint>
+
+  <link name="left_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="door.glb" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.74 0.5 0.026"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_slide" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.34 0.46828 0.2"/>
+    <parent link="body"/>
+    <child link="right_door"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="-0.76" upper="0" velocity="1.0"/>
+  </joint>
+
+  <link name="right_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="door.glb" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.74 0.5 0.026"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/cabinet/door.glb b/assets/scene_datasets/replica_cad_dataset/urdf/cabinet/door.glb
new file mode 100644
index 0000000000000000000000000000000000000000..59c68736e31ae49a7c9a920c55a5d0ddeafc3c13
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/cabinet/door.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8a3745f531600609d590e84c345d495962121dfb93e2792ddd1b71659c61603
+size 1119856
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_01.ao_config.json b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_01.ao_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..17d4ec91b715408443c34cdb2054cd53458e2c2f
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_01.ao_config.json
@@ -0,0 +1,130 @@
+{
+  "user_defined": {
+    "receptacle_aabb_surfacefrl_apartment_chest_of_drawers": {
+      "name": "receptacle_aabb_surfacefrl_apartment_chest_of_drawers",
+      "parent_object": "frl_apartment_chest_of_drawers",
+      "parent_link": "body",
+      "position": [
+        0.0,
+        3.5056,
+        0.0
+      ],
+      "scale": [
+        0.444656,
+        0.316447,
+        1.04691
+      ],
+      "up": [
+        0,1.0,0
+      ]
+    },
+    "receptacle_aabb_drawer_topLfrl_apartment_chest_of_drawers": {
+      "name": "receptacle_aabb_drawer_topLfrl_apartment_chest_of_drawers",
+      "parent_object": "frl_apartment_chest_of_drawers",
+      "parent_link": "drawer_topL",
+      "position": [
+        0.340532,
+        0.314128,
+        0.021975
+      ],
+      "scale": [
+        0.283063,
+        0.149689,
+        0.449647
+      ],
+      "up": [
+        0,1.0,0
+      ]
+    },
+    "receptacle_aabb_drawer_topRfrl_apartment_chest_of_drawers": {
+      "name": "receptacle_aabb_drawer_topRfrl_apartment_chest_of_drawers",
+      "parent_object": "frl_apartment_chest_of_drawers",
+      "parent_link": "drawer_topR",
+      "position": [
+        0.340532,
+        0.314128,
+        0.021975
+      ],
+      "scale": [
+        0.283063,
+        0.149689,
+        0.449647
+      ],
+      "up": [
+        0,1.0,0
+      ]
+    },
+    "receptacle_aabb_drawer_midLfrl_apartment_chest_of_drawers": {
+      "name": "receptacle_aabb_drawer_midLfrl_apartment_chest_of_drawers",
+      "parent_object": "frl_apartment_chest_of_drawers",
+      "parent_link": "drawer_midL",
+      "position": [
+        0.340532,
+        0.639952,
+        0.036657
+      ],
+      "scale": [
+        0.283063,
+        0.472027,
+        0.449647
+      ],
+      "up": [
+        0,1.0,0
+      ]
+    },
+    "receptacle_aabb_drawer_midRfrl_apartment_chest_of_drawers": {
+      "name": "receptacle_aabb_drawer_midRfrl_apartment_chest_of_drawers",
+      "parent_object": "frl_apartment_chest_of_drawers",
+      "parent_link": "drawer_midR",
+      "position": [
+        0.340532,
+        0.639952,
+        0.036657
+      ],
+      "scale": [
+        0.283063,
+        0.472027,
+        0.449647
+      ],
+      "up": [
+        0,1.0,0
+      ]
+    },
+    "receptacle_aabb_drawer_botLfrl_apartment_chest_of_drawers": {
+      "name": "receptacle_aabb_drawer_botLfrl_apartment_chest_of_drawers",
+      "parent_object": "frl_apartment_chest_of_drawers",
+      "parent_link": "drawer_botL",
+      "position": [
+        0.340532,
+        0.624734,
+        0.023814
+      ],
+      "scale": [
+        0.283063,
+        0.553416,
+        0.449647
+      ],
+      "up": [
+        0,1.0,0
+      ]
+    },
+    "receptacle_aabb_drawer_botRfrl_apartment_chest_of_drawers": {
+      "name": "receptacle_aabb_drawer_botRfrl_apartment_chest_of_drawers",
+      "parent_object": "frl_apartment_chest_of_drawers",
+      "parent_link": "drawer_botR",
+      "position": [
+        0.340532,
+        0.624734,
+        0.023814
+      ],
+      "scale": [
+        0.283063,
+        0.553416,
+        0.449647
+      ],
+      "up": [
+        0,1.0,0
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_01.urdf b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_01.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..88c0bb35eaa47c08ca0655cbb97190277361e10d
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_01.urdf
@@ -0,0 +1,456 @@
+<?xml version="1.0" ?>
+<robot name="kitchencupboard">
+  <link name="root">
+  </link>
+  <joint name="root_rotation" type="fixed">
+    <origin rpy="1.565 0 0" xyz="0 0 0"/>
+    <parent link="root"/>
+    <child link="body"/>
+  </joint>
+<!-- ______________________________________________Chest Of Drawers BASE  -->
+  <link name="body">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="70.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_base.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0 0.28 0"/>
+      <geometry>
+        <box size="0.75 0.02 2.0"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0.017767 1.55135 0"/>
+      <geometry>
+        <box size="0.75 0.055 2.068"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0.017767 2.66652 0"/>
+      <geometry>
+        <box size="0.75 0.036 2.068"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0.017767 3.1373 0"/>
+      <geometry>
+        <box size="0.75 0.1 2.188"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0 1.6768 -1.045"/>
+      <geometry>
+        <box size="0.73 2.836 0.025"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0 1.6768 1.045"/>
+      <geometry>
+        <box size="0.73 2.826 0.025"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0.303668 0.101558 -0.90917"/>
+      <geometry>
+        <box size="0.125 0.21 0.125"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.283976 0.101558 -0.90917"/>
+      <geometry>
+        <box size="0.125 0.21 0.125"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0.303668 0.101558 0.898431"/>
+      <geometry>
+        <box size="0.125 0.21 0.125"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.283976 0.101558 0.898431"/>
+      <geometry>
+        <box size="0.125 0.21 0.125"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.35 1.71689 0"/>
+      <geometry>
+        <box size="0.1 2.85 2.0"/>
+      </geometry>
+    </collision>
+  </link>
+
+<!-- Drawers TopL -->
+  <joint name="drawer_topL" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.271285 2.68351 0.489752"/>
+    <parent link="body"/>
+    <child link="drawer_topL"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
+  </joint>
+  <link name="drawer_topL"> 
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.1 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_DrawerTop.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.350195 0.02735 0.026228"/>
+      <geometry>
+        <box size="0.6 0.05 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.01324 0.207511 0.027689"/>
+      <geometry>
+        <box size="0.022 0.34 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.669623 0.207511 0.027689"/>
+      <geometry>
+        <box size="0.05 0.34 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.336837 0.225927 0.5"/>
+      <geometry>
+        <box size="0.6 0.32 0.022"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.336837 0.225927 -0.46"/>
+      <geometry>
+        <box size="0.6 0.32 0.022"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.710751 0.241129 0.000176"/>
+      <geometry>
+        <box size="0.018 0.04 0.04"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Drawers TopR -->
+
+  <joint name="drawer_topR" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.271285 2.68351 -0.543752"/>
+    <parent link="body"/>
+    <child link="drawer_topR"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
+  </joint>
+  <link name="drawer_topR"> 
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.1 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_DrawerTop.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.350195 0.02735 0.026228"/>
+      <geometry>
+        <box size="0.6 0.05 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.01324 0.207511 0.027689"/>
+      <geometry>
+        <box size="0.022 0.34 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.669623 0.207511 0.027689"/>
+      <geometry>
+        <box size="0.05 0.34 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.336837 0.225927 0.5"/>
+      <geometry>
+        <box size="0.6 0.32 0.022"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.336837 0.225927 -0.46"/>
+      <geometry>
+        <box size="0.6 0.32 0.022"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.710751 0.241129 0.000176"/>
+      <geometry>
+        <box size="0.018 0.04 0.04"/>
+      </geometry>
+    </collision>
+  </link>
+    
+  
+<!-- Drawers MidL -->
+
+  <joint name="drawer_midL" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.271285 1.60997 0.489752"/>
+    <parent link="body"/>
+    <child link="drawer_midL"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
+  </joint>
+  <link name="drawer_midL"> 
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.1 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_DrawerMid.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.350195 0.042735 0.022228"/>
+      <geometry>
+        <box size="0.65 0.083 0.98"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.016027 0.521751 0.02"/>
+      <geometry>
+        <box size="0.02 0.95 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.675045 0.521751 0.032551"/>
+      <geometry>
+        <box size="0.04 0.95 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.521751 -0.450217"/>
+      <geometry>
+        <box size="0.6 0.95 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.521751 0.52217"/>
+      <geometry>
+        <box size="0.6 0.95 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.701 0.8 0.000556"/>
+      <geometry>
+        <box size="0.016 0.044 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+ 
+<!-- Drawers MidR -->
+  <joint name="drawer_midR" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.271285 1.60997 -0.5489752"/>
+    <parent link="body"/>
+    <child link="drawer_midR"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
+  </joint>
+  <link name="drawer_midR"> 
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.1 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_DrawerMid.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.350195 0.042735 0.022228"/>
+      <geometry>
+        <box size="0.65 0.083 0.98"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.016027 0.521751 0.02"/>
+      <geometry>
+        <box size="0.02 0.95 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.675045 0.521751 0.032551"/>
+      <geometry>
+        <box size="0.04 0.95 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.521751 -0.450217"/>
+      <geometry>
+        <box size="0.6 0.95 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.521751 0.52217"/>
+      <geometry>
+        <box size="0.6 0.95 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.701 0.8 0.000556"/>
+      <geometry>
+        <box size="0.016 0.044 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+
+<!-- Drawers BotL -->
+  <joint name="drawer_botL" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.271285 0.290606 0.489752"/>
+    <parent link="body"/>
+    <child link="drawer_botL"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
+  </joint>
+  <link name="drawer_botL"> 
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.1 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_DrawerBot.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.350195 0.042735 0.022228"/>
+      <geometry>
+        <box size="0.65 0.08 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.016027 0.621751 0.02"/>
+      <geometry>
+        <box size="0.02 1.1 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.675045 0.621751 0.032551"/>
+      <geometry>
+        <box size="0.04 1.1 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.621751 -0.450217"/>
+      <geometry>
+        <box size="0.58 1.1 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.621751 0.52217"/>
+      <geometry>
+        <box size="0.58 1.1 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.701 0.95 0.000556"/>
+      <geometry>
+        <box size="0.016 0.044 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Drawers BotR -->
+  <joint name="drawer_botR" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.271285 0.290606 -0.5489752"/>
+    <parent link="body"/>
+    <child link="drawer_botR"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
+  </joint>
+  <link name="drawer_botR"> 
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.1 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_DrawerBot.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.350195 0.042735 0.022228"/>
+      <geometry>
+        <box size="0.65 0.08 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.016027 0.621751 0.02"/>
+      <geometry>
+        <box size="0.02 1.1 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.675045 0.621751 0.032551"/>
+      <geometry>
+        <box size="0.04 1.1 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.621751 -0.450217"/>
+      <geometry>
+        <box size="0.58 1.1 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.621751 0.52217"/>
+      <geometry>
+        <box size="0.58 1.1 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.701 0.95 0.000556"/>
+      <geometry>
+        <box size="0.016 0.044 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+
+ <!-- ______________________________________________END OF CHEST_OF_DRAWERS  -->
+</robot>
\ No newline at end of file
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_01_dynamic.urdf b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_01_dynamic.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ceda5998eb2cad4b2a14d70dc84b9ae4f7d22cb0
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_01_dynamic.urdf
@@ -0,0 +1,456 @@
+<?xml version="1.0" ?>
+<robot name="kitchencupboard">
+  <link name="root">
+  </link>
+  <joint name="root_rotation" type="fixed">
+    <origin rpy="1.565 0 0" xyz="0 0 0"/>
+    <parent link="root"/>
+    <child link="body"/>
+  </joint>
+<!-- ______________________________________________Chest Of Drawers BASE  -->
+  <link name="body">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="70.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_base.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.28 0"/>
+      <geometry>
+        <box size="0.75 0.02 2.0"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.017767 1.55135 0"/>
+      <geometry>
+        <box size="0.75 0.055 2.068"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.017767 2.66652 0"/>
+      <geometry>
+        <box size="0.75 0.036 2.068"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.017767 3.1373 0"/>
+      <geometry>
+        <box size="0.75 0.1 2.188"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 1.6768 -1.045"/>
+      <geometry>
+        <box size="0.73 2.836 0.025"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 1.6768 1.045"/>
+      <geometry>
+        <box size="0.73 2.826 0.025"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.303668 0.101558 -0.90917"/>
+      <geometry>
+        <box size="0.125 0.21 0.125"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.283976 0.101558 -0.90917"/>
+      <geometry>
+        <box size="0.125 0.21 0.125"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.303668 0.101558 0.898431"/>
+      <geometry>
+        <box size="0.125 0.21 0.125"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.283976 0.101558 0.898431"/>
+      <geometry>
+        <box size="0.125 0.21 0.125"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.35 1.71689 0"/>
+      <geometry>
+        <box size="0.1 2.85 2.0"/>
+      </geometry>
+    </collision>
+  </link>
+
+<!-- Drawers TopL -->
+  <joint name="drawer_topL" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.271285 2.68351 0.489752"/>
+    <parent link="body"/>
+    <child link="drawer_topL"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
+  </joint>
+  <link name="drawer_topL"> 
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.1 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_DrawerTop.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.350195 0.02735 0.026228"/>
+      <geometry>
+        <box size="0.6 0.05 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.01324 0.207511 0.027689"/>
+      <geometry>
+        <box size="0.022 0.34 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.669623 0.207511 0.027689"/>
+      <geometry>
+        <box size="0.05 0.34 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.336837 0.225927 0.5"/>
+      <geometry>
+        <box size="0.6 0.32 0.022"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.336837 0.225927 -0.46"/>
+      <geometry>
+        <box size="0.6 0.32 0.022"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.710751 0.241129 0.000176"/>
+      <geometry>
+        <box size="0.018 0.04 0.04"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Drawers TopR -->
+
+  <joint name="drawer_topR" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.271285 2.68351 -0.543752"/>
+    <parent link="body"/>
+    <child link="drawer_topR"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
+  </joint>
+  <link name="drawer_topR"> 
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.1 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_DrawerTop.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.350195 0.02735 0.026228"/>
+      <geometry>
+        <box size="0.6 0.05 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.01324 0.207511 0.027689"/>
+      <geometry>
+        <box size="0.022 0.34 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.669623 0.207511 0.027689"/>
+      <geometry>
+        <box size="0.05 0.34 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.336837 0.225927 0.5"/>
+      <geometry>
+        <box size="0.6 0.32 0.022"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.336837 0.225927 -0.46"/>
+      <geometry>
+        <box size="0.6 0.32 0.022"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.710751 0.241129 0.000176"/>
+      <geometry>
+        <box size="0.018 0.04 0.04"/>
+      </geometry>
+    </collision>
+  </link>
+    
+  
+<!-- Drawers MidL -->
+
+  <joint name="drawer_midL" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.271285 1.60997 0.489752"/>
+    <parent link="body"/>
+    <child link="drawer_midL"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
+  </joint>
+  <link name="drawer_midL"> 
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.1 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_DrawerMid.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.350195 0.042735 0.022228"/>
+      <geometry>
+        <box size="0.65 0.083 0.98"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.016027 0.521751 0.02"/>
+      <geometry>
+        <box size="0.02 0.95 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.675045 0.521751 0.032551"/>
+      <geometry>
+        <box size="0.04 0.95 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.521751 -0.450217"/>
+      <geometry>
+        <box size="0.6 0.95 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.521751 0.52217"/>
+      <geometry>
+        <box size="0.6 0.95 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.701 0.8 0.000556"/>
+      <geometry>
+        <box size="0.016 0.044 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+ 
+<!-- Drawers MidR -->
+  <joint name="drawer_midR" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.271285 1.60997 -0.5489752"/>
+    <parent link="body"/>
+    <child link="drawer_midR"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
+  </joint>
+  <link name="drawer_midR"> 
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.1 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_DrawerMid.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.350195 0.042735 0.022228"/>
+      <geometry>
+        <box size="0.65 0.083 0.98"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.016027 0.521751 0.02"/>
+      <geometry>
+        <box size="0.02 0.95 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.675045 0.521751 0.032551"/>
+      <geometry>
+        <box size="0.04 0.95 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.521751 -0.450217"/>
+      <geometry>
+        <box size="0.6 0.95 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.521751 0.52217"/>
+      <geometry>
+        <box size="0.6 0.95 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.701 0.8 0.000556"/>
+      <geometry>
+        <box size="0.016 0.044 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+
+<!-- Drawers BotL -->
+  <joint name="drawer_botL" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.271285 0.290606 0.489752"/>
+    <parent link="body"/>
+    <child link="drawer_botL"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
+  </joint>
+  <link name="drawer_botL"> 
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.1 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_DrawerBot.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.350195 0.042735 0.022228"/>
+      <geometry>
+        <box size="0.65 0.08 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.016027 0.621751 0.02"/>
+      <geometry>
+        <box size="0.02 1.1 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.675045 0.621751 0.032551"/>
+      <geometry>
+        <box size="0.04 1.1 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.621751 -0.450217"/>
+      <geometry>
+        <box size="0.58 1.1 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.621751 0.52217"/>
+      <geometry>
+        <box size="0.58 1.1 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.701 0.95 0.000556"/>
+      <geometry>
+        <box size="0.016 0.044 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Drawers BotR -->
+  <joint name="drawer_botR" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.271285 0.290606 -0.5489752"/>
+    <parent link="body"/>
+    <child link="drawer_botR"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
+  </joint>
+  <link name="drawer_botR"> 
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.1 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chestOfDrawers_DrawerBot.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.350195 0.042735 0.022228"/>
+      <geometry>
+        <box size="0.65 0.08 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.016027 0.621751 0.02"/>
+      <geometry>
+        <box size="0.02 1.1 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.675045 0.621751 0.032551"/>
+      <geometry>
+        <box size="0.04 1.1 0.95"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.621751 -0.450217"/>
+      <geometry>
+        <box size="0.58 1.1 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.34418 0.621751 0.52217"/>
+      <geometry>
+        <box size="0.58 1.1 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.701 0.95 0.000556"/>
+      <geometry>
+        <box size="0.016 0.044 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+
+ <!-- ______________________________________________END OF CHEST_OF_DRAWERS  -->
+</robot>
\ No newline at end of file
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_DrawerBot.glb b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_DrawerBot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d10b73242ed8920e3afcca7671655cd3e4e52f6b
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_DrawerBot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da67edf0647f65a7b8bab0335357449c328613e8f6a173e83ff8eccda8898bc2
+size 3318428
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_DrawerMid.glb b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_DrawerMid.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e44dece96a401f2259744ca0c1c0d380049a1175
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_DrawerMid.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31afab357efa4c4c134e5a5b492146989c01c82cf75ed4ef7c0d3d19d5a716ec
+size 3318428
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_DrawerTop.glb b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_DrawerTop.glb
new file mode 100644
index 0000000000000000000000000000000000000000..20bc2d0306208ba7566e90c28088b260ecc4ce24
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_DrawerTop.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17c9876b24a0bece319d65b434fb921698d673a85e7f244eda59b25e71598949
+size 3318428
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_base.glb b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_base.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3a0d2b3c8870200ba38993368d1a22130d76685a
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/chestOfDrawers_01/chestOfDrawers_base.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a60432e00d47e7206ec374842780002d0dfca363fbee196b96546b89df479d89
+size 3320388
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/door1/door1.glb b/assets/scene_datasets/replica_cad_dataset/urdf/door1/door1.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2007addbb46e62c4e2b1f6f66d02e85fdb0411b9
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/door1/door1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5a535952737537db5c1af0c5e5df5435f37b117755cb6d630e9e26c5732f135
+size 620968
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/door1/door1.urdf b/assets/scene_datasets/replica_cad_dataset/urdf/door1/door1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7e99c8e536ba0ea10fe2e89e40897490246e3730
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/door1/door1.urdf
@@ -0,0 +1,33 @@
+<?xml version="1.0" ?>
+<robot name="door">
+  <link name="root">
+  </link>
+  <joint name="root_rotation" type="revolute">
+    <origin rpy="0 0 3.14" xyz="0 0 0"/>
+    <parent link="root"/>
+    <child link="body"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="2.5" velocity="40"/>
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="25.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="door1.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.414 -1.041 0"/>
+      <geometry>
+        <box size="0.7 1.8 0.026"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/door2/door2.glb b/assets/scene_datasets/replica_cad_dataset/urdf/door2/door2.glb
new file mode 100644
index 0000000000000000000000000000000000000000..296a5afa6884c64d29248987e72b439f3d8ba021
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/door2/door2.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f1655a2a68d3b88e93f8c3695204819b5d7b1194ae0fdd09cb44a60da2d96f3
+size 610556
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/door2/door2.urdf b/assets/scene_datasets/replica_cad_dataset/urdf/door2/door2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4c94218764066a2342c19be9bdace3ae8fae6f84
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/door2/door2.urdf
@@ -0,0 +1,33 @@
+<?xml version="1.0" ?>
+<robot name="door">
+  <link name="root">
+  </link>
+  <joint name="root_rotation" type="revolute">
+    <origin rpy="0 -1.56 0" xyz="0 0 0"/>
+    <parent link="root"/>
+    <child link="body"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="-2.0" upper="0" velocity="40"/>
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="30.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="door2.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0.48 -1.2 0"/>
+      <geometry>
+        <box size="0.85 2.3 0.026"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/door3/door3.glb b/assets/scene_datasets/replica_cad_dataset/urdf/door3/door3.glb
new file mode 100644
index 0000000000000000000000000000000000000000..09b9ba96040b505ea2f19b7a1643856b0c7ea656
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/door3/door3.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:659ef208e22dbdd2c70277a4b4c2178e416caaaa68c7d42f7078da586d9ccc30
+size 603236
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/door3/door3.urdf b/assets/scene_datasets/replica_cad_dataset/urdf/door3/door3.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..386fa9b5c714f5b207d221d2b814c44dc8b0d6fb
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/door3/door3.urdf
@@ -0,0 +1,33 @@
+<?xml version="1.0" ?>
+<robot name="door">
+  <link name="root">
+  </link>
+  <joint name="root_rotation" type="revolute">
+    <origin rpy="0 1.56 0" xyz="0 0 0"/>
+    <parent link="root"/>
+    <child link="body"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="2.4" velocity="40"/>
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="25.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="door3.glb" scale="0.98 0.98 0.98"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.444 -1.041 0"/>
+      <geometry>
+        <box size="0.7 1.8 0.026"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/doubledoor/double_door_L.glb b/assets/scene_datasets/replica_cad_dataset/urdf/doubledoor/double_door_L.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6fca41f42bc7c497466130f8f312cfba513fddb2
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/doubledoor/double_door_L.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a21304de2d04ed65238f984c212cb564a7947106bd90f6da923d6b1898685e3f
+size 624716
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/doubledoor/double_door_R.glb b/assets/scene_datasets/replica_cad_dataset/urdf/doubledoor/double_door_R.glb
new file mode 100644
index 0000000000000000000000000000000000000000..822ae9e88d77cd903fb32a62a70b61d2704aa49f
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/doubledoor/double_door_R.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:955a3a04ee00856f6a9e96946a3a20da3acaaedec3ed480f691333a17335308e
+size 625408
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/doubledoor/doubledoor.urdf b/assets/scene_datasets/replica_cad_dataset/urdf/doubledoor/doubledoor.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..46c26785ea49ac79c1b98a5d62875a4a4438def3
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/doubledoor/doubledoor.urdf
@@ -0,0 +1,71 @@
+<?xml version="1.0" ?>
+<robot name="door">
+  <link name="root">
+  </link>
+  <joint name="frame_transform" type="fixed">
+    <origin rpy="0 1.56 0" xyz="0 0 0"/>
+    <parent link="root"/>
+    <child link="frame"/>
+  </joint>
+   <link name="frame">
+  </link>
+  <joint name="left_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.58 0 0"/>
+    <parent link="frame"/>
+    <child link="left_door"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="-1.2" upper="0" velocity="40"/>
+  </joint>
+
+  <link name="left_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="20.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="double_door_L.glb" scale="0.98 0.98 0.98"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.32 -1.0 0.026"/>
+      <geometry>
+        <box size="0.42 1.6 0.03"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.58 0 0"/>
+    <parent link="frame"/>
+    <child link="right_door"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="1.0" velocity="40"/>
+  </joint>
+
+  <link name="right_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="20.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="double_door_R.glb" scale="0.98 0.98 0.98"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.32 -1.0 0.03"/>
+      <geometry>
+        <box size="0.4 1.6 0.024"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/fridge/body.glb b/assets/scene_datasets/replica_cad_dataset/urdf/fridge/body.glb
new file mode 100644
index 0000000000000000000000000000000000000000..02cb48b982f0f1623b242ec23adbc453caa5e3be
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/fridge/body.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8162e5cee6948dc3496185e6c3d60b6885ef240fa00503f04d5bdd4fb854434
+size 214548
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/fridge/bottom_door.glb b/assets/scene_datasets/replica_cad_dataset/urdf/fridge/bottom_door.glb
new file mode 100644
index 0000000000000000000000000000000000000000..420e088fa9a5d8057ea6495c953f4250b978d298
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/fridge/bottom_door.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44bd6af27be1be4596405597a6fedb81162b0af0a50583d2f6fc74aca282e834
+size 428160
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/fridge/fridge.ao_config.json b/assets/scene_datasets/replica_cad_dataset/urdf/fridge/fridge.ao_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..b447a156886688fdc948494ab39e41a58712b731
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/fridge/fridge.ao_config.json
@@ -0,0 +1,94 @@
+{
+  "user_defined": {
+    "receptacle_aabb_bottomfrl_apartment_refrigerator": {
+      "name": "receptacle_aabb_bottomfrl_apartment_refrigerator",
+      "parent_object": "frl_apartment_refrigerator",
+      "parent_link": "body",
+      "position": [
+        0.0,
+        0.0,
+        0.6208762526512146
+      ],
+      "scale": [
+        0.27178406715393066,
+        0.2940269410610199,
+        0.3128020167350769
+      ],
+      "up": [
+        0,0,-1.0
+      ]
+    },
+    "receptacle_aabb_middlefrl_apartment_refrigerator": {
+      "name": "receptacle_aabb_middlefrl_apartment_refrigerator",
+      "parent_object": "frl_apartment_refrigerator",
+      "parent_link": "body",
+      "position": [
+        0.0,
+        0.0,
+        -0.13357748091220856
+      ],
+      "scale": [
+        0.27178406715393066,
+        0.2940269410610199,
+        0.08532174676656723
+      ],
+      "up": [
+        0,0,-1.0
+      ]
+    },
+    "receptacle_aabb_middle_bottomfrl_apartment_refrigerator": {
+      "name": "receptacle_aabb_middle_bottomfrl_apartment_refrigerator",
+      "parent_object": "frl_apartment_refrigerator",
+      "parent_link": "body",
+      "position": [
+        0.0,
+        0.0,
+        0.11320193111896515
+      ],
+      "scale": [
+        0.27178406715393066,
+        0.2940269410610199,
+        0.11394069343805313
+      ],
+      "up": [
+        0,0,-1.0
+      ]
+    },
+    "receptacle_aabb_middle_topfrl_apartment_refrigerator": {
+      "name": "receptacle_aabb_middle_topfrl_apartment_refrigerator",
+      "parent_object": "frl_apartment_refrigerator",
+      "parent_link": "body",
+      "position": [
+        0.0,
+        0.0,
+        -0.4123101532459259
+      ],
+      "scale": [
+        0.27178406715393066,
+        0.2940269410610199,
+        0.1609608381986618
+      ],
+      "up": [
+        0,0,-1.0
+      ]
+    },
+    "receptacle_aabb_topfrl_apartment_refrigerator": {
+      "name": "receptacle_aabb_topfrl_apartment_refrigerator",
+      "parent_object": "frl_apartment_refrigerator",
+      "parent_link": "body",
+      "position": [
+        0.0,
+        0.0,
+        -0.7638617157936096
+      ],
+      "scale": [
+        0.27178406715393066,
+        0.2940269410610199,
+        0.1609608381986618
+      ],
+      "up": [
+        0,0,-1.0
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/fridge/fridge.urdf b/assets/scene_datasets/replica_cad_dataset/urdf/fridge/fridge.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..882fe22f4aac28b3b3bab35fe2806e84c8779462
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/fridge/fridge.urdf
@@ -0,0 +1,157 @@
+<?xml version="1.0" ?>
+<robot name="fridge">
+  <link name="root">
+  </link>
+  <joint name="root_rotation" type="fixed">
+    <origin rpy="1.565 0 0" xyz="0 0 0"/>
+    <parent link="root"/>
+    <child link="body"/>
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="70.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="body.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <!--top-->
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0 -0.002765 -0.94159"/>
+      <geometry>
+        <box size="0.633 0.691 0.027"/>
+      </geometry>
+    </collision>
+    <!--bottom-->
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0 -0.002765 0.93"/>
+      <geometry>
+        <box size="0.633 0.691 0.04"/>
+      </geometry>
+    </collision>
+     <!--drawer slide-->
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0.017 0.01 -0.71"/>
+      <geometry>
+        <box size="0.45 0.07 0.02"/>
+      </geometry>
+    </collision>
+    <!--top shelf-->
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0.035 0.018 -0.6"/>
+      <geometry>
+        <box size="0.47 0.5 0.02"/>
+      </geometry>
+    </collision>
+    <!--top middle shelf-->
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0.035 -0.002765 -0.226826"/>
+      <geometry>
+        <box size="0.46 0.66 0.027"/>
+      </geometry>
+    </collision>
+    <!--bottom middle shelf-->
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0.035 -0.002765 -0.033778"/>
+      <geometry>
+        <box size="0.46 0.66 0.027"/>
+      </geometry>
+    </collision>
+    <!--bottom shelf-->
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0.05 0.01 0.33"/>
+      <geometry>
+        <box size="0.46 0.66 0.03"/>
+      </geometry>
+    </collision>
+    <!--sides-->
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0 -0.337538 0.005784"/>
+      <geometry>
+        <box size="0.633 0.03 1.89126"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0 0.329773 0.005784"/>
+      <geometry>
+        <box size="0.633 0.03 1.89126"/>
+      </geometry>
+    </collision>
+    <!--back-->
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.316502 -0.002765 0"/>
+      <geometry>
+        <box size="0.029014 0.690834 1.91906"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="top_door_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.322 0.353 -0.385"/>
+    <parent link="body"/>
+    <child link="top_door"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="2.3" velocity="40"/>
+  </joint>
+  <link name="top_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    
+    <visual>
+      <origin rpy="0 0 0" xyz="0.014 -0.355 0"/>
+      <geometry>
+        <mesh filename="top_door.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.034 -0.346 -0.02"/>
+      <geometry>
+        <box size="0.055 0.69 1.103"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.085 -0.665 0.223"/>
+      <geometry>
+        <box size="0.0383 0.05 0.591785"/>
+      </geometry>
+    </collision>
+
+  </link>
+  <joint name="bottom_door_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.322 0.353 0.531"/>
+    <parent link="body"/>
+    <child link="bottom_door"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="2.5" velocity="40"/>
+  </joint>
+  <link name="bottom_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="6"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.022 -0.354 0"/>
+      <geometry>
+        <mesh filename="bottom_door.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.034 -0.346 0.02"/>
+      <geometry>
+        <box size="0.055 0.684 0.77"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/fridge/fridge_dynamic.urdf b/assets/scene_datasets/replica_cad_dataset/urdf/fridge/fridge_dynamic.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e945e4bab4d4456cefa390ebc809ed740d599746
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/fridge/fridge_dynamic.urdf
@@ -0,0 +1,151 @@
+<?xml version="1.0" ?>
+<robot name="fridge">
+  <link name="root">
+  </link>
+  <joint name="root_rotation" type="fixed">
+    <origin rpy="1.565 0 0" xyz="0 0 0"/>
+    <parent link="root"/>
+    <child link="body"/>
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="70.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="body.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <!--top-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.002765 -0.94159"/>
+      <geometry>
+        <box size="0.633 0.691 0.027"/>
+      </geometry>
+    </collision>
+    <!--bottom-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.002765 0.93"/>
+      <geometry>
+        <box size="0.633 0.691 0.04"/>
+      </geometry>
+    </collision>
+     <!--drawer slide-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0.017 0.01 -0.71"/>
+      <geometry>
+        <box size="0.45 0.07 0.02"/>
+      </geometry>
+    </collision>
+    <!--top shelf-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0.035 0.018 -0.6"/>
+      <geometry>
+        <box size="0.47 0.5 0.02"/>
+      </geometry>
+    </collision>
+    <!--top middle shelf-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0.035 -0.002765 -0.226826"/>
+      <geometry>
+        <box size="0.46 0.66 0.027"/>
+      </geometry>
+    </collision>
+    <!--bottom middle shelf-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0.035 -0.002765 -0.033778"/>
+      <geometry>
+        <box size="0.46 0.66 0.027"/>
+      </geometry>
+    </collision>
+    <!--bottom shelf-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0.05 0.01 0.33"/>
+      <geometry>
+        <box size="0.46 0.66 0.03"/>
+      </geometry>
+    </collision>
+    <!--sides-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.337538 0.005784"/>
+      <geometry>
+        <box size="0.633 0.03 1.89126"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.329773 0.005784"/>
+      <geometry>
+        <box size="0.633 0.03 1.89126"/>
+      </geometry>
+    </collision>
+    <!--back-->
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.316502 -0.002765 0"/>
+      <geometry>
+        <box size="0.029014 0.690834 1.91906"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="top_door_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.322 0.353 -0.385"/>
+    <parent link="body"/>
+    <child link="top_door"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="2.3" velocity="40"/>
+  </joint>
+  <link name="top_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    
+    <visual>
+      <origin rpy="0 0 0" xyz="0.014 -0.355 0"/>
+      <geometry>
+        <mesh filename="top_door.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+     <collision>
+      <origin rpy="0 0 0" xyz="0.034 -0.346 -0.02"/>
+      <geometry>
+        <box size="0.055 0.69 1.103"/>
+      </geometry>
+    </collision>
+
+  </link>
+  <joint name="bottom_door_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.322 0.353 0.531"/>
+    <parent link="body"/>
+    <child link="bottom_door"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="2.5" velocity="40"/>
+  </joint>
+  <link name="bottom_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="6"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.022 -0.354 0"/>
+      <geometry>
+        <mesh filename="bottom_door.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.034 -0.346 0.02"/>
+      <geometry>
+        <box size="0.055 0.684 0.77"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/fridge/top_door.glb b/assets/scene_datasets/replica_cad_dataset/urdf/fridge/top_door.glb
new file mode 100644
index 0000000000000000000000000000000000000000..668597a220d09f552e6ad40870c8023f4c3bf6d8
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/fridge/top_door.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42b03920664f4f67b550493df5f558ec5be827e1c2a687dbc9a97c309358a595
+size 551996
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchenCupboard_01.ao_config.json b/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchenCupboard_01.ao_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..27daf7ed583747d4effd1bc0e425f6470dcba6c8
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchenCupboard_01.ao_config.json
@@ -0,0 +1,184 @@
+{
+  "user_defined": {
+    "receptacle_aabb_shelf_center_bottom_left_kitchenCupboard_01": {
+      "name": "receptacle_aabb_shelf_center_bottom_left_kitchenCupboard_01",
+      "parent_object": "kitchenCupboard_01",
+      "parent_link": "body",
+      "position": [
+        0.011397149413824081,
+        0.5054867267608643,
+        0.8164271116256714
+      ],
+      "scale": [
+        0.3955748677253723,
+        0.3423747420310974,
+        0.7934250235557556
+      ]
+    },
+    "receptacle_aabb_shelf_center_bottom_right_kitchenCupboard_01": {
+      "name": "receptacle_aabb_shelf_center_bottom_right_kitchenCupboard_01",
+      "parent_object": "kitchenCupboard_01",
+      "parent_link": "body",
+      "position": [
+        0.011397149413824081,
+        0.5054867267608643,
+        -0.8648790717124939
+      ],
+      "scale": [
+        0.3955748677253723,
+        0.3423747420310974,
+        0.7934250235557556
+      ]
+    },
+    "receptacle_aabb_shelf_center_middle_left_kitchenCupboard_01": {
+      "name": "receptacle_aabb_shelf_center_middle_left_kitchenCupboard_01",
+      "parent_object": "kitchenCupboard_01",
+      "parent_link": "body",
+      "position": [
+        0.011397149413824081,
+        1.2257364988327026,
+        0.8164271116256714
+      ],
+      "scale": [
+        0.3955748677253723,
+        0.26653897762298584,
+        0.7934250235557556
+      ]
+    },
+    "receptacle_aabb_shelf_center_middle_right_kitchenCupboard_01": {
+      "name": "receptacle_aabb_shelf_center_middle_right_kitchenCupboard_01",
+      "parent_object": "kitchenCupboard_01",
+      "parent_link": "body",
+      "position": [
+        0.011397149413824081,
+        1.2257364988327026,
+        -0.8648792505264282
+      ],
+      "scale": [
+        0.3955748677253723,
+        0.26653897762298584,
+        0.7934250235557556
+      ]
+    },
+    "receptacle_aabb_shelf_center_top_left_kitchenCupboard_01": {
+      "name": "receptacle_aabb_shelf_center_top_left_kitchenCupboard_01",
+      "parent_object": "kitchenCupboard_01",
+      "parent_link": "body",
+      "position": [
+        0.011397149413824081,
+        2.0350983142852783,
+        0.8164268732070923
+      ],
+      "scale": [
+        0.3955748677253723,
+        0.433506578207016,
+        0.7934250235557556
+      ]
+    },
+    "receptacle_aabb_shelf_center_top_right_kitchenCupboard_01": {
+      "name": "receptacle_aabb_shelf_center_top_right_kitchenCupboard_01",
+      "parent_object": "kitchenCupboard_01",
+      "parent_link": "body",
+      "position": [
+        0.011397149413824081,
+        2.0350983142852783,
+        -0.8648793697357178
+      ],
+      "scale": [
+        0.3955748677253723,
+        0.433506578207016,
+        0.7934250235557556
+      ]
+    },
+    "receptacle_aabb_shelf_left_bottom_kitchenCupboard_01": {
+      "name": "receptacle_aabb_shelf_left_bottom_kitchenCupboard_01",
+      "parent_object": "kitchenCupboard_01",
+      "parent_link": "body",
+      "position": [
+        0.011397149413824081,
+        0.5054867267608643,
+        2.716900110244751
+      ],
+      "scale": [
+        0.3955748677253723,
+        0.3423747420310974,
+        1.0289044380187988
+      ]
+    },
+    "receptacle_aabb_shelf_left_middle_kitchenCupboard_01": {
+      "name": "receptacle_aabb_shelf_left_middle_kitchenCupboard_01",
+      "parent_object": "kitchenCupboard_01",
+      "parent_link": "body",
+      "position": [
+        0.011397149413824081,
+        1.2257364988327026,
+        2.716900110244751
+      ],
+      "scale": [
+        0.3955748677253723,
+        0.26653897762298584,
+        1.0289044380187988
+      ]
+    },
+    "receptacle_aabb_shelf_left_top_kitchenCupboard_01": {
+      "name": "receptacle_aabb_shelf_left_top_kitchenCupboard_01",
+      "parent_object": "kitchenCupboard_01",
+      "parent_link": "body",
+      "position": [
+        0.011397149413824081,
+        2.0350983142852783,
+        2.716900110244751
+      ],
+      "scale": [
+        0.3955748677253723,
+        0.433506578207016,
+        1.0289044380187988
+      ]
+    },
+    "receptacle_aabb_shelf_right_bottom_kitchenCupboard_01": {
+      "name": "receptacle_aabb_shelf_right_bottom_kitchenCupboard_01",
+      "parent_object": "kitchenCupboard_01",
+      "parent_link": "body",
+      "position": [
+        0.011397149413824081,
+        0.5054867267608643,
+        -2.7690765857696533
+      ],
+      "scale": [
+        0.3955748677253723,
+        0.3423747420310974,
+        1.0289044380187988
+      ]
+    },
+    "receptacle_aabb_shelf_right_middle_kitchenCupboard_01": {
+      "name": "receptacle_aabb_shelf_right_middle_kitchenCupboard_01",
+      "parent_object": "kitchenCupboard_01",
+      "parent_link": "body",
+      "position": [
+        0.011397149413824081,
+        1.2257364988327026,
+        -2.7690765857696533
+      ],
+      "scale": [
+        0.3955748677253723,
+        0.26653897762298584,
+        1.0289044380187988
+      ]
+    },
+    "receptacle_aabb_shelf_right_top_kitchenCupboard_01": {
+      "name": "receptacle_aabb_shelf_right_top_kitchenCupboard_01",
+      "parent_object": "kitchenCupboard_01",
+      "parent_link": "body",
+      "position": [
+        0.011397149413824081,
+        2.0350983142852783,
+        -2.7690770626068115
+      ],
+      "scale": [
+        0.3955748677253723,
+        0.433506578207016,
+        1.0289044380187988
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchenCupboard_01.urdf b/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchenCupboard_01.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..53e2201af0259b08567a5f9c80bc14ffb542bfdf
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchenCupboard_01.urdf
@@ -0,0 +1,381 @@
+<?xml version="1.0" ?>
+<robot name="kitchencupboard">
+  <link name="root">
+  </link>
+  <joint name="root_rotation" type="fixed">
+    <origin rpy="1.565 0 0" xyz="0 0 0"/>
+    <parent link="root"/>
+    <child link="body"/>
+  </joint>
+<!-- ______________________________________________Cabinet Cupboard BASE  -->
+  <link name="body">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="70.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="kitchencupboard_base.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.460331 1.30752 0"/>
+      <geometry>
+        <box size="0.072219 2.57229 7.80631"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.004134 2.53975 0"/>
+      <geometry>
+        <box size="1 0.12 8"/>
+      </geometry>
+    </collision>
+     <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.004134 0.078986 0"/>
+      <geometry>
+        <box size="1.2  0.12 8"/>
+      </geometry>
+    </collision>
+     <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.004134 0.915017 0"/>
+      <geometry>
+        <box size="1  0.025 8"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.004134 1.5484 0"/>
+      <geometry>
+        <box size="1 0.038 8"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0 1.34061 -3.85506"/>
+      <geometry>
+        <box size="0.9 2.5 0.16"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0 1.34061 -1.63257"/>
+      <geometry>
+        <box size="0.9 2.5 0.061"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0 1.34061 -0.005452"/>
+      <geometry>
+        <box size="0.9 2.5 0.05"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0 1.34061 1.69445"/>
+      <geometry>
+        <box size="0.9 2.5 0.05"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0 1.34061 3.85506"/>
+      <geometry>
+        <box size="0.9 2.5 0.16"/>
+      </geometry>
+    </collision>
+  </link>
+
+ <!-- ______________________________________________Cabinet doors WHOLES  -->
+  <!-- whole1 1L -->
+  <joint name="doorWhole_1L_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.55 1.33 1.625"/>
+    <parent link="body"/>
+    <child link="kitchencupboard_doorWhole_1L"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="-2.3" upper="0" velocity="40"/>
+  </joint>
+  <link name="kitchencupboard_doorWhole_1L">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="kitchencupboard_doorWhole_L.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.029102 0 -0.402087"/>
+      <geometry>
+        <box size="0.06 2.15 0.75"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.129008 -0.79404 -0.750058"/>
+      <geometry>
+        <box size="0.047 0.72 0.047"/> 
+      </geometry>
+    </collision>
+  </link>
+
+<!-- whole2 1R  -->
+<joint name="doorWhole_1R_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.55 1.33 -0.025"/>
+    <parent link="body"/>
+    <child link="kitchencupboard_doorWhole_1R"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="2.3" velocity="40"/>
+  </joint>
+  <link name="kitchencupboard_doorWhole_1R">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="kitchencupboard_doorWhole_R.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.029102 0 0.402087"/>
+      <geometry>
+        <box size="0.06 2.15 0.75"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.129008 -0.79404 0.750058"/>
+      <geometry>
+        <box size="0.047 0.72 0.047"/>  
+      </geometry>
+    </collision>
+  </link>
+  
+
+<!-- whole3 2L -->
+  <joint name="doorWhole_2L_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.55 1.33 -0.055"/>
+    <parent link="body"/>
+    <child link="kitchencupboard_doorWhole_2L"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="-2.3" upper="0" velocity="40"/>
+  </joint>
+  <link name="kitchencupboard_doorWhole_2L">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="kitchencupboard_doorWhole_L.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.029102 0 -0.402087"/>
+      <geometry>
+        <box size="0.06 2.15 0.75"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.129008 -0.79404 -0.750058"/>
+      <geometry>
+        <box size="0.047 0.72 0.047"/> 
+      </geometry>
+    </collision>
+  </link>
+
+<!-- whole4 2R  -->
+<joint name="doorWhole_2R_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.55 1.33 -1.695"/>
+    <parent link="body"/>
+    <child link="kitchencupboard_doorWhole_2R"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="2.3" velocity="40"/>
+  </joint>
+  <link name="kitchencupboard_doorWhole_2R">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="kitchencupboard_doorWhole_R.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.029102 0 0.402087"/>
+      <geometry>
+        <box size="0.06 2.15 0.75"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.129008 -0.79404 0.750058"/>
+      <geometry>
+        <box size="0.047 0.72 0.047"/> 
+      </geometry>
+    </collision>
+  </link>
+  
+
+ <!-- ______________________________________________Cabinet doors WINDOWS  -->
+  <!-- window1 1L -->
+  <joint name="doorWindow_1L_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.55 1.315 3.78"/>
+    <parent link="body"/>
+    <child link="kitchencupboard_doorWindow_1L"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="-2.3" upper="0" velocity="40"/>
+  </joint>
+  <link name="kitchencupboard_doorWindow_1L">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="kitchencupboard_doorWindow_L.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.029102 0 -0.575"/>
+      <geometry>
+        <box size="0.06 2.15 0.75"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.129008 -0.79404 -1.0"/>
+      <geometry>
+        <box size="0.047 0.72 0.047"/> 
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- window2 1R -->
+  <joint name="doorWindow_1R_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.55 1.315 1.66"/>
+    <parent link="body"/>
+    <child link="kitchencupboard_doorWindow_1R"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="2.3" velocity="40"/>
+  </joint>
+  <link name="kitchencupboard_doorWindow_1R">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="kitchencupboard_doorWindow_R.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.029102 0 0.525"/>
+      <geometry>
+        <box size="0.06 2.15 0.75"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.129008 -0.79404 1.0"/>
+      <geometry>
+        <box size="0.047 0.72 0.047"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+ <!-- window3 2L -->
+  <joint name="doorWindow_2L_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.55 1.315 -1.7"/>
+    <parent link="body"/>
+    <child link="kitchencupboard_doorWindow_2L"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="-2.3" upper="0" velocity="40"/>
+  </joint>
+  <link name="kitchencupboard_doorWindow_2L">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="kitchencupboard_doorWindow_L.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.029102 0 -0.525"/>
+      <geometry>
+        <box size="0.06 2.15 0.75"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.129008 -0.79404 -1.0"/>
+      <geometry>
+        <box size="0.047 0.72 0.047"/> 
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- window4 2R -->
+  <joint name="doorWindow_2R_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.55 1.315 -3.81"/>
+    <parent link="body"/>
+    <child link="kitchencupboard_doorWindow_2R"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="2.3" velocity="40"/>
+  </joint>
+  <link name="kitchencupboard_doorWindow_2R">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="kitchencupboard_doorWindow_R.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.029102 0 0.525"/>
+      <geometry>
+        <box size="0.06 2.15 0.75"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.129008 -0.79404 1.0058"/>
+      <geometry>
+        <box size="0.047 0.72 0.047"/> 
+      </geometry>
+    </collision>
+  </link>
+
+
+ <!-- ______________________________________________END OF CUPBOARD  -->
+</robot>
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_base.glb b/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_base.glb
new file mode 100644
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--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_base.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3331956
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_doorWhole_L.glb b/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_doorWhole_L.glb
new file mode 100644
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--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_doorWhole_L.glb
@@ -0,0 +1,3 @@
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+size 3315236
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_doorWhole_R.glb b/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_doorWhole_R.glb
new file mode 100644
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--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_doorWhole_R.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3315236
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_doorWindow_L.glb b/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_doorWindow_L.glb
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--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_doorWindow_L.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3314588
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_doorWindow_R.glb b/assets/scene_datasets/replica_cad_dataset/urdf/kitchenCupboard_01/kitchencupboard_doorWindow_R.glb
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+version https://git-lfs.github.com/spec/v1
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+size 3314592
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new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a04ed78161cd493a10e09e48a4058e7764dfe257e622881fbfcdebed4a06d143
+size 743908
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3d0981d7e98b99f8baa20e32ea5513142005f5cfc3028b203d7871c9961d0928
+size 743968
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+version https://git-lfs.github.com/spec/v1
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+size 743968
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/kitchen_counter/drawer4.glb b/assets/scene_datasets/replica_cad_dataset/urdf/kitchen_counter/drawer4.glb
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index 0000000000000000000000000000000000000000..cd8406a9991637118e7c5d0c14ac92f0829db7a3
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/kitchen_counter/kitchen_counter.ao_config.json b/assets/scene_datasets/replica_cad_dataset/urdf/kitchen_counter/kitchen_counter.ao_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a119ec72ba6654344fd79345dea85b3eea0cf4f
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/kitchen_counter/kitchen_counter.ao_config.json
@@ -0,0 +1,154 @@
+{
+  "user_defined": {
+    "receptacle_aabb_counter_left_kitchen_counter": {
+      "name": "receptacle_aabb_counter_left_kitchen_counter",
+      "parent_object": "kitchen_counter",
+      "parent_link": "body",
+      "position": [
+        -0.15852411091327667,
+        1.0379259586334229,
+        1.0976535081863403
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+      "scale": [
+        0.3150680661201477,
+        0.19124983251094818,
+        0.4582241177558899
+      ]
+    },
+    "receptacle_aabb_counter_right_kitchen_counter": {
+      "name": "receptacle_aabb_counter_right_kitchen_counter",
+      "parent_object": "kitchen_counter",
+      "parent_link": "body",
+      "position": [
+        -0.18135365843772888,
+        1.0379259586334229,
+        -0.7386987805366516
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+      "scale": [
+        0.3049129843711853,
+        0.19124983251094818,
+        0.7560272216796875
+      ]
+    },
+    "receptacle_aabb_sink_kitchen_counter": {
+      "name": "receptacle_aabb_sink_kitchen_counter",
+      "parent_object": "kitchen_counter",
+      "parent_link": "body",
+      "position": [
+        -0.16285690665245056,
+        0.7953284978866577,
+        0.31989800930023193
+      ],
+      "scale": [
+        0.11179278790950775,
+        0.0986369326710701,
+        0.18056082725524902
+      ]
+    },
+    "receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter": {
+      "name": "receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter",
+      "parent_object": "kitchen_counter",
+      "parent_link": "drawer1_top",
+      "position": [
+        -0.01,
+        0.05,
+        0
+      ],
+      "scale": [
+        -0.24785809218883514,
+        -0.13895395398139954,
+        -0.399248868227005
+      ]
+    },
+    "receptacle_aabb_drawer_left_bottom_frl_apartment_kitchen_counter": {
+      "name": "receptacle_aabb_drawer_left_bottom_frl_apartment_kitchen_counter",
+      "parent_object": "kitchen_counter",
+      "parent_link": "drawer1_bottom",
+      "position": [
+        -0.01,
+        0.05,
+        0
+      ],
+      "scale": [
+        -0.24785809218883514,
+        -0.13895395398139954,
+        -0.399248868227005
+      ]
+    },
+    "receptacle_aabb_drawer_middle_top_frl_apartment_kitchen_counter": {
+      "name": "receptacle_aabb_drawer_middle_top_frl_apartment_kitchen_counter",
+      "parent_object": "kitchen_counter",
+      "parent_link": "drawer2_top",
+      "position": [
+        -0.01,
+        0.05,
+        0
+      ],
+      "scale": [
+        0.2581610679626465,
+        0.07129020243883133,
+        0.25962355732917786
+      ]
+    },
+    "receptacle_aabb_drawer_middle_middle_frl_apartment_kitchen_counter": {
+      "name": "receptacle_aabb_drawer_middle_middle_frl_apartment_kitchen_counter",
+      "parent_object": "kitchen_counter",
+      "parent_link": "drawer2_middle",
+      "position": [
+        -0.01,
+        0.05,
+        0
+      ],
+      "scale": [
+        0.2581610679626465,
+        0.07129020243883133,
+        0.25962355732917786
+      ]
+    },
+    "receptacle_aabb_drawer_middle_bottom_frl_apartment_kitchen_counter": {
+      "name": "receptacle_aabb_drawer_middle_bottom_frl_apartment_kitchen_counter",
+      "parent_object": "kitchen_counter",
+      "parent_link": "drawer2_bottom",
+      "position": [
+        -0.01,
+        0.05,
+        0
+      ],
+      "scale": [
+        0.2581610679626465,
+        0.07129020243883133,
+        0.25962355732917786
+      ]
+    },
+    "receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter": {
+      "name": "receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter",
+      "parent_object": "kitchen_counter",
+      "parent_link": "drawer3",
+      "position": [
+        -0.01,
+        0.036,
+        0
+      ],
+      "scale": [
+        0.2459012269973755,
+        0.08342394232749939,
+        0.3978116810321808
+      ]
+    },
+    "receptacle_aabb_drawer_right_bottom_frl_apartment_kitchen_counter": {
+      "name": "receptacle_aabb_drawer_right_bottom_frl_apartment_kitchen_counter",
+      "parent_object": "kitchen_counter",
+      "parent_link": "drawer4",
+      "position": [
+        -0.01,
+        0.055,
+        0
+      ],
+      "scale": [
+        0.24476364254951477,
+        0.13102833926677704,
+        0.3935939371585846
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/kitchen_counter/kitchen_counter.glb b/assets/scene_datasets/replica_cad_dataset/urdf/kitchen_counter/kitchen_counter.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e9f32d14d337a3b4aeda6aff689b7ffaee29bc4c
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/kitchen_counter/kitchen_counter.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c744744190b798655d89f9c1393de2ffee5b1c2d7d1c33dca96af473e3ab4bc3
+size 780980
diff --git a/assets/scene_datasets/replica_cad_dataset/urdf/kitchen_counter/kitchen_counter.urdf b/assets/scene_datasets/replica_cad_dataset/urdf/kitchen_counter/kitchen_counter.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..11d943cf557b23f8dc07c0655ee2ddf74e7a9405
--- /dev/null
+++ b/assets/scene_datasets/replica_cad_dataset/urdf/kitchen_counter/kitchen_counter.urdf
@@ -0,0 +1,474 @@
+<?xml version="1.0" ?>
+<robot name="kitchen_counter">
+  <link name="root">
+  </link>
+  <joint name="body_transform" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="root"/>
+    <child link="body"/>
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="120"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 -0.0 0"/>
+      <geometry>
+        <mesh filename="kitchen_counter.glb" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.174709 0.813111 -0.713353"/>
+      <geometry>
+        <box size="0.651332 0.065814 1.60911"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.174709 0.021857 0.027346"/>
+      <geometry>
+        <box size="0.651332 0.065814 3.06211"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.174709 0.813111 1.06493"/>
+      <geometry>
+        <box size="0.651332 0.065814 1.01883"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.38961 0.77396 0.323204"/>
+      <geometry>
+        <box size="0.221029 0.148622 0.471716"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.174709 0.378449 0.329216"/>
+      <geometry>
+        <box size="0.651332 0.623832 0.530862"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="0.069136 0.771529 0.326153"/>
+      <geometry>
+        <box size="0.157531 0.153898 0.467331"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.145731 0.771529 0.092164"/>
+      <geometry>
+        <box size="0.261102 0.153898 0.064278"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.145731 0.771529 0.550025"/>
+      <geometry>
+        <box size="0.261102 0.153898 0.064278"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.175036 0.412533 -1.48868"/>
+      <geometry>
+        <box size="0.635316 0.747243 0.027076"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.175036 0.412533 1.53842"/>
+      <geometry>
+        <box size="0.635316 0.747243 0.027076"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.287345 0.905674 0.306415"/>
+      <geometry>
+        <box size="0.109908 0.109315 0.027927"/>
+      </geometry>
+    </collision>
+    <collision group="2">
+      <origin rpy="0 0 0" xyz="-0.13955 0.71164 -1.0423"/>
+      <geometry>
+        <box size="0.617 0.145 0.894"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_slide_top" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.159398 0.6 1.0705"/>
+    <parent link="body"/>
+    <child link="drawer1_top"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="0.5" velocity="1.0"/>
+  </joint>
+  <link name="drawer1_top">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="5"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="drawer1.glb" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.129193 0"/>
+      <geometry>
+        <box size="0.615496 0.045658 0.888124"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.271664 -0.009973 0"/>
+      <geometry>
+        <box size="0.063383 0.313737 0.888124"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.290127 -0.00996 0"/>
+      <geometry>
+        <box size="0.041759 0.332276 0.888124"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.420406"/>
+      <geometry>
+        <box size="0.615496 0.328675 0.03569"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.420406"/>
+      <geometry>
+        <box size="0.615496 0.328675 0.03569"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_slide_bottom" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.159398 0.232 1.0705"/>
+    <parent link="body"/>
+    <child link="drawer1_bottom"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="0.5" velocity="1.0"/>
+  </joint>
+  <link name="drawer1_bottom">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="5"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="drawer1.glb" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.129193 0"/>
+      <geometry>
+        <box size="0.615496 0.045658 0.888124"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.271664 -0.009973 0"/>
+      <geometry>
+        <box size="0.063383 0.313737 0.888124"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.290127 -0.00996 0"/>
+      <geometry>
+        <box size="0.041759 0.332276 0.888124"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.420406"/>
+      <geometry>
+        <box size="0.615496 0.328675 0.03569"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.420406"/>
+      <geometry>
+        <box size="0.615496 0.328675 0.03569"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+  <joint name="middle_slide_top" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.156649 0.664 -0.28605"/>
+    <parent link="body"/>
+    <child link="drawer2_top"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="0.5" velocity="1.0"/>
+  </joint>
+  <link name="drawer2_top">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="4"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="drawer2.glb" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.069318 0"/>
+      <geometry>
+        <box size="0.615496 0.026889 0.576193"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.276502 -0.00073 0"/>
+      <geometry>
+        <box size="0.04861 0.22013 0.58896"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.290127 -0.001676 0"/>
+      <geometry>
+        <box size="0.041759 0.228061 0.572851"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.27725"/>
+      <geometry>
+        <box size="0.600043 0.225867 0.024556"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.27725"/>
+      <geometry>
+        <box size="0.600043 0.225867 0.024556"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="middle_slide_middle" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.156649 0.42 -0.28605"/>
+    <parent link="body"/>
+    <child link="drawer2_middle"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="0.5" velocity="1.0"/>
+  </joint>
+  <link name="drawer2_middle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="4"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="drawer2.glb" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.069318 0"/>
+      <geometry>
+        <box size="0.615496 0.026889 0.576193"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.276502 -0.00073 0"/>
+      <geometry>
+        <box size="0.04861 0.22013 0.58896"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.290127 -0.001676 0"/>
+      <geometry>
+        <box size="0.041759 0.228061 0.572851"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.27725"/>
+      <geometry>
+        <box size="0.600043 0.225867 0.024556"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.27725"/>
+      <geometry>
+        <box size="0.600043 0.225867 0.024556"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="middle_slide_bottom" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.156649 0.18 -0.28605"/>
+    <parent link="body"/>
+    <child link="drawer2_bottom"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="0.5" velocity="1.0"/>
+  </joint>
+  <link name="drawer2_bottom">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="4"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="drawer2.glb" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.069318 0"/>
+      <geometry>
+        <box size="0.615496 0.026889 0.576193"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.276502 -0.00073 0"/>
+      <geometry>
+        <box size="0.04861 0.22013 0.58896"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.290127 -0.001676 0"/>
+      <geometry>
+        <box size="0.041759 0.228061 0.572851"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.27725"/>
+      <geometry>
+        <box size="0.600043 0.225867 0.024556"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.27725"/>
+      <geometry>
+        <box size="0.600043 0.225867 0.024556"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_slide_top" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.167635 0.53 -1.0264"/>
+    <parent link="body"/>
+    <child link="drawer3"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="0.5" velocity="1.0"/>
+  </joint>
+  <link name="drawer3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="4"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="drawer3.glb" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.077087 0.005074"/>
+      <geometry>
+        <box size="0.615496 0.026889 0.842617"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.25 -0.00073 0.007159"/>
+      <geometry>
+        <box size="0.0486 0.186823 0.840294"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.281 0.004 0.004"/>
+      <geometry>
+        <box size="0.0255 0.024295 0.097663"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.287658 -0.001676 0"/>
+      <geometry>
+        <box size="0.035706 0.184979 0.855567"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.434571"/>
+      <geometry>
+        <box size="0.600043 0.195092 0.024556"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.42472"/>
+      <geometry>
+        <box size="0.600043 0.195092 0.024556"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_slide_bottom" type="prismatic">
+    <origin rpy="0 0 0" xyz="-0.167635 0.236 -1.0264"/>
+    <parent link="body"/>
+    <child link="drawer4"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0" upper="0.5" velocity="1.0"/>
+  </joint>
+  <link name="drawer4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="6"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="drawer4.glb" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.127441 0.005074"/>
+      <geometry>
+        <box size="0.615496 0.026889 0.842617"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.276502 -0.00073 0.007159"/>
+      <geometry>
+        <box size="0.0486 0.31 0.840294"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.287658 -0.001676 0"/>
+      <geometry>
+        <box size="0.035706 0.294 0.855567"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.434571"/>
+      <geometry>
+        <box size="0.600043 0.313244 0.024556"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.42472"/>
+      <geometry>
+        <box size="0.600043 0.306 0.024556"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/benchmark/prepared_80_index.json b/benchmark/prepared_80_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..97b54d65c45295106077df71d4d6109f6f5a48e9
--- /dev/null
+++ b/benchmark/prepared_80_index.json
@@ -0,0 +1,1368 @@
+{
+  "description": "Fixed benchmark annotations for 80 tasks; no model results or rendered outputs.",
+  "scene_count": 80,
+  "target_count": 3140,
+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up; meters",
+  "scenes": [
+    {
+      "name": "ithor_kitchen_13",
+      "batch": "additional_50",
+      "builder": "iTHOR",
+      "source_scene": "FloorPlan13_physics",
+      "loaded_object_count": 145,
+      "target_count": 40,
+      "camera_start": [
+        4.21,
+        -1.652,
+        1.45,
+        270,
+        -12
+      ],
+      "ground_truth": "benchmark/scenes/ithor_kitchen_13/ground_truth.json",
+      "entity_library": "benchmark/scenes/ithor_kitchen_13/entity_library.json"
+    },
+    {
+      "name": "ithor_kitchen_30",
+      "batch": "additional_50",
+      "builder": "iTHOR",
+      "source_scene": "FloorPlan30_physics",
+      "loaded_object_count": 101,
+      "target_count": 40,
+      "camera_start": [
+        -2.834,
+        0.069,
+        1.45,
+        0,
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+  ]
+}
diff --git a/benchmark/scene_catalog.json b/benchmark/scene_catalog.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6aa8cc394dd5226e698bc57501e7583359dbbed
--- /dev/null
+++ b/benchmark/scene_catalog.json
@@ -0,0 +1,1595 @@
+{
+  "description": "Ten original 30-object scenes, 50 additional scenes with 35 or 40 target objects, and 30 original ProcTHOR layouts with 40 targets each.",
+  "scenes": [
+    {
+      "name": "kitchen_01",
+      "type": "kitchen",
+      "builder": "iTHOR",
+      "scene_index": 68,
+      "source_scene": "FloorPlan1_physics",
+      "camera_start": [
+        0,
+        0,
+        1.6,
+        55,
+        -12
+      ]
+    },
+    {
+      "name": "kitchen_02",
+      "type": "kitchen",
+      "builder": "iTHOR",
+      "scene_index": 0,
+      "source_scene": "FloorPlan7_physics",
+      "camera_start": [
+        0,
+        0,
+        1.6,
+        55,
+        -12
+      ]
+    },
+    {
+      "name": "living_room_01",
+      "type": "living room",
+      "builder": "iTHOR",
+      "scene_index": 37,
+      "source_scene": "FloorPlan201_physics",
+      "camera_start": [
+        2,
+        -2,
+        1.5,
+        35,
+        -12
+      ]
+    },
+    {
+      "name": "living_room_02",
+      "type": "living room",
+      "builder": "iTHOR",
+      "scene_index": 10,
+      "source_scene": "FloorPlan227_physics",
+      "camera_start": [
+        3,
+        -2.5,
+        1.5,
+        30,
+        -12
+      ]
+    },
+    {
+      "name": "bedroom_01",
+      "type": "bedroom",
+      "builder": "iTHOR",
+      "scene_index": 26,
+      "source_scene": "FloorPlan301_physics",
+      "camera_start": [
+        -1.5,
+        0.9,
+        1.5,
+        0,
+        -12
+      ]
+    },
+    {
+      "name": "bedroom_02",
+      "type": "bedroom",
+      "builder": "iTHOR",
+      "scene_index": 23,
+      "source_scene": "FloorPlan320_physics",
+      "camera_start": [
+        -0.5,
+        0.1,
+        1.5,
+        45,
+        -12
+      ]
+    },
+    {
+      "name": "bathroom_01",
+      "type": "bathroom",
+      "builder": "iTHOR",
+      "scene_index": 126,
+      "source_scene": "FloorPlan401_physics",
+      "camera_start": [
+        2,
+        -1.5,
+        1.5,
+        35,
+        -12
+      ]
+    },
+    {
+      "name": "bathroom_02",
+      "type": "bathroom",
+      "builder": "iTHOR",
+      "scene_index": 2,
+      "source_scene": "FloorPlan421_physics",
+      "camera_start": [
+        0.3,
+        -2.2,
+        1.5,
+        -90,
+        -12
+      ]
+    },
+    {
+      "name": "apartment_01",
+      "type": "apartment",
+      "builder": "ArchitecTHOR",
+      "scene_index": 9,
+      "source_scene": "ArchitecTHOR-Test-00",
+      "camera_start": [
+        1,
+        1,
+        1.6,
+        45,
+        -12
+      ]
+    },
+    {
+      "name": "apartment_02",
+      "type": "apartment",
+      "builder": "ArchitecTHOR",
+      "scene_index": 6,
+      "source_scene": "ArchitecTHOR-Val-00",
+      "camera_start": [
+        1,
+        1,
+        1.6,
+        0,
+        -12
+      ]
+    },
+    {
+      "name": "ithor_kitchen_13",
+      "type": "kitchen",
+      "builder": "iTHOR",
+      "scene_index": 78,
+      "source_scene": "FloorPlan13_physics",
+      "source_object_count": 145,
+      "target_count": 40,
+      "camera_start": [
+        4.21,
+        -1.652,
+        1.45,
+        270,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_kitchen_30",
+      "type": "kitchen",
+      "builder": "iTHOR",
+      "scene_index": 34,
+      "source_scene": "FloorPlan30_physics",
+      "source_object_count": 101,
+      "target_count": 40,
+      "camera_start": [
+        -2.834,
+        0.069,
+        1.45,
+        0,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_kitchen_16",
+      "type": "kitchen",
+      "builder": "iTHOR",
+      "scene_index": 117,
+      "source_scene": "FloorPlan16_physics",
+      "source_object_count": 100,
+      "target_count": 40,
+      "camera_start": [
+        -2.621,
+        -2.058,
+        1.45,
+        45,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_kitchen_2",
+      "type": "kitchen",
+      "builder": "iTHOR",
+      "scene_index": 149,
+      "source_scene": "FloorPlan2_physics",
+      "source_object_count": 94,
+      "target_count": 40,
+      "camera_start": [
+        -1.5,
+        0.7,
+        1.45,
+        315,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_kitchen_28",
+      "type": "kitchen",
+      "builder": "iTHOR",
+      "scene_index": 22,
+      "source_scene": "FloorPlan28_physics",
+      "source_object_count": 91,
+      "target_count": 40,
+      "camera_start": [
+        0.462,
+        3.597,
+        1.45,
+        0,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_kitchen_9",
+      "type": "kitchen",
+      "builder": "iTHOR",
+      "scene_index": 140,
+      "source_scene": "FloorPlan9_physics",
+      "source_object_count": 89,
+      "target_count": 40,
+      "camera_start": [
+        -2.35,
+        -1.073,
+        1.45,
+        0,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_living_room_230",
+      "type": "living room",
+      "builder": "iTHOR",
+      "scene_index": 41,
+      "source_scene": "FloorPlan230_physics",
+      "source_object_count": 56,
+      "target_count": 40,
+      "camera_start": [
+        0.359,
+        -0.548,
+        1.45,
+        315,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_living_room_204",
+      "type": "living room",
+      "builder": "iTHOR",
+      "scene_index": 49,
+      "source_scene": "FloorPlan204_physics",
+      "source_object_count": 49,
+      "target_count": 40,
+      "camera_start": [
+        1.966,
+        -0.525,
+        1.45,
+        90,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_living_room_223",
+      "type": "living room",
+      "builder": "iTHOR",
+      "scene_index": 79,
+      "source_scene": "FloorPlan223_physics",
+      "source_object_count": 49,
+      "target_count": 40,
+      "camera_start": [
+        -1.005,
+        -1.324,
+        1.45,
+        135,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_living_room_215",
+      "type": "living room",
+      "builder": "iTHOR",
+      "scene_index": 132,
+      "source_scene": "FloorPlan215_physics",
+      "source_object_count": 49,
+      "target_count": 40,
+      "camera_start": [
+        4.932,
+        -0.383,
+        1.45,
+        225,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_living_room_224",
+      "type": "living room",
+      "builder": "iTHOR",
+      "scene_index": 72,
+      "source_scene": "FloorPlan224_physics",
+      "source_object_count": 48,
+      "target_count": 40,
+      "camera_start": [
+        0.743,
+        -0.696,
+        1.45,
+        135,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_living_room_203",
+      "type": "living room",
+      "builder": "iTHOR",
+      "scene_index": 4,
+      "source_scene": "FloorPlan203_physics",
+      "source_object_count": 45,
+      "target_count": 40,
+      "camera_start": [
+        3.425,
+        -0.113,
+        1.45,
+        0,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_bedroom_309",
+      "type": "bedroom",
+      "builder": "iTHOR",
+      "scene_index": 62,
+      "source_scene": "FloorPlan309_physics",
+      "source_object_count": 46,
+      "target_count": 35,
+      "camera_start": [
+        0.038,
+        0.41,
+        1.45,
+        315,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_bedroom_303",
+      "type": "bedroom",
+      "builder": "iTHOR",
+      "scene_index": 80,
+      "source_scene": "FloorPlan303_physics",
+      "source_object_count": 42,
+      "target_count": 35,
+      "camera_start": [
+        -1.719,
+        0.625,
+        1.45,
+        0,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_bedroom_326",
+      "type": "bedroom",
+      "builder": "iTHOR",
+      "scene_index": 110,
+      "source_scene": "FloorPlan326_physics",
+      "source_object_count": 42,
+      "target_count": 35,
+      "camera_start": [
+        2.325,
+        1.887,
+        1.45,
+        180,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_bedroom_311",
+      "type": "bedroom",
+      "builder": "iTHOR",
+      "scene_index": 122,
+      "source_scene": "FloorPlan311_physics",
+      "source_object_count": 38,
+      "target_count": 35,
+      "camera_start": [
+        -2.28,
+        1.304,
+        1.45,
+        315,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_bedroom_330",
+      "type": "bedroom",
+      "builder": "iTHOR",
+      "scene_index": 12,
+      "source_scene": "FloorPlan330_physics",
+      "source_object_count": 36,
+      "target_count": 35,
+      "camera_start": [
+        -0.965,
+        1.896,
+        1.45,
+        315,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_bedroom_307",
+      "type": "bedroom",
+      "builder": "iTHOR",
+      "scene_index": 31,
+      "source_scene": "FloorPlan307_physics",
+      "source_object_count": 36,
+      "target_count": 35,
+      "camera_start": [
+        1.651,
+        2.327,
+        1.45,
+        270,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_bathroom_423",
+      "type": "bathroom",
+      "builder": "iTHOR",
+      "scene_index": 128,
+      "source_scene": "FloorPlan423_physics",
+      "source_object_count": 40,
+      "target_count": 35,
+      "camera_start": [
+        3.293,
+        -2.223,
+        1.45,
+        135,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_bathroom_413",
+      "type": "bathroom",
+      "builder": "iTHOR",
+      "scene_index": 100,
+      "source_scene": "FloorPlan413_physics",
+      "source_object_count": 39,
+      "target_count": 35,
+      "camera_start": [
+        1.903,
+        -0.562,
+        1.45,
+        225,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_bathroom_430",
+      "type": "bathroom",
+      "builder": "iTHOR",
+      "scene_index": 74,
+      "source_scene": "FloorPlan430_physics",
+      "source_object_count": 38,
+      "target_count": 35,
+      "camera_start": [
+        2.82,
+        2.282,
+        1.45,
+        270,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_bathroom_403",
+      "type": "bathroom",
+      "builder": "iTHOR",
+      "scene_index": 15,
+      "source_scene": "FloorPlan403_physics",
+      "source_object_count": 37,
+      "target_count": 35,
+      "camera_start": [
+        0.448,
+        -3.144,
+        1.45,
+        0,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_bathroom_407",
+      "type": "bathroom",
+      "builder": "iTHOR",
+      "scene_index": 16,
+      "source_scene": "FloorPlan407_physics",
+      "source_object_count": 37,
+      "target_count": 35,
+      "camera_start": [
+        1.59,
+        1.327,
+        1.45,
+        180,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "ithor_bathroom_402",
+      "type": "bathroom",
+      "builder": "iTHOR",
+      "scene_index": 99,
+      "source_scene": "FloorPlan402_physics",
+      "source_object_count": 37,
+      "target_count": 35,
+      "camera_start": [
+        0.15,
+        -5.069,
+        1.45,
+        45,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "robothor_val1_5",
+      "type": "RoboTHOR furnished room",
+      "builder": "RoboTHOR",
+      "scene_index": 60,
+      "source_scene": "FloorPlan_Val1_5",
+      "source_object_count": 69,
+      "target_count": 40,
+      "camera_start": [
+        -3.355,
+        1.582,
+        1.45,
+        135,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "robothor_val1_1",
+      "type": "RoboTHOR furnished room",
+      "builder": "RoboTHOR",
+      "scene_index": 14,
+      "source_scene": "FloorPlan_Val1_1",
+      "source_object_count": 48,
+      "target_count": 40,
+      "camera_start": [
+        -8.073,
+        4.008,
+        1.45,
+        90,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "robothor_val2_5",
+      "type": "RoboTHOR furnished room",
+      "builder": "RoboTHOR",
+      "scene_index": 55,
+      "source_scene": "FloorPlan_Val2_5",
+      "source_object_count": 55,
+      "target_count": 40,
+      "camera_start": [
+        -8.839,
+        2.301,
+        1.45,
+        90,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "robothor_val2_4",
+      "type": "RoboTHOR furnished room",
+      "builder": "RoboTHOR",
+      "scene_index": 7,
+      "source_scene": "FloorPlan_Val2_4",
+      "source_object_count": 54,
+      "target_count": 40,
+      "camera_start": [
+        -4.89,
+        2.423,
+        1.45,
+        135,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "robothor_val3_5",
+      "type": "RoboTHOR furnished room",
+      "builder": "RoboTHOR",
+      "scene_index": 40,
+      "source_scene": "FloorPlan_Val3_5",
+      "source_object_count": 51,
+      "target_count": 40,
+      "camera_start": [
+        -3.618,
+        4.236,
+        1.45,
+        90,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "robothor_val3_3",
+      "type": "RoboTHOR furnished room",
+      "builder": "RoboTHOR",
+      "scene_index": 71,
+      "source_scene": "FloorPlan_Val3_3",
+      "source_object_count": 50,
+      "target_count": 40,
+      "camera_start": [
+        -5.455,
+        1.484,
+        1.45,
+        45,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "robothor_train1_4",
+      "type": "RoboTHOR furnished room",
+      "builder": "RoboTHOR",
+      "scene_index": 4,
+      "source_scene": "FloorPlan_Train1_4",
+      "source_object_count": 41,
+      "target_count": 40,
+      "camera_start": [
+        -6.418,
+        4.543,
+        1.45,
+        315,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "robothor_train2_4",
+      "type": "RoboTHOR furnished room",
+      "builder": "RoboTHOR",
+      "scene_index": 47,
+      "source_scene": "FloorPlan_Train2_4",
+      "source_object_count": 42,
+      "target_count": 40,
+      "camera_start": [
+        -7.624,
+        3.653,
+        1.45,
+        45,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "robothor_train3_2",
+      "type": "RoboTHOR furnished room",
+      "builder": "RoboTHOR",
+      "scene_index": 18,
+      "source_scene": "FloorPlan_Train3_2",
+      "source_object_count": 47,
+      "target_count": 40,
+      "camera_start": [
+        -7.056,
+        2.636,
+        1.45,
+        315,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "robothor_train4_1",
+      "type": "RoboTHOR furnished room",
+      "builder": "RoboTHOR",
+      "scene_index": 36,
+      "source_scene": "FloorPlan_Train4_1",
+      "source_object_count": 43,
+      "target_count": 40,
+      "camera_start": [
+        -7.126,
+        4.519,
+        1.45,
+        45,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "robothor_train5_4",
+      "type": "RoboTHOR furnished room",
+      "builder": "RoboTHOR",
+      "scene_index": 73,
+      "source_scene": "FloorPlan_Train5_4",
+      "source_object_count": 50,
+      "target_count": 40,
+      "camera_start": [
+        -8.928,
+        4.512,
+        1.45,
+        90,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "robothor_train12_5",
+      "type": "RoboTHOR furnished room",
+      "builder": "RoboTHOR",
+      "scene_index": 9,
+      "source_scene": "FloorPlan_Train12_5",
+      "source_object_count": 42,
+      "target_count": 40,
+      "camera_start": [
+        -8.173,
+        3.626,
+        1.45,
+        0,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "architecthor_test_01",
+      "type": "furnished apartment",
+      "builder": "ArchitecTHOR",
+      "scene_index": 7,
+      "source_scene": "ArchitecTHOR-Test-01",
+      "source_object_count": 101,
+      "target_count": 40,
+      "camera_start": [
+        -2.53,
+        -1.777,
+        1.45,
+        180,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "architecthor_test_02",
+      "type": "furnished apartment",
+      "builder": "ArchitecTHOR",
+      "scene_index": 3,
+      "source_scene": "ArchitecTHOR-Test-02",
+      "source_object_count": 123,
+      "target_count": 40,
+      "camera_start": [
+        0.841,
+        3.959,
+        1.45,
+        225,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "architecthor_test_03",
+      "type": "furnished apartment",
+      "builder": "ArchitecTHOR",
+      "scene_index": 0,
+      "source_scene": "ArchitecTHOR-Test-03",
+      "source_object_count": 117,
+      "target_count": 40,
+      "camera_start": [
+        -3.465,
+        -1.798,
+        1.45,
+        90,
+        -12
+      ],
+      "batch": "additional_50"
+    },
+    {
+      "name": "architecthor_test_04",
+      "type": "furnished apartment",
+      "builder": "ArchitecTHOR",
+      "scene_index": 8,
+      "source_scene": "ArchitecTHOR-Test-04",
+      "source_object_count": 124,
+      "target_count": 40,
+      "camera_start": [
+        -0.294,
+        4.886,
+        1.45,
+        270,
+        -12
+      ],
+      "batch": "additional_50"
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+      "source_scene": "ProcTHOR-Val-548",
+      "config_file": "c/ProcTHOR-Val-548.scene_instance.json",
+      "source_object_count": 109,
+      "source_category_count": 56,
+      "target_count": 40,
+      "camera_start": [
+        -3.837,
+        -11.445,
+        1.45,
+        90,
+        -12
+      ],
+      "camera_candidate_rank": 2
+    },
+    {
+      "name": "procthor_train_2700",
+      "type": "original ProcTHOR residential layout",
+      "batch": "procthor_30",
+      "builder": "ProcTHOR",
+      "scene_index": 6602,
+      "source_scene": "ProcTHOR-Train-2700",
+      "config_file": "4/ProcTHOR-Train-2700.scene_instance.json",
+      "source_object_count": 123,
+      "source_category_count": 60,
+      "target_count": 40,
+      "camera_start": [
+        -10.315,
+        -5.362,
+        1.45,
+        0,
+        -12
+      ],
+      "camera_candidate_rank": 4
+    }
+  ]
+}
diff --git a/benchmark/scenes/architecthor_test_01/entity_library.json b/benchmark/scenes/architecthor_test_01/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f9e3528ead7b9e523005327b8c9af72f643280
--- /dev/null
+++ b/benchmark/scenes/architecthor_test_01/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/Toaster_16_7",
+    "category": "Toaster",
+    "group": "Toaster"
+  },
+  {
+    "id": "objects/Salt_Shaker_2_13",
+    "category": "SaltShaker",
+    "group": "SaltShaker"
+  },
+  {
+    "id": "objects/Sink_8_14",
+    "category": "Sink",
+    "group": "Sink"
+  },
+  {
+    "id": "objects/Spray_Bottle_5_16",
+    "category": "SprayBottle",
+    "group": "SprayBottle"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-01-Doorway_fc960b3d_19",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/RoboTHOR_mug_ai2_1_v_27",
+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
+    "id": "objects/Dog_Statue_3_29",
+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
+    "id": "objects/Stool_2_2_30",
+    "category": "Stool",
+    "group": "Stool"
+  },
+  {
+    "id": "objects/Paper_Towel_1_31",
+    "category": "PaperTowelRoll",
+    "group": "PaperTowelRoll"
+  },
+  {
+    "id": "objects/Laptop_25_32",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Light_Switch_16_35",
+    "category": "LightSwitch",
+    "group": "LightSwitch"
+  },
+  {
+    "id": "objects/Television_12_37",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/coffee_machine_16_41",
+    "category": "CoffeeMachine",
+    "group": "CoffeeMachine"
+  },
+  {
+    "id": "objects/Pot_16_42",
+    "category": "Pot",
+    "group": "Pot"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_8_44",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Coffee_Table_227_2_1_45",
+    "category": "CoffeeTable",
+    "group": "CoffeeTable"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-01-CounterTop_bd4af904_53",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/Floor_Lamp_13_55",
+    "category": "FloorLamp",
+    "group": "FloorLamp"
+  },
+  {
+    "id": "objects/Kettle_1_56",
+    "category": "Kettle",
+    "group": "Kettle"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-01-CounterTop_203296d5_57",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-01-StoveKnob_26eb7b0a_58",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/Microwave_16_59",
+    "category": "Microwave",
+    "group": "Microwave"
+  },
+  {
+    "id": "objects/Keychain_2_61",
+    "category": "KeyChain",
+    "group": "KeyChain"
+  },
+  {
+    "id": "objects/Stool_2_2_63",
+    "category": "Stool",
+    "group": "Stool"
+  },
+  {
+    "id": "objects/Toilet_Paper_64",
+    "category": "ToiletPaper",
+    "group": "ToiletPaper"
+  },
+  {
+    "id": "objects/Houseplant_25_67",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Bathroom_Faucet_11_68",
+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-01-StoveKnob_25d11ccf_69",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/Side_Table_21_1_74",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/TV_Stand_201_1_79",
+    "category": "TVStand",
+    "group": "TVStand"
+  },
+  {
+    "id": "objects/Pepper_Shaker_2_86",
+    "category": "PepperShaker",
+    "group": "PepperShaker"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-01-Window_249b340e_87",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/RoboTHOR_sofa_solsta_88",
+    "category": "Sofa",
+    "group": "Sofa"
+  },
+  {
+    "id": "objects/Soap_Bar_1_90",
+    "category": "SoapBar",
+    "group": "SoapBar"
+  },
+  {
+    "id": "objects/Bath_Towel_Holder1_93",
+    "category": "TowelHolder",
+    "group": "TowelHolder"
+  },
+  {
+    "id": "objects/Remote_1_94",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-01-Mirror_e2a54c30_96",
+    "category": "Mirror",
+    "group": "Mirror"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-01-Doorway_eb7382b1_98",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_2V_99",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-01-Doorway_20213af8_100",
+    "category": "Doorway",
+    "group": "Doorway"
+  }
+]
diff --git a/benchmark/scenes/architecthor_test_01/ground_truth.json b/benchmark/scenes/architecthor_test_01/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..907f0d1d3132b7a3e8700309cfbdaf32b38e9f38
--- /dev/null
+++ b/benchmark/scenes/architecthor_test_01/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ArchitecTHOR/ArchitecTHOR-Test-01.scene_instance.json",
+  "scene_index": 7,
+  "scene_builder": "ArchitecTHOR",
+  "target_radius_m": 4.596343493129962,
+  "target_count": 40,
+  "loaded_object_count": 101,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ArchitecTHOR/ArchitecTHOR-Test-01.scene_instance.json",
+  "origin_world_m": [
+    -2.53,
+    -1.777,
+    1.45
+  ],
+  "initial_camera_yaw_pitch_deg": [
+    180,
+    -12
+  ],
+  "camera_to_world_rotation": [
+    [
+      -0.9781476811621339,
+      -0.0,
+      -0.20791172446286701
+    ],
+    [
+      0.0,
+      -1.0000000866123315,
+      0.0
+    ],
+    [
+      -0.20791172446286701,
+      0.0,
+      0.9781475945498024
+    ]
+  ],
+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
+    {
+      "id": "objects/Toaster_16_7",
+      "category": "Toaster",
+      "group": "Toaster",
+      "xyz_m": [
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+        -2.8651705679546904,
+        -0.34689719038463773
+      ],
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+      ],
+      "bbox_world_min_m": [
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+        0.8390072584152222
+      ],
+      "bbox_world_max_m": [
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+        1.3018620014190674,
+        1.0657967329025269
+      ]
+    },
+    {
+      "id": "objects/Salt_Shaker_2_13",
+      "category": "SaltShaker",
+      "group": "SaltShaker",
+      "xyz_m": [
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+        -0.08630954944116825
+      ],
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+      ]
+    },
+    {
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+      "category": "Sink",
+      "group": "Sink",
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+    },
+    {
+      "id": "objects/Spray_Bottle_5_16",
+      "category": "SprayBottle",
+      "group": "SprayBottle",
+      "xyz_m": [
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+      ]
+    },
+    {
+      "id": "objects/ArchitecTHOR-Test-01-Doorway_fc960b3d_19",
+      "category": "Doorway",
+      "group": "Doorway",
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+      ]
+    },
+    {
+      "id": "objects/RoboTHOR_mug_ai2_1_v_27",
+      "category": "Mug",
+      "group": "Mug",
+      "xyz_m": [
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+      ]
+    },
+    {
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+      "category": "Statue",
+      "group": "Statue",
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+      "category": "Stool",
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+    },
+    {
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+      "category": "PaperTowelRoll",
+      "group": "PaperTowelRoll",
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+    {
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+      "category": "Laptop",
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+      "category": "LightSwitch",
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+    },
+    {
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+      "category": "CoffeeMachine",
+      "group": "CoffeeMachine",
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+    },
+    {
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+    },
+    {
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+      "group": "CoffeeTable",
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+    },
+    {
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+      "category": "CounterTop",
+      "group": "CounterTop",
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diff --git a/benchmark/scenes/architecthor_test_02/entity_library.json b/benchmark/scenes/architecthor_test_02/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d3961898e903e3c6a47242ab358a17c2ad1ebac
--- /dev/null
+++ b/benchmark/scenes/architecthor_test_02/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/architecthor_test_02/ground_truth.json b/benchmark/scenes/architecthor_test_02/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..e10a6ba27b86ec1506e0580ced5928dcbdea761f
--- /dev/null
+++ b/benchmark/scenes/architecthor_test_02/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+}
diff --git a/benchmark/scenes/architecthor_test_03/entity_library.json b/benchmark/scenes/architecthor_test_03/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..e30fe0bf6ef9ca8a6bf10ebccecb3105430efa88
--- /dev/null
+++ b/benchmark/scenes/architecthor_test_03/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/Room_Decor_1_1_4",
+    "category": "RoomDecor",
+    "group": "RoomDecor"
+  },
+  {
+    "id": "objects/Pot_4_6",
+    "category": "Pot",
+    "group": "Pot"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-03-Window_5b88c44c_13",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_2V_14",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-03-Sink_5183ec2d_20",
+    "category": "Sink",
+    "group": "Sink"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-03-StoveKnob_6e8c94e4_21",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/CreditCard_2_24",
+    "category": "CreditCard",
+    "group": "CreditCard"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-03-CounterTop_afd2c029_27",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/RoboTHOR_salt_pepper_shaker_bnyd_salt_v_29",
+    "category": "SaltShaker",
+    "group": "SaltShaker"
+  },
+  {
+    "id": "objects/Wine_Bottle_1_33",
+    "category": "WineBottle",
+    "group": "WineBottle"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-03-StoveKnob_2decf864_34",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/Cloth_1_36",
+    "category": "Cloth",
+    "group": "Cloth"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-03-StoveKnob_476087cf_39",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/Mug_3_40",
+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
+    "id": "objects/Potato_4_43",
+    "category": "Potato",
+    "group": "Potato"
+  },
+  {
+    "id": "objects/bin_4_46",
+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_8_48",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Cellphone_6_51",
+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
+    "id": "objects/Microwave_4_53",
+    "category": "Microwave",
+    "group": "Microwave"
+  },
+  {
+    "id": "objects/Fridge_4_58",
+    "category": "Fridge",
+    "group": "Fridge"
+  },
+  {
+    "id": "objects/Plate_25_60",
+    "category": "Plate",
+    "group": "Plate"
+  },
+  {
+    "id": "objects/Sofa_213_1_62",
+    "category": "Sofa",
+    "group": "Sofa"
+  },
+  {
+    "id": "objects/Toaster_4_71",
+    "category": "Toaster",
+    "group": "Toaster"
+  },
+  {
+    "id": "objects/Egg_13_72",
+    "category": "Egg",
+    "group": "Egg"
+  },
+  {
+    "id": "objects/Lettuce_4_79",
+    "category": "Lettuce",
+    "group": "Lettuce"
+  },
+  {
+    "id": "objects/RoboTHOR_salt_pepper_shaker_bnyd_pepper_v_80",
+    "category": "PepperShaker",
+    "group": "PepperShaker"
+  },
+  {
+    "id": "objects/Tomato_4_83",
+    "category": "Tomato",
+    "group": "Tomato"
+  },
+  {
+    "id": "objects/Chair_230_1_84",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Bowl_5_87",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/RoboTHOR_dining_table_antas_89",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/Bread_4_93",
+    "category": "Bread",
+    "group": "Bread"
+  },
+  {
+    "id": "objects/Soap_Bottle_4_94",
+    "category": "SoapBottle",
+    "group": "SoapBottle"
+  },
+  {
+    "id": "objects/Plate_25_98",
+    "category": "Plate",
+    "group": "Plate"
+  },
+  {
+    "id": "objects/Chair_230_1_100",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Pan_4_102",
+    "category": "Pan",
+    "group": "Pan"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-03-StoveKnob_18a59083_103",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/Candle_6_104",
+    "category": "Candle",
+    "group": "Candle"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-03-CounterTop_c058d518_106",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/Apple_5_111",
+    "category": "Apple",
+    "group": "Apple"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-03-CounterTop_0a8aabcb_116",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  }
+]
diff --git a/benchmark/scenes/architecthor_test_03/ground_truth.json b/benchmark/scenes/architecthor_test_03/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e146edff20a60088704c166197ce83691cced46
--- /dev/null
+++ b/benchmark/scenes/architecthor_test_03/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ArchitecTHOR/ArchitecTHOR-Test-03.scene_instance.json",
+  "scene_index": 0,
+  "scene_builder": "ArchitecTHOR",
+  "target_radius_m": 3.030503735246558,
+  "target_count": 40,
+  "loaded_object_count": 117,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ArchitecTHOR/ArchitecTHOR-Test-03.scene_instance.json",
+  "origin_world_m": [
+    -3.465,
+    -1.798,
+    1.45
+  ],
+  "initial_camera_yaw_pitch_deg": [
+    90,
+    -12
+  ],
+  "camera_to_world_rotation": [
+    [
+      8.649922533798815e-08,
+      -0.9999999973327006,
+      8.811092813698629e-09
+    ],
+    [
+      0.9781475883942342,
+      8.649922533798815e-08,
+      0.20791173604187246
+    ],
+    [
+      -0.20791173604187246,
+      -8.811092813698629e-09,
+      0.9781475910615335
+    ]
+  ],
+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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+}
diff --git a/benchmark/scenes/architecthor_test_04/entity_library.json b/benchmark/scenes/architecthor_test_04/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fd9a895d49a8354e9d2b7ae7c9ddd93d701d6ec
--- /dev/null
+++ b/benchmark/scenes/architecthor_test_04/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/ArchitecTHOR-Test-04-StoveKnob_42b070fe_2",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/Newspaper_5_6",
+    "category": "Newspaper",
+    "group": "Newspaper"
+  },
+  {
+    "id": "objects/Tomato_8_8",
+    "category": "Tomato",
+    "group": "Tomato"
+  },
+  {
+    "id": "objects/Dish_Sponge_1_11",
+    "category": "DishSponge",
+    "group": "DishSponge"
+  },
+  {
+    "id": "objects/Side_Table_203_2_14",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Book_8_15",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_5_21",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Bowl_9_26",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/Plate_9_27",
+    "category": "Plate",
+    "group": "Plate"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_2V_29",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/GarbageBag_21_2_31",
+    "category": "GarbageBag",
+    "group": "GarbageBag"
+  },
+  {
+    "id": "objects/Fridge_8_33",
+    "category": "Fridge",
+    "group": "Fridge"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-04-StoveKnob_de094f86_37",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-04-Sink_653eef61_39",
+    "category": "Sink",
+    "group": "Sink"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-04-CounterTop_9f6e8350_41",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/Pan_8_44",
+    "category": "Pan",
+    "group": "Pan"
+  },
+  {
+    "id": "objects/Apple_9_46",
+    "category": "Apple",
+    "group": "Apple"
+  },
+  {
+    "id": "objects/Dog_Bed_2_1_47",
+    "category": "DogBed",
+    "group": "DogBed"
+  },
+  {
+    "id": "objects/Toaster_8_48",
+    "category": "Toaster",
+    "group": "Toaster"
+  },
+  {
+    "id": "objects/RoboTHOR_armchair_karlstad_49",
+    "category": "ArmChair",
+    "group": "ArmChair"
+  },
+  {
+    "id": "objects/Vase_Flat_1_50",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/RoboTHOR_office_chair_sevnning_51",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Pot_8_57",
+    "category": "Pot",
+    "group": "Pot"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-04-StoveKnob_20fa815d_60",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/Microwave_8_66",
+    "category": "Microwave",
+    "group": "Microwave"
+  },
+  {
+    "id": "objects/Lettuce_8_68",
+    "category": "Lettuce",
+    "group": "Lettuce"
+  },
+  {
+    "id": "objects/Paper_Towel_1_71",
+    "category": "PaperTowelRoll",
+    "group": "PaperTowelRoll"
+  },
+  {
+    "id": "objects/Potato_8_73",
+    "category": "Potato",
+    "group": "Potato"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-04-CounterTop_9cb63fff_78",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/Desk_Lamp_8_83",
+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
+    "id": "objects/TV_Stand_201_1_85",
+    "category": "TVStand",
+    "group": "TVStand"
+  },
+  {
+    "id": "objects/Wine_Bottle_1_88",
+    "category": "WineBottle",
+    "group": "WineBottle"
+  },
+  {
+    "id": "objects/Desk_301_1_92",
+    "category": "Desk",
+    "group": "Desk"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-04-StoveKnob_9b2ac4bb_93",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/Bread_8_95",
+    "category": "Bread",
+    "group": "Bread"
+  },
+  {
+    "id": "objects/Keychain_3_100",
+    "category": "KeyChain",
+    "group": "KeyChain"
+  },
+  {
+    "id": "objects/Chair_002_3_104",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-04-CounterTop_d01fe706_117",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/coffee_machine_8_119",
+    "category": "CoffeeMachine",
+    "group": "CoffeeMachine"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Test-04-Window_6ad7955a_123",
+    "category": "Window",
+    "group": "Window"
+  }
+]
diff --git a/benchmark/scenes/architecthor_test_04/ground_truth.json b/benchmark/scenes/architecthor_test_04/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b90ae6c09a0084076a09d08b20005d5f611e39d
--- /dev/null
+++ b/benchmark/scenes/architecthor_test_04/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ArchitecTHOR/ArchitecTHOR-Test-04.scene_instance.json",
+  "scene_index": 8,
+  "scene_builder": "ArchitecTHOR",
+  "target_radius_m": 3.69324277483282,
+  "target_count": 40,
+  "loaded_object_count": 124,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ArchitecTHOR/ArchitecTHOR-Test-04.scene_instance.json",
+  "origin_world_m": [
+    -0.294,
+    4.886,
+    1.45
+  ],
+  "initial_camera_yaw_pitch_deg": [
+    270,
+    -12
+  ],
+  "camera_to_world_rotation": [
+    [
+      -1.7154438314292975e-08,
+      1.0000000171544383,
+      0.0
+    ],
+    [
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+      -0.20791169054449554
+    ],
+    [
+      -0.20791169054449554,
+      0.0,
+      0.97814760117513
+    ]
+  ],
+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
+    {
+      "id": "objects/ArchitecTHOR-Test-04-StoveKnob_42b070fe_2",
+      "category": "StoveKnob",
+      "group": "StoveKnob",
+      "xyz_m": [
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+        5.134751319885254,
+        1.1235047578811646
+      ]
+    },
+    {
+      "id": "objects/Newspaper_5_6",
+      "category": "Newspaper",
+      "group": "Newspaper",
+      "xyz_m": [
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+    },
+    {
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+      "category": "Tomato",
+      "group": "Tomato",
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+    },
+    {
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+      "group": "DishSponge",
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+    },
+    {
+      "id": "objects/Side_Table_203_2_14",
+      "category": "SideTable",
+      "group": "SideTable",
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+      ]
+    },
+    {
+      "id": "objects/Book_8_15",
+      "category": "Book",
+      "group": "Book",
+      "xyz_m": [
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diff --git a/benchmark/scenes/architecthor_val_01/entity_library.json b/benchmark/scenes/architecthor_val_01/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..26647c18842bac0e1b37081f0c8103b1c6e84dad
--- /dev/null
+++ b/benchmark/scenes/architecthor_val_01/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "Painting",
+    "group": "Painting"
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+  {
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+    "category": "ShelvingUnit",
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+  {
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+    "category": "Fridge",
+    "group": "Fridge"
+  },
+  {
+    "id": "objects/Vase_Medium_2_14",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-01-CounterTop_9a6e1783_20",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/Shower_Head_2_23",
+    "category": "ShowerHead",
+    "group": "ShowerHead"
+  },
+  {
+    "id": "objects/Shower_Curtain_2_28",
+    "category": "ShowerCurtain",
+    "group": "ShowerCurtain"
+  },
+  {
+    "id": "objects/Basketball_1_34",
+    "category": "BasketBall",
+    "group": "BasketBall"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-01-Doorway_95eb1e5d_36",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-01-CounterTop_e73b8ebb_42",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
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+  {
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+    "category": "TVStand",
+    "group": "TVStand"
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+  {
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+    "category": "Footstool",
+    "group": "Footstool"
+  },
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+    "group": "Cup"
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+    "group": "Tomato"
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+    "category": "Toilet",
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+  {
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+    "group": "Faucet"
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+  {
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+  {
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+    "group": "Mirror"
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+  {
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+    "category": "ToiletPaperHanger",
+    "group": "ToiletPaperHanger"
+  },
+  {
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+  {
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+    "category": "Window",
+    "group": "Window"
+  },
+  {
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+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-01-CounterTop_e4fc8eb5_137",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/Toaster_30_138",
+    "category": "Toaster",
+    "group": "Toaster"
+  },
+  {
+    "id": "objects/Light_Switch_12_144",
+    "category": "LightSwitch",
+    "group": "LightSwitch"
+  },
+  {
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+    "category": "Bowl",
+    "group": "Bowl"
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diff --git a/benchmark/scenes/architecthor_val_01/ground_truth.json b/benchmark/scenes/architecthor_val_01/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9f5245818d9877d027cc500baa75a9a806a329b
--- /dev/null
+++ b/benchmark/scenes/architecthor_val_01/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "scene_builder": "ArchitecTHOR",
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+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ArchitecTHOR/ArchitecTHOR-Val-01.scene_instance.json",
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+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/architecthor_val_02/entity_library.json b/benchmark/scenes/architecthor_val_02/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..44ad4082f724cd884130e4b6b1c4cffddbe46a7d
--- /dev/null
+++ b/benchmark/scenes/architecthor_val_02/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "id": "objects/Dish_Sponge_1_2",
+    "category": "DishSponge",
+    "group": "DishSponge"
+  },
+  {
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+    "category": "CoffeeMachine",
+    "group": "CoffeeMachine"
+  },
+  {
+    "id": "objects/Toilet_2_5",
+    "category": "Toilet",
+    "group": "Toilet"
+  },
+  {
+    "id": "objects/Bathroom_Faucet_26_10",
+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
+    "id": "objects/Sink_28_14",
+    "category": "Sink",
+    "group": "Sink"
+  },
+  {
+    "id": "objects/Fridge_30_15",
+    "category": "Fridge",
+    "group": "Fridge"
+  },
+  {
+    "id": "objects/Toilet_Paper_17",
+    "category": "ToiletPaper",
+    "group": "ToiletPaper"
+  },
+  {
+    "id": "objects/Book_13_21",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-02-StoveKnob_4b550b14_22",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-02-Sink_745bf485_24",
+    "category": "Sink",
+    "group": "Sink"
+  },
+  {
+    "id": "objects/Soap_Bar_1_26",
+    "category": "SoapBar",
+    "group": "SoapBar"
+  },
+  {
+    "id": "objects/Toilet_Paper_Hanger_28_28",
+    "category": "ToiletPaperHanger",
+    "group": "ToiletPaperHanger"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-02-StoveKnob_922d505e_32",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/Apple_16_40",
+    "category": "Apple",
+    "group": "Apple"
+  },
+  {
+    "id": "objects/Microwave_28_41",
+    "category": "Microwave",
+    "group": "Microwave"
+  },
+  {
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+    "category": "Tomato",
+    "group": "Tomato"
+  },
+  {
+    "id": "objects/Pot_28_44",
+    "category": "Pot",
+    "group": "Pot"
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+  {
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+    "category": "Pan",
+    "group": "Pan"
+  },
+  {
+    "id": "objects/Side_Table_207_1_48",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Potato_17_49",
+    "category": "Potato",
+    "group": "Potato"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-02-CounterTop_aae80fd4_51",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-02-StoveKnob_a7370fa8_58",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/Bread_17_62",
+    "category": "Bread",
+    "group": "Bread"
+  },
+  {
+    "id": "objects/Shower_Curtain_1_65",
+    "category": "ShowerCurtain",
+    "group": "ShowerCurtain"
+  },
+  {
+    "id": "objects/bin_16_66",
+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-02-Doorway_c22c6c71_69",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Soap_Bottle_17_71",
+    "category": "SoapBottle",
+    "group": "SoapBottle"
+  },
+  {
+    "id": "objects/Light_Switch_17_74",
+    "category": "LightSwitch",
+    "group": "LightSwitch"
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+  {
+    "id": "objects/ArchitecTHOR-Val-02-StoveKnob_2a6f8b63_75",
+    "category": "StoveKnob",
+    "group": "StoveKnob"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-02-Mirror_35584c1b_76",
+    "category": "Mirror",
+    "group": "Mirror"
+  },
+  {
+    "id": "objects/Plate_28_80",
+    "category": "Plate",
+    "group": "Plate"
+  },
+  {
+    "id": "objects/BaseballBat_1_82",
+    "category": "BaseballBat",
+    "group": "BaseballBat"
+  },
+  {
+    "id": "objects/Bathroom_Faucet_26_85",
+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-02-Doorway_17117815_87",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-02-CounterTop_ec700944_95",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/Coffee_Table_207_1_103",
+    "category": "CoffeeTable",
+    "group": "CoffeeTable"
+  },
+  {
+    "id": "objects/Television_9_105",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Toaster_28_107",
+    "category": "Toaster",
+    "group": "Toaster"
+  },
+  {
+    "id": "objects/ArchitecTHOR-Val-02-CounterTop_57bd04b5_109",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/Lettuce_28_114",
+    "category": "Lettuce",
+    "group": "Lettuce"
+  }
+]
diff --git a/benchmark/scenes/architecthor_val_02/ground_truth.json b/benchmark/scenes/architecthor_val_02/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..f95662100c1de67a3ad9f9fd783c845240a11b27
--- /dev/null
+++ b/benchmark/scenes/architecthor_val_02/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ArchitecTHOR/ArchitecTHOR-Val-02.scene_instance.json",
+  "scene_index": 1,
+  "scene_builder": "ArchitecTHOR",
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+  "target_count": 40,
+  "loaded_object_count": 117,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ArchitecTHOR/ArchitecTHOR-Val-02.scene_instance.json",
+  "origin_world_m": [
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+  "initial_camera_yaw_pitch_deg": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
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diff --git a/benchmark/scenes/architecthor_val_03/entity_library.json b/benchmark/scenes/architecthor_val_03/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b2fa905f89c1c41e069f927f44c164a18be46e9
--- /dev/null
+++ b/benchmark/scenes/architecthor_val_03/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/architecthor_val_03/ground_truth.json b/benchmark/scenes/architecthor_val_03/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f72cdb48174a546bdf0bece4a9d67da9096d0a6
--- /dev/null
+++ b/benchmark/scenes/architecthor_val_03/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/architecthor_val_04/entity_library.json b/benchmark/scenes/architecthor_val_04/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bf1bb536f26eee7197127361e839a9a7407733f
--- /dev/null
+++ b/benchmark/scenes/architecthor_val_04/entity_library.json
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diff --git a/benchmark/scenes/architecthor_val_04/ground_truth.json b/benchmark/scenes/architecthor_val_04/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..677d68b9eede8b64ab40b73c8124e39df61ae33e
--- /dev/null
+++ b/benchmark/scenes/architecthor_val_04/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/ithor_bathroom_402/entity_library.json b/benchmark/scenes/ithor_bathroom_402/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..81de0332c61efa63c384f2432db16714302ca224
--- /dev/null
+++ b/benchmark/scenes/ithor_bathroom_402/entity_library.json
@@ -0,0 +1,177 @@
+[
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+  {
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+    "category": "Cabinet",
+    "group": "Cabinet"
+  },
+  {
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+    "group": "TowelHolder"
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+    "category": "ShowerDoor",
+    "group": "ShowerDoor"
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+  {
+    "id": "objects/FloorPlan402_physics-Cabinet_6809ef74_6",
+    "category": "Cabinet",
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+  {
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+    "group": "Candle"
+  },
+  {
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+    "category": "TissueBox",
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+    "category": "LightSwitch",
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+  {
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+    "category": "Cloth",
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+  },
+  {
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+    "category": "ScrubBrush",
+    "group": "ScrubBrush"
+  },
+  {
+    "id": "objects/FloorPlan402_physics-Rug_33",
+    "category": "FloorPlan402_physics-Rug",
+    "group": "FloorPlan402_physics-Rug"
+  },
+  {
+    "id": "objects/FloorPlan402_physics-ShowerGlass_73a7c1c8_34",
+    "category": "ShowerGlass",
+    "group": "ShowerGlass"
+  },
+  {
+    "id": "objects/FloorPlan402_physics-Window_d704ac0b_35",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/Plunger_2_36",
+    "category": "Plunger",
+    "group": "Plunger"
+  }
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diff --git a/benchmark/scenes/ithor_bathroom_402/ground_truth.json b/benchmark/scenes/ithor_bathroom_402/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8d86eeedaf7e5cf2047ab52539e5ee28717cc32
--- /dev/null
+++ b/benchmark/scenes/ithor_bathroom_402/ground_truth.json
@@ -0,0 +1,915 @@
+{
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+  "scene_index": 99,
+  "scene_builder": "iTHOR",
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+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/iTHOR/FloorPlan402_physics.scene_instance.json",
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+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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+    {
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+      "group": "Plunger",
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+}
diff --git a/benchmark/scenes/ithor_bathroom_403/entity_library.json b/benchmark/scenes/ithor_bathroom_403/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..b945e7fa6ff3bc2d13372289c55ef2ee84dc28b8
--- /dev/null
+++ b/benchmark/scenes/ithor_bathroom_403/entity_library.json
@@ -0,0 +1,177 @@
+[
+  {
+    "id": "objects/FloorPlan403_physics-ShowerDoor_ec596f3a_0",
+    "category": "ShowerDoor",
+    "group": "ShowerDoor"
+  },
+  {
+    "id": "objects/Cloth_3_2",
+    "category": "Cloth",
+    "group": "Cloth"
+  },
+  {
+    "id": "objects/Toilet_Paper_Used_Up_3",
+    "category": "ToiletPaper",
+    "group": "ToiletPaper"
+  },
+  {
+    "id": "objects/FloorPlan403_physics-Bathtub_d83f72d9_4",
+    "category": "Bathtub",
+    "group": "Bathtub"
+  },
+  {
+    "id": "objects/Soap_Bar_1_5",
+    "category": "SoapBar",
+    "group": "SoapBar"
+  },
+  {
+    "id": "objects/FloorPlan403_physics-Cabinet_8c15ae4d_6",
+    "category": "Cabinet",
+    "group": "Cabinet"
+  },
+  {
+    "id": "objects/FloorPlan403_physics-Window_cfcdad6b_7",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/FloorPlan403_physics-FP403:Cylinder.246_8",
+    "category": "FloorPlan403_physics-FP403:Cylinder.246",
+    "group": "FloorPlan403_physics-FP403:Cylinder.246"
+  },
+  {
+    "id": "objects/Bath_Towel_Holder1_9",
+    "category": "TowelHolder",
+    "group": "TowelHolder"
+  },
+  {
+    "id": "objects/Bath_Towel_Holder1_10",
+    "category": "TowelHolder",
+    "group": "TowelHolder"
+  },
+  {
+    "id": "objects/Shower_Head_2_11",
+    "category": "ShowerHead",
+    "group": "ShowerHead"
+  },
+  {
+    "id": "objects/Scrub_Brush_1_12",
+    "category": "ScrubBrush",
+    "group": "ScrubBrush"
+  },
+  {
+    "id": "objects/Hand_Towel_Holder1_13",
+    "category": "HandTowelHolder",
+    "group": "HandTowelHolder"
+  },
+  {
+    "id": "objects/Candle_3_14",
+    "category": "Candle",
+    "group": "Candle"
+  },
+  {
+    "id": "objects/Bathroom_Faucet_3_15",
+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
+    "id": "objects/Bathtub_Faucet_2_16",
+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
+    "id": "objects/FloorPlan403_physics-Cabinet_0684c96f_17",
+    "category": "Cabinet",
+    "group": "Cabinet"
+  },
+  {
+    "id": "objects/Sink_3_18",
+    "category": "Sink",
+    "group": "Sink"
+  },
+  {
+    "id": "objects/Soap_Bottle_3_19",
+    "category": "SoapBottle",
+    "group": "SoapBottle"
+  },
+  {
+    "id": "objects/FloorPlan403_physics-SinkCabinet_21",
+    "category": "FloorPlan403_physics-SinkCabinet",
+    "group": "FloorPlan403_physics-SinkCabinet"
+  },
+  {
+    "id": "objects/FloorPlan403_physics-Cabinet_7a464962_22",
+    "category": "Cabinet",
+    "group": "Cabinet"
+  },
+  {
+    "id": "objects/Toilet_Paper_Hanger_3_23",
+    "category": "ToiletPaperHanger",
+    "group": "ToiletPaperHanger"
+  },
+  {
+    "id": "objects/Paper_Towel_1_24",
+    "category": "PaperTowelRoll",
+    "group": "PaperTowelRoll"
+  },
+  {
+    "id": "objects/Sink_3_25",
+    "category": "Sink",
+    "group": "Sink"
+  },
+  {
+    "id": "objects/Dish_Sponge_1_26",
+    "category": "DishSponge",
+    "group": "DishSponge"
+  },
+  {
+    "id": "objects/Spray_Bottle_3_27",
+    "category": "SprayBottle",
+    "group": "SprayBottle"
+  },
+  {
+    "id": "objects/bin_3_28",
+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/Toilet_1_29",
+    "category": "Toilet",
+    "group": "Toilet"
+  },
+  {
+    "id": "objects/Light_Switch_3_30",
+    "category": "LightSwitch",
+    "group": "LightSwitch"
+  },
+  {
+    "id": "objects/FloorPlan403_physics-Window_a056b75b_31",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/Plunger_1_32",
+    "category": "Plunger",
+    "group": "Plunger"
+  },
+  {
+    "id": "objects/Bathroom_Faucet_3_33",
+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
+    "id": "objects/FloorPlan403_physics-Cabinet_ac4b3c3d_34",
+    "category": "Cabinet",
+    "group": "Cabinet"
+  },
+  {
+    "id": "objects/FloorPlan403_physics-ShowerGlass_45592e66_35",
+    "category": "ShowerGlass",
+    "group": "ShowerGlass"
+  },
+  {
+    "id": "objects/FloorPlan403_physics-Mirror_79324f7c_36",
+    "category": "Mirror",
+    "group": "Mirror"
+  }
+]
diff --git a/benchmark/scenes/ithor_bathroom_403/ground_truth.json b/benchmark/scenes/ithor_bathroom_403/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9331f11ef20f2963ae0a120180d1222fea0988b
--- /dev/null
+++ b/benchmark/scenes/ithor_bathroom_403/ground_truth.json
@@ -0,0 +1,915 @@
+{
+  "scene": "iTHOR/FloorPlan403_physics.scene_instance.json",
+  "scene_index": 15,
+  "scene_builder": "iTHOR",
+  "target_radius_m": 3.9039157052196165,
+  "target_count": 35,
+  "loaded_object_count": 37,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/iTHOR/FloorPlan403_physics.scene_instance.json",
+  "origin_world_m": [
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+    -3.144,
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+  "initial_camera_yaw_pitch_deg": [
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+  "camera_to_world_rotation": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
+    {
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diff --git a/benchmark/scenes/ithor_bathroom_407/entity_library.json b/benchmark/scenes/ithor_bathroom_407/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..eacf29aa02759f8c32d04c373d8784682db5d7b7
--- /dev/null
+++ b/benchmark/scenes/ithor_bathroom_407/entity_library.json
@@ -0,0 +1,177 @@
+[
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+    "category": "ToiletPaper",
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+  {
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+    "category": "Window",
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+  },
+  {
+    "id": "objects/Bathroom_Faucet_7_33",
+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
+    "id": "objects/FloorPlan407_physics-Sink_ca004be8_34",
+    "category": "Sink",
+    "group": "Sink"
+  },
+  {
+    "id": "objects/FloorPlan407_physics-ShowerDoor_fe3e45db_35",
+    "category": "ShowerDoor",
+    "group": "ShowerDoor"
+  },
+  {
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+    "category": "Cabinet",
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diff --git a/benchmark/scenes/ithor_bathroom_407/ground_truth.json b/benchmark/scenes/ithor_bathroom_407/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bb481ca86a4f1bfcf256782005b13389c38b3b8
--- /dev/null
+++ b/benchmark/scenes/ithor_bathroom_407/ground_truth.json
@@ -0,0 +1,915 @@
+{
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+  "scene_index": 16,
+  "scene_builder": "iTHOR",
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+  "target_count": 35,
+  "loaded_object_count": 37,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/iTHOR/FloorPlan407_physics.scene_instance.json",
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+  "initial_camera_yaw_pitch_deg": [
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+}
diff --git a/benchmark/scenes/ithor_bathroom_413/entity_library.json b/benchmark/scenes/ithor_bathroom_413/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ecbed95e28a2b133a27eaa68731beb5a9c1dd7a
--- /dev/null
+++ b/benchmark/scenes/ithor_bathroom_413/entity_library.json
@@ -0,0 +1,177 @@
+[
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+    "id": "objects/Bath_Towel_Holder1_0",
+    "category": "TowelHolder",
+    "group": "TowelHolder"
+  },
+  {
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+    "category": "ToiletPaperHanger",
+    "group": "ToiletPaperHanger"
+  },
+  {
+    "id": "objects/Bathroom_Faucet_13_2",
+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
+    "id": "objects/FloorPlan413_physics-Mirror_dd169b55_4",
+    "category": "Mirror",
+    "group": "Mirror"
+  },
+  {
+    "id": "objects/FloorPlan413_physics-Window_7fda210b_5",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/Soap_Bottle_13_6",
+    "category": "SoapBottle",
+    "group": "SoapBottle"
+  },
+  {
+    "id": "objects/Soap_Bar_1_8",
+    "category": "SoapBar",
+    "group": "SoapBar"
+  },
+  {
+    "id": "objects/Toilet_1_9",
+    "category": "Toilet",
+    "group": "Toilet"
+  },
+  {
+    "id": "objects/Scrub_Brush_1_10",
+    "category": "ScrubBrush",
+    "group": "ScrubBrush"
+  },
+  {
+    "id": "objects/FloorPlan413_physics-Cabinet_e741832d_11",
+    "category": "Cabinet",
+    "group": "Cabinet"
+  },
+  {
+    "id": "objects/FloorPlan413_physics-AirConditioner_12",
+    "category": "FloorPlan413_physics-AirConditioner",
+    "group": "FloorPlan413_physics-AirConditioner"
+  },
+  {
+    "id": "objects/Sink_13_13",
+    "category": "Sink",
+    "group": "Sink"
+  },
+  {
+    "id": "objects/Toilet_Paper_14",
+    "category": "ToiletPaper",
+    "group": "ToiletPaper"
+  },
+  {
+    "id": "objects/Toilet_Paper_Used_Up_15",
+    "category": "ToiletPaper",
+    "group": "ToiletPaper"
+  },
+  {
+    "id": "objects/Spray_Bottle_6_16",
+    "category": "SprayBottle",
+    "group": "SprayBottle"
+  },
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+    "category": "FloorPlan413_physics-FP413:ShowerDrain_",
+    "group": "FloorPlan413_physics-FP413:ShowerDrain_"
+  },
+  {
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+    "category": "Bathtub",
+    "group": "Bathtub"
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+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
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+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
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+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/Hand_Towel_Holder1_24",
+    "category": "HandTowelHolder",
+    "group": "HandTowelHolder"
+  },
+  {
+    "id": "objects/Shower_Head_1_25",
+    "category": "ShowerHead",
+    "group": "ShowerHead"
+  },
+  {
+    "id": "objects/bin_13_26",
+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
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+    "category": "Plunger",
+    "group": "Plunger"
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+    "category": "FloorPlan413_physics-FP413:LightFixture1",
+    "group": "FloorPlan413_physics-FP413:LightFixture1"
+  },
+  {
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+    "category": "Sink",
+    "group": "Sink"
+  },
+  {
+    "id": "objects/FloorPlan413_physics-Cabinet_2627297f_30",
+    "category": "Cabinet",
+    "group": "Cabinet"
+  },
+  {
+    "id": "objects/Candle_1_31",
+    "category": "Candle",
+    "group": "Candle"
+  },
+  {
+    "id": "objects/Dresser_413_1_32",
+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
+    "id": "objects/FloorPlan413_physics-FP413:DoorFrame.007_33",
+    "category": "FloorPlan413_physics-FP413:DoorFrame.007",
+    "group": "FloorPlan413_physics-FP413:DoorFrame.007"
+  },
+  {
+    "id": "objects/FloorPlan413_physics-ShowerDoor_3f95a7cf_34",
+    "category": "ShowerDoor",
+    "group": "ShowerDoor"
+  },
+  {
+    "id": "objects/FloorPlan413_physics-Cabinet_b50daf4b_35",
+    "category": "Cabinet",
+    "group": "Cabinet"
+  },
+  {
+    "id": "objects/Light_Switch_14_36",
+    "category": "LightSwitch",
+    "group": "LightSwitch"
+  },
+  {
+    "id": "objects/Cloth_1_37",
+    "category": "Cloth",
+    "group": "Cloth"
+  },
+  {
+    "id": "objects/FloorPlan413_physics-Cabinet_36c96efd_38",
+    "category": "Cabinet",
+    "group": "Cabinet"
+  }
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diff --git a/benchmark/scenes/ithor_bathroom_413/ground_truth.json b/benchmark/scenes/ithor_bathroom_413/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ef0c1439c78769ec97239b29d73087ee848fe8d
--- /dev/null
+++ b/benchmark/scenes/ithor_bathroom_413/ground_truth.json
@@ -0,0 +1,915 @@
+{
+  "scene": "iTHOR/FloorPlan413_physics.scene_instance.json",
+  "scene_index": 100,
+  "scene_builder": "iTHOR",
+  "target_radius_m": 4.44366775179827,
+  "target_count": 35,
+  "loaded_object_count": 39,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/iTHOR/FloorPlan413_physics.scene_instance.json",
+  "origin_world_m": [
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+  "initial_camera_yaw_pitch_deg": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
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diff --git a/benchmark/scenes/ithor_bathroom_423/entity_library.json b/benchmark/scenes/ithor_bathroom_423/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..22bf11ac285b51594b252f359e912882e1585bf9
--- /dev/null
+++ b/benchmark/scenes/ithor_bathroom_423/entity_library.json
@@ -0,0 +1,177 @@
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diff --git a/benchmark/scenes/ithor_bathroom_423/ground_truth.json b/benchmark/scenes/ithor_bathroom_423/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..806fe9269433da3125c9f3dcc2860442e129ca43
--- /dev/null
+++ b/benchmark/scenes/ithor_bathroom_423/ground_truth.json
@@ -0,0 +1,915 @@
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diff --git a/benchmark/scenes/ithor_bathroom_430/entity_library.json b/benchmark/scenes/ithor_bathroom_430/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf753f14f5367995eb8ca02e1e6325752c85a645
--- /dev/null
+++ b/benchmark/scenes/ithor_bathroom_430/entity_library.json
@@ -0,0 +1,177 @@
+[
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+  {
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+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/Bath_Towel_Holder1_33",
+    "category": "TowelHolder",
+    "group": "TowelHolder"
+  },
+  {
+    "id": "objects/Footstool_2_1_34",
+    "category": "Footstool",
+    "group": "Footstool"
+  },
+  {
+    "id": "objects/Bathroom_Faucet_30_35",
+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
+    "id": "objects/Side_Table_401_1_37",
+    "category": "SideTable",
+    "group": "SideTable"
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diff --git a/benchmark/scenes/ithor_bathroom_430/ground_truth.json b/benchmark/scenes/ithor_bathroom_430/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c9b2189a097e73f22587f15cbbb8b1b6a85a6cd
--- /dev/null
+++ b/benchmark/scenes/ithor_bathroom_430/ground_truth.json
@@ -0,0 +1,915 @@
+{
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+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/ithor_bedroom_303/entity_library.json b/benchmark/scenes/ithor_bedroom_303/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..17a0af5061c9c36720979090b86cd3a4fbee0d1e
--- /dev/null
+++ b/benchmark/scenes/ithor_bedroom_303/entity_library.json
@@ -0,0 +1,177 @@
+[
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+    "category": "Book",
+    "group": "Book"
+  },
+  {
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+    "category": "TennisRacket",
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+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
+    "id": "objects/FloorPlan303_physics-Window_8f20f776_3",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
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+  {
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+    "category": "Box",
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+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
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+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
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+    "category": "AlarmClock",
+    "group": "AlarmClock"
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+  {
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+    "category": "SideTable",
+    "group": "SideTable"
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+  {
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+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
+    "id": "objects/FloorPlan303_physics-Mirror_d69874fb_13",
+    "category": "Mirror",
+    "group": "Mirror"
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+    "category": "FloorPlan303_physics-BookStack",
+    "group": "FloorPlan303_physics-BookStack"
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+    "group": "Dumbbell"
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+    "category": "Mug",
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+    "category": "FloorPlan303_physics-Shelf",
+    "group": "FloorPlan303_physics-Shelf"
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+    "category": "FloorPlan303_physics-Deactivated",
+    "group": "FloorPlan303_physics-Deactivated"
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+  {
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+    "category": "Desk",
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+  {
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+    "category": "FloorPlan303_physics-Shelf",
+    "group": "FloorPlan303_physics-Shelf"
+  },
+  {
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+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
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+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
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+    "category": "LightSwitch",
+    "group": "LightSwitch"
+  }
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diff --git a/benchmark/scenes/ithor_bedroom_303/ground_truth.json b/benchmark/scenes/ithor_bedroom_303/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb02d4b566b841aff88fd4562f2746ebc5f35f8e
--- /dev/null
+++ b/benchmark/scenes/ithor_bedroom_303/ground_truth.json
@@ -0,0 +1,915 @@
+{
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diff --git a/benchmark/scenes/ithor_bedroom_307/entity_library.json b/benchmark/scenes/ithor_bedroom_307/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..94c53977ea5ee73b519cfb484cf2a21a619f3218
--- /dev/null
+++ b/benchmark/scenes/ithor_bedroom_307/entity_library.json
@@ -0,0 +1,177 @@
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diff --git a/benchmark/scenes/ithor_bedroom_307/ground_truth.json b/benchmark/scenes/ithor_bedroom_307/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..37296c4044787baff1c2e58abefa411fb3cdf6dd
--- /dev/null
+++ b/benchmark/scenes/ithor_bedroom_307/ground_truth.json
@@ -0,0 +1,915 @@
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diff --git a/benchmark/scenes/ithor_bedroom_309/entity_library.json b/benchmark/scenes/ithor_bedroom_309/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cb43b5635042581eedbf56d30575b0f0ba7ff8a
--- /dev/null
+++ b/benchmark/scenes/ithor_bedroom_309/entity_library.json
@@ -0,0 +1,177 @@
+[
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diff --git a/benchmark/scenes/ithor_bedroom_309/ground_truth.json b/benchmark/scenes/ithor_bedroom_309/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..46c4f3c8c0286cf30b4ae3cdf548b04ab24cedaa
--- /dev/null
+++ b/benchmark/scenes/ithor_bedroom_309/ground_truth.json
@@ -0,0 +1,915 @@
+{
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diff --git a/benchmark/scenes/ithor_bedroom_311/entity_library.json b/benchmark/scenes/ithor_bedroom_311/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfd3e341be0de5bf80783041cbaf117848f4481f
--- /dev/null
+++ b/benchmark/scenes/ithor_bedroom_311/entity_library.json
@@ -0,0 +1,177 @@
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diff --git a/benchmark/scenes/ithor_bedroom_311/ground_truth.json b/benchmark/scenes/ithor_bedroom_311/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..987a14d5dc26122fc91024a1dd7ef039f9e47ee2
--- /dev/null
+++ b/benchmark/scenes/ithor_bedroom_311/ground_truth.json
@@ -0,0 +1,915 @@
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diff --git a/benchmark/scenes/ithor_bedroom_326/entity_library.json b/benchmark/scenes/ithor_bedroom_326/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a38479f4f33057ff12880dbf4397ea9452feeac
--- /dev/null
+++ b/benchmark/scenes/ithor_bedroom_326/entity_library.json
@@ -0,0 +1,177 @@
+[
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+    "category": "Watch",
+    "group": "Watch"
+  },
+  {
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+    "category": "Bowl",
+    "group": "Bowl"
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+  {
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+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Teddy_Bear_2_4",
+    "category": "TeddyBear",
+    "group": "TeddyBear"
+  },
+  {
+    "id": "objects/pillow_26_5",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
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+    "category": "Blinds",
+    "group": "Blinds"
+  },
+  {
+    "id": "objects/Pen_4_7",
+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
+    "id": "objects/Alarm_Clock_26_8",
+    "category": "AlarmClock",
+    "group": "AlarmClock"
+  },
+  {
+    "id": "objects/Mug_3_9",
+    "category": "Mug",
+    "group": "Mug"
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+  {
+    "id": "objects/Laptop_26_10",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Bed_26_1_11",
+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
+    "id": "objects/Chair_313_1_12",
+    "category": "Chair",
+    "group": "Chair"
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+  {
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+    "category": "LightSwitch",
+    "group": "LightSwitch"
+  },
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+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
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+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
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+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
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+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
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+    "category": "Mirror",
+    "group": "Mirror"
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+  {
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+    "category": "TennisRacket",
+    "group": "TennisRacket"
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+  {
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+    "group": "Cloth"
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+    "category": "GarbageCan",
+    "group": "GarbageCan"
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+    "category": "CreditCard",
+    "group": "CreditCard"
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+  {
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+    "group": "Chair"
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+    "category": "Book",
+    "group": "Book"
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+  {
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+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
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+    "category": "KeyChain",
+    "group": "KeyChain"
+  },
+  {
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+    "category": "BaseballBat",
+    "group": "BaseballBat"
+  },
+  {
+    "id": "objects/FloorPlan326_physics-Window_8ffe3b1e_34",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/Basketball_1_35",
+    "category": "BasketBall",
+    "group": "BasketBall"
+  },
+  {
+    "id": "objects/Desktop_316_1_36",
+    "category": "Desktop",
+    "group": "Desktop"
+  },
+  {
+    "id": "objects/Desk_326_1_37",
+    "category": "Desk",
+    "group": "Desk"
+  },
+  {
+    "id": "objects/Cloth_8_38",
+    "category": "Cloth",
+    "group": "Cloth"
+  },
+  {
+    "id": "objects/Cloth_10_39",
+    "category": "Cloth",
+    "group": "Cloth"
+  },
+  {
+    "id": "objects/FloorPlan326_physics-Window_ea9d7787_40",
+    "category": "Window",
+    "group": "Window"
+  }
+]
diff --git a/benchmark/scenes/ithor_bedroom_326/ground_truth.json b/benchmark/scenes/ithor_bedroom_326/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..62a5e904da732ea8b852a21a8b52422cd6b65e5c
--- /dev/null
+++ b/benchmark/scenes/ithor_bedroom_326/ground_truth.json
@@ -0,0 +1,915 @@
+{
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+  "scene_index": 110,
+  "scene_builder": "iTHOR",
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+  "loaded_object_count": 42,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/iTHOR/FloorPlan326_physics.scene_instance.json",
+  "origin_world_m": [
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+  "initial_camera_yaw_pitch_deg": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/ithor_bedroom_330/entity_library.json b/benchmark/scenes/ithor_bedroom_330/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6bcfc61c9c496333f0eac28f9e295a23df9076c
--- /dev/null
+++ b/benchmark/scenes/ithor_bedroom_330/entity_library.json
@@ -0,0 +1,177 @@
+[
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+    "category": "DeskLamp",
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+    "category": "KeyChain",
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+    "category": "Pillow",
+    "group": "Pillow"
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+    "category": "ShelvingUnit",
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+    "category": "Bed",
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+    "group": "FloorPlan330_physics-FP330:Carpet"
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+  {
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+    "category": "FloorPlan330_physics-FP330:LightFixture4_",
+    "group": "FloorPlan330_physics-FP330:LightFixture4_"
+  },
+  {
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+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/FloorPlan330_physics-Painting_76398c51_33",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
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+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/FloorPlan330_physics-Painting_6ca93275_35",
+    "category": "Painting",
+    "group": "Painting"
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diff --git a/benchmark/scenes/ithor_bedroom_330/ground_truth.json b/benchmark/scenes/ithor_bedroom_330/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ae9cacc2751d6ad3b91676d3e2b3c799ebf2418
--- /dev/null
+++ b/benchmark/scenes/ithor_bedroom_330/ground_truth.json
@@ -0,0 +1,915 @@
+{
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diff --git a/benchmark/scenes/ithor_kitchen_13/entity_library.json b/benchmark/scenes/ithor_kitchen_13/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..85338a0607b8564d0a647818d45578214139f0bd
--- /dev/null
+++ b/benchmark/scenes/ithor_kitchen_13/entity_library.json
@@ -0,0 +1,202 @@
+[
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diff --git a/benchmark/scenes/ithor_kitchen_13/ground_truth.json b/benchmark/scenes/ithor_kitchen_13/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..225e59cd99af7a5527504ae67dd97a5b1acecd23
--- /dev/null
+++ b/benchmark/scenes/ithor_kitchen_13/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/ithor_kitchen_16/entity_library.json b/benchmark/scenes/ithor_kitchen_16/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e1cc1a1d94436cbbd2cc45b91d3b6522a9c5629
--- /dev/null
+++ b/benchmark/scenes/ithor_kitchen_16/entity_library.json
@@ -0,0 +1,202 @@
+[
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diff --git a/benchmark/scenes/ithor_kitchen_16/ground_truth.json b/benchmark/scenes/ithor_kitchen_16/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fc41ff6bd4d54850feac7007acbc8a7b274b7d1
--- /dev/null
+++ b/benchmark/scenes/ithor_kitchen_16/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/ithor_kitchen_2/entity_library.json b/benchmark/scenes/ithor_kitchen_2/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bf5c35dd554ee0030ec4ed1491e26774d61f0ab
--- /dev/null
+++ b/benchmark/scenes/ithor_kitchen_2/entity_library.json
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diff --git a/benchmark/scenes/ithor_kitchen_2/ground_truth.json b/benchmark/scenes/ithor_kitchen_2/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a11cee7fdd8a31100618c2d6eb251f5fbb988ea
--- /dev/null
+++ b/benchmark/scenes/ithor_kitchen_2/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/ithor_kitchen_28/entity_library.json b/benchmark/scenes/ithor_kitchen_28/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..62bd83ef3d6a427e3549ee214841552d54a7acf2
--- /dev/null
+++ b/benchmark/scenes/ithor_kitchen_28/entity_library.json
@@ -0,0 +1,202 @@
+[
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+  {
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+  {
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diff --git a/benchmark/scenes/ithor_kitchen_28/ground_truth.json b/benchmark/scenes/ithor_kitchen_28/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..84f0db258bc546de2c98986aea206f05407d372c
--- /dev/null
+++ b/benchmark/scenes/ithor_kitchen_28/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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diff --git a/benchmark/scenes/ithor_kitchen_30/entity_library.json b/benchmark/scenes/ithor_kitchen_30/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..260281de054fe0f177d027b301b57a7ee57a3e73
--- /dev/null
+++ b/benchmark/scenes/ithor_kitchen_30/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/ithor_kitchen_30/ground_truth.json b/benchmark/scenes/ithor_kitchen_30/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..54fb277462ef9bcb703e7017f341e64bb1601ef6
--- /dev/null
+++ b/benchmark/scenes/ithor_kitchen_30/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/ithor_kitchen_9/entity_library.json b/benchmark/scenes/ithor_kitchen_9/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fe2de9f8f2d57de52856c4aa84f4253c86c5bf5
--- /dev/null
+++ b/benchmark/scenes/ithor_kitchen_9/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/ithor_kitchen_9/ground_truth.json b/benchmark/scenes/ithor_kitchen_9/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..8512df2b8f260cba30a8d23f071e8348b8821aeb
--- /dev/null
+++ b/benchmark/scenes/ithor_kitchen_9/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/ithor_living_room_203/entity_library.json b/benchmark/scenes/ithor_living_room_203/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c5ec8513f80842160c9a1930c19327d7a45beea
--- /dev/null
+++ b/benchmark/scenes/ithor_living_room_203/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "group": "Window"
+  },
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+    "category": "CreditCard",
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+    "category": "Boots",
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+    "category": "Chair",
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+  {
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+    "category": "Chair",
+    "group": "Chair"
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+    "group": "CellPhone"
+  },
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+    "group": "GarbageCan"
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+  {
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+    "category": "DiningTable",
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+  {
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+    "group": "Chair"
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+  {
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+    "category": "Pencil",
+    "group": "Pencil"
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+  {
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+    "category": "Pillow",
+    "group": "Pillow"
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+  {
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+    "category": "Newspaper",
+    "group": "Newspaper"
+  },
+  {
+    "id": "objects/FloorPlan203_physics-FP203:Door_40",
+    "category": "FloorPlan203_physics-FP203:Door",
+    "group": "FloorPlan203_physics-FP203:Door"
+  },
+  {
+    "id": "objects/Chair_203_1_41",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Bowl_3_42",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/FloorPlan203_physics-Painting_e1c921e2_43",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Ottoman_203_1_44",
+    "category": "Ottoman",
+    "group": "Ottoman"
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diff --git a/benchmark/scenes/ithor_living_room_203/ground_truth.json b/benchmark/scenes/ithor_living_room_203/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9ed49b6c7b57b3b12c0fdee3f01dc2fbaaba516
--- /dev/null
+++ b/benchmark/scenes/ithor_living_room_203/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "scene_builder": "iTHOR",
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+  "loaded_object_count": 45,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/iTHOR/FloorPlan203_physics.scene_instance.json",
+  "origin_world_m": [
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+  "initial_camera_yaw_pitch_deg": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
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+}
diff --git a/benchmark/scenes/ithor_living_room_204/entity_library.json b/benchmark/scenes/ithor_living_room_204/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06bcaaf27f4e61c91876df285a43f99d251d23b
--- /dev/null
+++ b/benchmark/scenes/ithor_living_room_204/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "LightSwitch",
+    "group": "LightSwitch"
+  },
+  {
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+    "category": "CreditCard",
+    "group": "CreditCard"
+  },
+  {
+    "id": "objects/Safe_18_2_3",
+    "category": "Safe",
+    "group": "Safe"
+  },
+  {
+    "id": "objects/Chair_204_1_4",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Box_4_5",
+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/Dining_Table_204_1_6",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/Remote_2_7",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/Stone_Statue_2_8",
+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
+    "id": "objects/Armchair_204_1_9",
+    "category": "ArmChair",
+    "group": "ArmChair"
+  },
+  {
+    "id": "objects/FloorPlan204_physics-Painting_a6901e8c_10",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
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+    "category": "Desk",
+    "group": "Desk"
+  },
+  {
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+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
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+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
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+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
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+    "category": "Window",
+    "group": "Window"
+  },
+  {
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+    "category": "Laptop",
+    "group": "Laptop"
+  },
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+    "category": "Vase",
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+  {
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+    "group": "HousePlant"
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+  {
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+    "category": "Vase",
+    "group": "Vase"
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+  {
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+    "category": "Vase",
+    "group": "Vase"
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+    "category": "Sofa",
+    "group": "Sofa"
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+  {
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+    "category": "Television",
+    "group": "Television"
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+  {
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+    "category": "Window",
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+  },
+  {
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+    "category": "Vase",
+    "group": "Vase"
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+  {
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+    "category": "Window",
+    "group": "Window"
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+  {
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+    "category": "WateringCan",
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+  {
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+    "category": "FloorLamp",
+    "group": "FloorLamp"
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+    "category": "Painting",
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+  },
+  {
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+    "category": "KeyChain",
+    "group": "KeyChain"
+  },
+  {
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+    "category": "CellPhone",
+    "group": "CellPhone"
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+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
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+    "category": "CoffeeTable",
+    "group": "CoffeeTable"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_204_2_41",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_210_3_42",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Hand_Statue_3_43",
+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
+    "id": "objects/bin_4_45",
+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/Chair_210_3_46",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_210_3_47",
+    "category": "Chair",
+    "group": "Chair"
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+]
diff --git a/benchmark/scenes/ithor_living_room_204/ground_truth.json b/benchmark/scenes/ithor_living_room_204/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb271ffd904252acb4c2627359b82a47d206608f
--- /dev/null
+++ b/benchmark/scenes/ithor_living_room_204/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "scene_builder": "iTHOR",
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+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/iTHOR/FloorPlan204_physics.scene_instance.json",
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+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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+}
diff --git a/benchmark/scenes/ithor_living_room_215/entity_library.json b/benchmark/scenes/ithor_living_room_215/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f2426945ef69863e0d4b6905993dd5d48f1b479
--- /dev/null
+++ b/benchmark/scenes/ithor_living_room_215/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/Coffee_Table_215_1_1",
+    "category": "CoffeeTable",
+    "group": "CoffeeTable"
+  },
+  {
+    "id": "objects/Bowl_15_2",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/Coffee_Table_215_1_3",
+    "category": "CoffeeTable",
+    "group": "CoffeeTable"
+  },
+  {
+    "id": "objects/Vase_Tall_1_4",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/Stone_Statue_3_7",
+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
+    "id": "objects/Television_15_8",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/FloorPlan215_physics-Painting_14d1dbaf_9",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Shelving_Unit_215_1_10",
+    "category": "ShelvingUnit",
+    "group": "ShelvingUnit"
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+    "group": "Vase"
+  },
+  {
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+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
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+  {
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+    "category": "Watch",
+    "group": "Watch"
+  },
+  {
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+    "category": "CreditCard",
+    "group": "CreditCard"
+  },
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+    "category": "LightSwitch",
+    "group": "LightSwitch"
+  },
+  {
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+    "category": "Sofa",
+    "group": "Sofa"
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+    "category": "Statue",
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+    "group": "GarbageCan"
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+  {
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+    "category": "FloorLamp",
+    "group": "FloorLamp"
+  },
+  {
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+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
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+    "category": "Mirror",
+    "group": "Mirror"
+  },
+  {
+    "id": "objects/Laptop_15_30",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Desk_Lamp_6_31",
+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
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+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
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+    "category": "Vase",
+    "group": "Vase"
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+  {
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+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
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+    "group": "Vase"
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+  {
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+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
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+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/Side_Table_215_1_39",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
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+    "category": "Newspaper",
+    "group": "Newspaper"
+  },
+  {
+    "id": "objects/Box_15_42",
+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/FloorPlan215_physics-Painting_469a30b2_43",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Vase_Open_2_45",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/Chair_215_1_46",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Houseplant_15_47",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Hand_Statue_3_48",
+    "category": "Statue",
+    "group": "Statue"
+  }
+]
diff --git a/benchmark/scenes/ithor_living_room_215/ground_truth.json b/benchmark/scenes/ithor_living_room_215/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01e8515168b06091777cbfac9bf9344540b7f43
--- /dev/null
+++ b/benchmark/scenes/ithor_living_room_215/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/iTHOR/FloorPlan215_physics.scene_instance.json",
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diff --git a/benchmark/scenes/ithor_living_room_223/entity_library.json b/benchmark/scenes/ithor_living_room_223/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..694a9edbe892248621259a8ed0410ef8f3897441
--- /dev/null
+++ b/benchmark/scenes/ithor_living_room_223/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/ithor_living_room_223/ground_truth.json b/benchmark/scenes/ithor_living_room_223/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..8831cb2d588b68bf0db0bd600b31475879e1bed2
--- /dev/null
+++ b/benchmark/scenes/ithor_living_room_223/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/ithor_living_room_224/entity_library.json b/benchmark/scenes/ithor_living_room_224/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..066c7077d7039a034a646a42fb3d0133fbd759ad
--- /dev/null
+++ b/benchmark/scenes/ithor_living_room_224/entity_library.json
@@ -0,0 +1,202 @@
+[
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+  {
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+  },
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+  },
+  {
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+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
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+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
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+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/Sofa_223_2_39",
+    "category": "Sofa",
+    "group": "Sofa"
+  },
+  {
+    "id": "objects/FloorPlan224_physics-Window_6006fe1f_41",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/FloorPlan224_physics-Painting_a0f2948b_42",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Vase_Open_3_44",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/Side_Table_220_2_46",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Newspaper_4_47",
+    "category": "Newspaper",
+    "group": "Newspaper"
+  }
+]
diff --git a/benchmark/scenes/ithor_living_room_224/ground_truth.json b/benchmark/scenes/ithor_living_room_224/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..f923cf20f45f2a3933cf169c1a69279722cce2cf
--- /dev/null
+++ b/benchmark/scenes/ithor_living_room_224/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "iTHOR/FloorPlan224_physics.scene_instance.json",
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diff --git a/benchmark/scenes/ithor_living_room_230/entity_library.json b/benchmark/scenes/ithor_living_room_230/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0d17e8f29f820cfd3c8e79ae681099132a524b6
--- /dev/null
+++ b/benchmark/scenes/ithor_living_room_230/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "RoomDecor",
+    "group": "RoomDecor"
+  },
+  {
+    "id": "objects/FloorPlan230_physics-Window_b4822546_3",
+    "category": "Window",
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+    "group": "Chair"
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+  {
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+  {
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+    "category": "GarbageCan",
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+  {
+    "id": "objects/Light_Switch_30_47",
+    "category": "LightSwitch",
+    "group": "LightSwitch"
+  },
+  {
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+    "category": "Chair",
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+  },
+  {
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+  },
+  {
+    "id": "objects/Dining_Table_230_1_51",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
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+    "category": "Candle",
+    "group": "Candle"
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diff --git a/benchmark/scenes/ithor_living_room_230/ground_truth.json b/benchmark/scenes/ithor_living_room_230/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5d405f40d1e01549249c2fb1307e9f8ac2624f2
--- /dev/null
+++ b/benchmark/scenes/ithor_living_room_230/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+      "category": "LightSwitch",
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+      "group": "RoomDecor",
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+}
diff --git a/benchmark/scenes/procthor_test_266/entity_library.json b/benchmark/scenes/procthor_test_266/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a8d980c00c875c2e4c4b5ab91628d2dc4d5b697
--- /dev/null
+++ b/benchmark/scenes/procthor_test_266/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/RoboTHOR_tennis_racquet_speed_kids_v_1",
+    "category": "TennisRacket",
+    "group": "TennisRacket"
+  },
+  {
+    "id": "objects/Laptop_25_2",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Book_29_4",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Bed_11_6",
+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
+    "id": "objects/Pencil_6_11",
+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
+    "id": "objects/Book_12_12",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/RoboTHOR_book_ai2_3_v_13",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Book_11_14",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Dining_Table_230_1_15",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/RoboTHOR_office_chair_sevnning_16",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_office_chair_sevnning_17",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_office_chair_sevnning_18",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_office_chair_sevnning_19",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Fridge_25_48",
+    "category": "Fridge",
+    "group": "Fridge"
+  },
+  {
+    "id": "objects/Stone_Statue_2_60",
+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
+    "id": "objects/Pencil_6_61",
+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
+    "id": "objects/Desk_Lamp_13_62",
+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
+    "id": "objects/Bowl_9_63",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/Dining_Table_230_1_64",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/RoboTHOR_chair_extendable_65",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_chair_extendable_66",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_chair_extendable_67",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_chair_extendable_68",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_chair_extendable_69",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Book_11_70",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Book_12_71",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Newspaper_4_72",
+    "category": "Newspaper",
+    "group": "Newspaper"
+  },
+  {
+    "id": "objects/Cellphone_6_73",
+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
+    "id": "objects/Laptop_29_74",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/RoboTHOR_sofa_kramfors_75",
+    "category": "Sofa",
+    "group": "Sofa"
+  },
+  {
+    "id": "objects/bin_24_76",
+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/Television_16_77",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_2V_79",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_5_80",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_8_81",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_2_open_84",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorway_Double_10_85",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Fixed_96x48_86",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/Window_Slider_48x24_87",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/Window_Bay_3_89",
+    "category": "Window",
+    "group": "Window"
+  }
+]
diff --git a/benchmark/scenes/procthor_test_266/ground_truth.json b/benchmark/scenes/procthor_test_266/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..57d897883fe3d657ade1da5a1abfd977a6426d6a
--- /dev/null
+++ b/benchmark/scenes/procthor_test_266/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ProcTHOR/ProcTHOR-Test-266.scene_instance.json",
+  "scene_index": 2442,
+  "scene_builder": "ProcTHOR",
+  "target_radius_m": 5.402348585495869,
+  "target_count": 40,
+  "loaded_object_count": 92,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/1/ProcTHOR-Test-266.scene_instance.json",
+  "origin_world_m": [
+    -4.262,
+    -6.4,
+    1.45
+  ],
+  "initial_camera_yaw_pitch_deg": [
+    180,
+    -12
+  ],
+  "camera_to_world_rotation": [
+    [
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+      -0.0,
+      -0.2079117689214638
+    ],
+    [
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+    [
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+      0.0,
+      0.9781475852042266
+    ]
+  ],
+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
+    {
+      "id": "objects/RoboTHOR_tennis_racquet_speed_kids_v_1",
+      "category": "TennisRacket",
+      "group": "TennisRacket",
+      "xyz_m": [
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+        0.7470548748970032
+      ]
+    },
+    {
+      "id": "objects/Laptop_25_2",
+      "category": "Laptop",
+      "group": "Laptop",
+      "xyz_m": [
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+    },
+    {
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+      "category": "Book",
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+    {
+      "id": "objects/Bed_11_6",
+      "category": "Bed",
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+    {
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+      "category": "Chair",
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+    {
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+      "id": "objects/Window_Bay_3_89",
+      "category": "Window",
+      "group": "Window",
+      "xyz_m": [
+        -1.6023568119630045,
+        1.695000191258885,
+        -0.28947446307865454
+      ],
+      "center_world_m": [
+        -2.6344735622406006,
+        -8.09500002861023,
+        1.5000000596046448
+      ],
+      "bbox_world_min_m": [
+        -3.3393638134002686,
+        -8.381773948669434,
+        0.6924954652786255
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+      "bbox_world_max_m": [
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+        -7.808226108551025,
+        2.307504653930664
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+    }
+  ]
+}
diff --git a/benchmark/scenes/procthor_test_672/entity_library.json b/benchmark/scenes/procthor_test_672/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbf423215a07b56c4afeff966950110272fd7edb
--- /dev/null
+++ b/benchmark/scenes/procthor_test_672/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/Armchair_201_1_6",
+    "category": "ArmChair",
+    "group": "ArmChair"
+  },
+  {
+    "id": "objects/Floor_Lamp_25_7",
+    "category": "FloorLamp",
+    "group": "FloorLamp"
+  },
+  {
+    "id": "objects/Alarm_Clock_13_8",
+    "category": "AlarmClock",
+    "group": "AlarmClock"
+  },
+  {
+    "id": "objects/Side_Table_229_1_1_9",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Apple_5_21",
+    "category": "Apple",
+    "group": "Apple"
+  },
+  {
+    "id": "objects/Vase_Medium_5_22",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/ButterKnife_1_23",
+    "category": "ButterKnife",
+    "group": "ButterKnife"
+  },
+  {
+    "id": "objects/ButterKnife_1_24",
+    "category": "ButterKnife",
+    "group": "ButterKnife"
+  },
+  {
+    "id": "objects/Pan_13_26",
+    "category": "Pan",
+    "group": "Pan"
+  },
+  {
+    "id": "objects/Countertop_L_10x10_28",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/Egg_13_29",
+    "category": "Egg",
+    "group": "Egg"
+  },
+  {
+    "id": "objects/Egg_4_30",
+    "category": "Egg",
+    "group": "Egg"
+  },
+  {
+    "id": "objects/Egg_8_31",
+    "category": "Egg",
+    "group": "Egg"
+  },
+  {
+    "id": "objects/Fridge_8_32",
+    "category": "Fridge",
+    "group": "Fridge"
+  },
+  {
+    "id": "objects/Bread_8_33",
+    "category": "Bread",
+    "group": "Bread"
+  },
+  {
+    "id": "objects/Spray_Bottle_5_34",
+    "category": "SprayBottle",
+    "group": "SprayBottle"
+  },
+  {
+    "id": "objects/Knife_7_35",
+    "category": "Knife",
+    "group": "Knife"
+  },
+  {
+    "id": "objects/Toaster_4_36",
+    "category": "Toaster",
+    "group": "Toaster"
+  },
+  {
+    "id": "objects/ButterKnife_1_37",
+    "category": "ButterKnife",
+    "group": "ButterKnife"
+  },
+  {
+    "id": "objects/Dining_Table_230_1_38",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/Chair_210_3_39",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_210_3_40",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Stool_5_1_42",
+    "category": "Stool",
+    "group": "Stool"
+  },
+  {
+    "id": "objects/Dog_Bed_1_2_43",
+    "category": "DogBed",
+    "group": "DogBed"
+  },
+  {
+    "id": "objects/Plate_13_44",
+    "category": "Plate",
+    "group": "Plate"
+  },
+  {
+    "id": "objects/Laptop_9_45",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Pen_3_46",
+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
+    "id": "objects/Desk_Lamp_8_47",
+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
+    "id": "objects/Dining_Table_230_1_48",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/Chair_230_1_49",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Cart_1_50",
+    "category": "Cart",
+    "group": "Cart"
+  },
+  {
+    "id": "objects/Houseplant_29_51",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Television_16_52",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_5_53",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_2V_54",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_8_56",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_Double_6_open_58",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorway_Double_10_59",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Bay_3_60",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/Window_Fixed_96x48_61",
+    "category": "Window",
+    "group": "Window"
+  }
+]
diff --git a/benchmark/scenes/procthor_test_672/ground_truth.json b/benchmark/scenes/procthor_test_672/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..09e82c02a17a7acd788fae12421c5415e3a9de65
--- /dev/null
+++ b/benchmark/scenes/procthor_test_672/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ProcTHOR/ProcTHOR-Test-672.scene_instance.json",
+  "scene_index": 2640,
+  "scene_builder": "ProcTHOR",
+  "target_radius_m": 9.2312365545433,
+  "target_count": 40,
+  "loaded_object_count": 62,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/1/ProcTHOR-Test-672.scene_instance.json",
+  "origin_world_m": [
+    -2.014,
+    -9.976,
+    1.45
+  ],
+  "initial_camera_yaw_pitch_deg": [
+    135,
+    -12
+  ],
+  "camera_to_world_rotation": [
+    [
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+      -0.7071064501531275,
+      -0.14701593453803394
+    ],
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+      0.14701578839090346
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+    [
+      -0.20791182516704135,
+      1.0540298772676593e-09,
+      0.9781475729332596
+    ]
+  ],
+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
+    {
+      "id": "objects/Armchair_201_1_6",
+      "category": "ArmChair",
+      "group": "ArmChair",
+      "xyz_m": [
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+        -10.268436431884766,
+        0.9243532419204712
+      ]
+    },
+    {
+      "id": "objects/Floor_Lamp_25_7",
+      "category": "FloorLamp",
+      "group": "FloorLamp",
+      "xyz_m": [
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+      "category": "AlarmClock",
+      "group": "AlarmClock",
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+      "category": "SideTable",
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+    {
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+      "category": "Vase",
+      "group": "Vase",
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+    {
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diff --git a/benchmark/scenes/procthor_train_1025/entity_library.json b/benchmark/scenes/procthor_train_1025/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..0811c95aeeefda252e6e5697b0816bd16db26a55
--- /dev/null
+++ b/benchmark/scenes/procthor_train_1025/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/procthor_train_1025/ground_truth.json b/benchmark/scenes/procthor_train_1025/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5f115b1d083879280ec1e151fb6cf39162d958f
--- /dev/null
+++ b/benchmark/scenes/procthor_train_1025/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/procthor_train_1526/entity_library.json b/benchmark/scenes/procthor_train_1526/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..baccb4f42a9c25778f71ff615ef6decf82328b33
--- /dev/null
+++ b/benchmark/scenes/procthor_train_1526/entity_library.json
@@ -0,0 +1,202 @@
+[
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+  {
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+    "category": "ButterKnife",
+    "group": "ButterKnife"
+  },
+  {
+    "id": "objects/Pan_27_4",
+    "category": "Pan",
+    "group": "Pan"
+  },
+  {
+    "id": "objects/Spatula_1_6",
+    "category": "Spatula",
+    "group": "Spatula"
+  },
+  {
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+    "category": "PepperShaker",
+    "group": "PepperShaker"
+  },
+  {
+    "id": "objects/Potato_29_8",
+    "category": "Potato",
+    "group": "Potato"
+  },
+  {
+    "id": "objects/Countertop_L_4x8_9",
+    "category": "CounterTop",
+    "group": "CounterTop"
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+  {
+    "id": "objects/RoboTHOR_candle_glittrig_2_v_27",
+    "category": "Candle",
+    "group": "Candle"
+  },
+  {
+    "id": "objects/CreditCard_4_28",
+    "category": "CreditCard",
+    "group": "CreditCard"
+  },
+  {
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+    "category": "Plate",
+    "group": "Plate"
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+    "category": "Pen",
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+  {
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+    "category": "Chair",
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+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
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+  {
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+    "group": "HousePlant"
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+  {
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+    "category": "Bowl",
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+  {
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+    "category": "KeyChain",
+    "group": "KeyChain"
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+  {
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+  },
+  {
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+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_3V_71",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_1V_72",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_7_74",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_6_open_75",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Hung_44x60_78",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
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diff --git a/benchmark/scenes/procthor_train_1526/ground_truth.json b/benchmark/scenes/procthor_train_1526/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..89320350dd20019a8f55ebe87ebbf280ec02429d
--- /dev/null
+++ b/benchmark/scenes/procthor_train_1526/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ProcTHOR/ProcTHOR-Train-1526.scene_instance.json",
+  "scene_index": 8834,
+  "scene_builder": "ProcTHOR",
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+  "target_count": 40,
+  "loaded_object_count": 80,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/3/ProcTHOR-Train-1526.scene_instance.json",
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+  "initial_camera_yaw_pitch_deg": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/procthor_train_1966/entity_library.json b/benchmark/scenes/procthor_train_1966/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..d24b05ea0d06a3771262855af2115d5720f4a455
--- /dev/null
+++ b/benchmark/scenes/procthor_train_1966/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
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+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/Laptop_18_1",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Cellphone_7_2",
+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
+    "id": "objects/Basketball_1_3",
+    "category": "BasketBall",
+    "group": "BasketBall"
+  },
+  {
+    "id": "objects/RoboTHOR_bed_tarva_v_4",
+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
+    "id": "objects/Houseplant_3_5",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Vase_Tall_5_6",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/Desk_Lamp_5_7",
+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
+    "id": "objects/Waving_Statue_1_8",
+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
+    "id": "objects/RoboTHOR_mug_ai2_1_v_9",
+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
+    "id": "objects/Pen_4_10",
+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
+    "id": "objects/Bowl_20_11",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/Dining_Table_223_1_12",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/RoboTHOR_chair_mella_13",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_chair_mella_14",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_chair_mella_15",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_chair_mella_16",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Alarm_Clock_10_17",
+    "category": "AlarmClock",
+    "group": "AlarmClock"
+  },
+  {
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+    "category": "Pen",
+    "group": "Pen"
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+  {
+    "id": "objects/Cellphone_7_19",
+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
+    "id": "objects/RoboTHOR_remote_coolux_v_20",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/RoboTHOR_dresser_rast_v_21",
+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
+    "id": "objects/Dog_Bed_1_2_22",
+    "category": "DogBed",
+    "group": "DogBed"
+  },
+  {
+    "id": "objects/Plunger_2_30",
+    "category": "Plunger",
+    "group": "Plunger"
+  },
+  {
+    "id": "objects/Pepper_Shaker_1_73",
+    "category": "PepperShaker",
+    "group": "PepperShaker"
+  },
+  {
+    "id": "objects/RoboTHOR_bowl_ai2_v_76",
+    "category": "Bowl",
+    "group": "Bowl"
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+  {
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+    "category": "GarbageBag",
+    "group": "GarbageBag"
+  },
+  {
+    "id": "objects/Remote_2_87",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/pillow_21_88",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
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+    "category": "Sofa",
+    "group": "Sofa"
+  },
+  {
+    "id": "objects/Television_3_92",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_7_101",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_1V_102",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_1_103",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_8_105",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_Double_1_open_110",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorframe_Double_1_112",
+    "category": "Doorframe",
+    "group": "Doorframe"
+  },
+  {
+    "id": "objects/Doorway_Double_1_open_114",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Fixed_60x36_118",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/Window_Fixed_60x36_119",
+    "category": "Window",
+    "group": "Window"
+  }
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diff --git a/benchmark/scenes/procthor_train_1966/ground_truth.json b/benchmark/scenes/procthor_train_1966/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..64b42cd2087faefcedb0b52ba12c9b3b9ef8a8fa
--- /dev/null
+++ b/benchmark/scenes/procthor_train_1966/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ProcTHOR/ProcTHOR-Train-1966.scene_instance.json",
+  "scene_index": 8567,
+  "scene_builder": "ProcTHOR",
+  "target_radius_m": 6.683621093724979,
+  "target_count": 40,
+  "loaded_object_count": 120,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/3/ProcTHOR-Train-1966.scene_instance.json",
+  "origin_world_m": [
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+  "initial_camera_yaw_pitch_deg": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/procthor_train_2236/entity_library.json b/benchmark/scenes/procthor_train_2236/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..61180a21bddfc7087da1c7a57445f24688b645df
--- /dev/null
+++ b/benchmark/scenes/procthor_train_2236/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
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+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
+    "id": "objects/Teddy_Bear_1_2",
+    "category": "TeddyBear",
+    "group": "TeddyBear"
+  },
+  {
+    "id": "objects/Book_14_3",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Alarm_Clock_18_4",
+    "category": "AlarmClock",
+    "group": "AlarmClock"
+  },
+  {
+    "id": "objects/Bed_8_5",
+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
+    "id": "objects/RoboTHOR_basketball_rhode_island_novelty_v_6",
+    "category": "BasketBall",
+    "group": "BasketBall"
+  },
+  {
+    "id": "objects/Cellphone_7_7",
+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
+    "id": "objects/Dresser_229_1_8",
+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
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+    "category": "BaseballBat",
+    "group": "BaseballBat"
+  },
+  {
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+    "category": "Pencil",
+    "group": "Pencil"
+  },
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+  {
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+    "category": "HousePlant",
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+  {
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+  {
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+  {
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+  {
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+  {
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+  {
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+    "category": "SprayBottle",
+    "group": "SprayBottle"
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+  {
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+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
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+    "category": "Sink",
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+  {
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+    "group": "ToiletPaper"
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+    "group": "GarbageCan"
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+  {
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+    "category": "Plunger",
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+  {
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+  {
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+    "category": "Apple",
+    "group": "Apple"
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+  {
+    "id": "objects/Wall_Decor_Photo_6_75",
+    "category": "Painting",
+    "group": "Painting"
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+  {
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+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_10_77",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_6_78",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_8_79",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_10_open_85",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorway_Double_7_open_87",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
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+    "category": "Doorway",
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+  },
+  {
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diff --git a/benchmark/scenes/procthor_train_2236/ground_truth.json b/benchmark/scenes/procthor_train_2236/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c7c1b6d1fd264925cbb9f08ae28e4255951ae20
--- /dev/null
+++ b/benchmark/scenes/procthor_train_2236/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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diff --git a/benchmark/scenes/procthor_train_2368/entity_library.json b/benchmark/scenes/procthor_train_2368/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..a81bb3e14a31c88928536a56e2d3377ad95a6754
--- /dev/null
+++ b/benchmark/scenes/procthor_train_2368/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/procthor_train_2368/ground_truth.json b/benchmark/scenes/procthor_train_2368/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb3817f383f6b4a47a9933c452c27273eddc7ec7
--- /dev/null
+++ b/benchmark/scenes/procthor_train_2368/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/procthor_train_2700/entity_library.json b/benchmark/scenes/procthor_train_2700/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..40bc1e4a67fc2e9a525a4e5c320cb847d43f0a95
--- /dev/null
+++ b/benchmark/scenes/procthor_train_2700/entity_library.json
@@ -0,0 +1,202 @@
+[
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+  {
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+  {
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+  {
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+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
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+  {
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+    "category": "FloorLamp",
+    "group": "FloorLamp"
+  },
+  {
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+    "category": "Television",
+    "group": "Television"
+  },
+  {
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+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
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+    "category": "Painting",
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+  },
+  {
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+    "category": "Doorway",
+    "group": "Doorway"
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diff --git a/benchmark/scenes/procthor_train_2700/ground_truth.json b/benchmark/scenes/procthor_train_2700/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c6dc6d8799253d2688974ce1b4672d6565819cf
--- /dev/null
+++ b/benchmark/scenes/procthor_train_2700/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ProcTHOR/ProcTHOR-Train-2700.scene_instance.json",
+  "scene_index": 6602,
+  "scene_builder": "ProcTHOR",
+  "target_radius_m": 4.409234967794377,
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diff --git a/benchmark/scenes/procthor_train_3458/entity_library.json b/benchmark/scenes/procthor_train_3458/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e6d1a3aeaa3f24797e459068eaf9c2043daec46
--- /dev/null
+++ b/benchmark/scenes/procthor_train_3458/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "SprayBottle",
+    "group": "SprayBottle"
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+  {
+    "id": "objects/Toilet_Paper_Used_Up_16",
+    "category": "ToiletPaper",
+    "group": "ToiletPaper"
+  },
+  {
+    "id": "objects/Toilet_1_17",
+    "category": "Toilet",
+    "group": "Toilet"
+  },
+  {
+    "id": "objects/Bathroom_Faucet_20_18",
+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
+    "id": "objects/Sink_19_19",
+    "category": "Sink",
+    "group": "Sink"
+  },
+  {
+    "id": "objects/Plunger_1_22",
+    "category": "Plunger",
+    "group": "Plunger"
+  },
+  {
+    "id": "objects/Safe_18_2_33",
+    "category": "Safe",
+    "group": "Safe"
+  },
+  {
+    "id": "objects/Bathroom_Faucet_20_50",
+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
+    "id": "objects/Sink_15_51",
+    "category": "Sink",
+    "group": "Sink"
+  },
+  {
+    "id": "objects/Dish_Sponge_1_52",
+    "category": "DishSponge",
+    "group": "DishSponge"
+  },
+  {
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+    "category": "SideTable",
+    "group": "SideTable"
+  },
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+    "category": "ToiletPaper",
+    "group": "ToiletPaper"
+  },
+  {
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+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/Book_19_84",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Plate_19_85",
+    "category": "Plate",
+    "group": "Plate"
+  },
+  {
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+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
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+    "category": "DiningTable",
+    "group": "DiningTable"
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+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
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+    "group": "Chair"
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+  {
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+    "group": "Chair"
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+  {
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+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/Remote_2_92",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/Sofa_201_2_93",
+    "category": "Sofa",
+    "group": "Sofa"
+  },
+  {
+    "id": "objects/bin_18_94",
+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/Armchair_201_4_95",
+    "category": "ArmChair",
+    "group": "ArmChair"
+  },
+  {
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+    "category": "FloorLamp",
+    "group": "FloorLamp"
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+  {
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+    "group": "TissueBox"
+  },
+  {
+    "id": "objects/CreditCard_1_98",
+    "category": "CreditCard",
+    "group": "CreditCard"
+  },
+  {
+    "id": "objects/Floor_Lamp_28_101",
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+    "group": "FloorLamp"
+  },
+  {
+    "id": "objects/Remote_1_102",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/Ottoman_208_1_103",
+    "category": "Ottoman",
+    "group": "Ottoman"
+  },
+  {
+    "id": "objects/Television_27_104",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_1_107",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_6_109",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_1V_110",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_9_111",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_1V_113",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_2_114",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_Double_2_open_122",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Hung_36x32_127",
+    "category": "Window",
+    "group": "Window"
+  }
+]
diff --git a/benchmark/scenes/procthor_train_3458/ground_truth.json b/benchmark/scenes/procthor_train_3458/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e1a25753efa6dc074afa352531f7f0a0cb05239
--- /dev/null
+++ b/benchmark/scenes/procthor_train_3458/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ProcTHOR/ProcTHOR-Train-3458.scene_instance.json",
+  "scene_index": 5844,
+  "scene_builder": "ProcTHOR",
+  "target_radius_m": 5.794043555480753,
+  "target_count": 40,
+  "loaded_object_count": 130,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/5/ProcTHOR-Train-3458.scene_instance.json",
+  "origin_world_m": [
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+  "initial_camera_yaw_pitch_deg": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
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diff --git a/benchmark/scenes/procthor_train_3582/entity_library.json b/benchmark/scenes/procthor_train_3582/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc0cfe8a19d7eb2d25762655ee6ff96322110567
--- /dev/null
+++ b/benchmark/scenes/procthor_train_3582/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/pillow_2_0",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/pillow_2_1",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/Remote_3_2",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/BaseballBat_4_3",
+    "category": "BaseballBat",
+    "group": "BaseballBat"
+  },
+  {
+    "id": "objects/Laptop_3_4",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Bed_7_5",
+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
+    "id": "objects/Houseplant_20_6",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Pencil_5_7",
+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
+    "id": "objects/RoboTHOR_dresser_aspelund_8",
+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
+    "id": "objects/Tennis_Racquet_4_9",
+    "category": "TennisRacket",
+    "group": "TennisRacket"
+  },
+  {
+    "id": "objects/Bowl_11_10",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/RoboTHOR_mug_ai2_2_v_11",
+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
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+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_204_7_14",
+    "category": "Chair",
+    "group": "Chair"
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+  {
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+    "group": "Chair"
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+  {
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+    "category": "Chair",
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+  {
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+    "group": "Chair"
+  },
+  {
+    "id": "objects/Basketball_1_18",
+    "category": "BasketBall",
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+  {
+    "id": "objects/Bathroom_Faucet_22_24",
+    "category": "Faucet",
+    "group": "Faucet"
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+  {
+    "id": "objects/Sink_15_25",
+    "category": "Sink",
+    "group": "Sink"
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+  {
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+    "category": "GarbageCan",
+    "group": "GarbageCan"
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+  {
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+    "category": "HousePlant",
+    "group": "HousePlant"
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+  {
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+    "group": "Dresser"
+  },
+  {
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+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
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+    "category": "Laptop",
+    "group": "Laptop"
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+  {
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+    "category": "Bed",
+    "group": "Bed"
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+  {
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+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
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+    "category": "TennisRacket",
+    "group": "TennisRacket"
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+  {
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+    "group": "Chair"
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+  {
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+    "group": "Chair"
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+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Television_3_102",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_3_103",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_6_104",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_8_105",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_2_107",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_1V_108",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_8_open_113",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorway_8_open_116",
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+    "group": "Doorway"
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diff --git a/benchmark/scenes/procthor_train_3582/ground_truth.json b/benchmark/scenes/procthor_train_3582/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..aefa34ef14b190975656ea06cdea2985c6bc760b
--- /dev/null
+++ b/benchmark/scenes/procthor_train_3582/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "scene_builder": "ProcTHOR",
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+  "target_count": 40,
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+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/5/ProcTHOR-Train-3582.scene_instance.json",
+  "origin_world_m": [
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+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/procthor_train_3862/entity_library.json b/benchmark/scenes/procthor_train_3862/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ccc313d5aea3b664889a09584be22bcde8b8868
--- /dev/null
+++ b/benchmark/scenes/procthor_train_3862/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/Pepper_Shaker_2_0",
+    "category": "PepperShaker",
+    "group": "PepperShaker"
+  },
+  {
+    "id": "objects/Pan_27_1",
+    "category": "Pan",
+    "group": "Pan"
+  },
+  {
+    "id": "objects/Toaster_29_2",
+    "category": "Toaster",
+    "group": "Toaster"
+  },
+  {
+    "id": "objects/Dish_Sponge_1_3",
+    "category": "DishSponge",
+    "group": "DishSponge"
+  },
+  {
+    "id": "objects/Spatula_1_4",
+    "category": "Spatula",
+    "group": "Spatula"
+  },
+  {
+    "id": "objects/Mug_3_6",
+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
+    "id": "objects/RoboTHOR_houseplant_ai2_2_v_7",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Knife_5_8",
+    "category": "Knife",
+    "group": "Knife"
+  },
+  {
+    "id": "objects/Knife_4_9",
+    "category": "Knife",
+    "group": "Knife"
+  },
+  {
+    "id": "objects/Spray_Bottle_4_10",
+    "category": "SprayBottle",
+    "group": "SprayBottle"
+  },
+  {
+    "id": "objects/Pencil_7_11",
+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
+    "id": "objects/Tomato_2_12",
+    "category": "Tomato",
+    "group": "Tomato"
+  },
+  {
+    "id": "objects/RoboTHOR_fork_ai2_v_13",
+    "category": "Fork",
+    "group": "Fork"
+  },
+  {
+    "id": "objects/Countertop_L_6x4_14",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/Cup_3_15",
+    "category": "Cup",
+    "group": "Cup"
+  },
+  {
+    "id": "objects/Tomato_15_16",
+    "category": "Tomato",
+    "group": "Tomato"
+  },
+  {
+    "id": "objects/Pot_2_17",
+    "category": "Pot",
+    "group": "Pot"
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+  {
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+    "category": "Bowl",
+    "group": "Bowl"
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+  {
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+    "group": "Spoon"
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+  {
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+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
+    "id": "objects/RoboTHOR_dining_table_jokkmokk_v_21",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
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+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/pillow_22_29",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/Laptop_27_30",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Sofa_201_1_31",
+    "category": "Sofa",
+    "group": "Sofa"
+  },
+  {
+    "id": "objects/Keychain_3_33",
+    "category": "KeyChain",
+    "group": "KeyChain"
+  },
+  {
+    "id": "objects/Houseplant_22_34",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Bowl_26_35",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/Dining_Table_27_1_36",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_305_1_39",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_305_1_40",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/bin_29_41",
+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_3_42",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_6_44",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_1_45",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorframe_Double_4_46",
+    "category": "Doorframe",
+    "group": "Doorframe"
+  },
+  {
+    "id": "objects/Doorway_10_47",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Hung_44x60_48",
+    "category": "Window",
+    "group": "Window"
+  }
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diff --git a/benchmark/scenes/procthor_train_3862/ground_truth.json b/benchmark/scenes/procthor_train_3862/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6ce6e5fe5d7ddb6233d451b5fdb8cbfd52631b2
--- /dev/null
+++ b/benchmark/scenes/procthor_train_3862/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "scene_builder": "ProcTHOR",
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+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/procthor_train_4306/entity_library.json b/benchmark/scenes/procthor_train_4306/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..99a948e0316f5a4f474cc5c416ecca18deacd9c5
--- /dev/null
+++ b/benchmark/scenes/procthor_train_4306/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/procthor_train_4306/ground_truth.json b/benchmark/scenes/procthor_train_4306/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..f86ee94f80f23e3be6f9f3ccb59a36db92d6a1d5
--- /dev/null
+++ b/benchmark/scenes/procthor_train_4306/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/procthor_train_4355/entity_library.json b/benchmark/scenes/procthor_train_4355/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..552f9470a34a8f9d59569191748c29a697a4774b
--- /dev/null
+++ b/benchmark/scenes/procthor_train_4355/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "Bread",
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+  {
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+    "category": "Knife",
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+  {
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+    "category": "Plate",
+    "group": "Plate"
+  },
+  {
+    "id": "objects/Keychain_3_48",
+    "category": "KeyChain",
+    "group": "KeyChain"
+  },
+  {
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+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Watch_1_50",
+    "category": "Watch",
+    "group": "Watch"
+  },
+  {
+    "id": "objects/RoboTHOR_book_ai2_5_v_51",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Dining_Table_221_1_52",
+    "category": "DiningTable",
+    "group": "DiningTable"
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+  {
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+    "category": "Chair",
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+  {
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+  {
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+    "group": "ShelvingUnit"
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+  {
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+    "category": "Book",
+    "group": "Book"
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+  {
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+  {
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+  {
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+    "category": "CellPhone",
+    "group": "CellPhone"
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+  {
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+    "category": "CellPhone",
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+  {
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+  },
+  {
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+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_10_82",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_3V_83",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorframe_5_86",
+    "category": "Doorframe",
+    "group": "Doorframe"
+  },
+  {
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+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Bay_2_90",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/Window_Hung_36x32_91",
+    "category": "Window",
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diff --git a/benchmark/scenes/procthor_train_4355/ground_truth.json b/benchmark/scenes/procthor_train_4355/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fc70c24c09c01206d59d7443680d43860920b45
--- /dev/null
+++ b/benchmark/scenes/procthor_train_4355/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ProcTHOR/ProcTHOR-Train-4355.scene_instance.json",
+  "scene_index": 1631,
+  "scene_builder": "ProcTHOR",
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+  "target_count": 40,
+  "loaded_object_count": 92,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/6/ProcTHOR-Train-4355.scene_instance.json",
+  "origin_world_m": [
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+  "initial_camera_yaw_pitch_deg": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
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diff --git a/benchmark/scenes/procthor_train_5251/entity_library.json b/benchmark/scenes/procthor_train_5251/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..c175a8e2d74b3849d7b72f3bd73515a05c130e80
--- /dev/null
+++ b/benchmark/scenes/procthor_train_5251/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "ToiletPaper",
+    "group": "ToiletPaper"
+  },
+  {
+    "id": "objects/Plunger_1_31",
+    "category": "Plunger",
+    "group": "Plunger"
+  },
+  {
+    "id": "objects/Potato_3_32",
+    "category": "Potato",
+    "group": "Potato"
+  },
+  {
+    "id": "objects/Kettle_1_33",
+    "category": "Kettle",
+    "group": "Kettle"
+  },
+  {
+    "id": "objects/Soap_Bottle_26_34",
+    "category": "SoapBottle",
+    "group": "SoapBottle"
+  },
+  {
+    "id": "objects/Wine_Bottle_1_35",
+    "category": "WineBottle",
+    "group": "WineBottle"
+  },
+  {
+    "id": "objects/Toaster_6_36",
+    "category": "Toaster",
+    "group": "Toaster"
+  },
+  {
+    "id": "objects/Cup_2_37",
+    "category": "Cup",
+    "group": "Cup"
+  },
+  {
+    "id": "objects/Spatula_1_38",
+    "category": "Spatula",
+    "group": "Spatula"
+  },
+  {
+    "id": "objects/Spatula_1_39",
+    "category": "Spatula",
+    "group": "Spatula"
+  },
+  {
+    "id": "objects/Spatula_1_40",
+    "category": "Spatula",
+    "group": "Spatula"
+  },
+  {
+    "id": "objects/RoboTHOR_butter_knife_ai2_1_v_41",
+    "category": "ButterKnife",
+    "group": "ButterKnife"
+  },
+  {
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+    "category": "CounterTop",
+    "group": "CounterTop"
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+  {
+    "id": "objects/GarbageBag_21_1_44",
+    "category": "GarbageBag",
+    "group": "GarbageBag"
+  },
+  {
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+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
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+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/CreditCard_4_58",
+    "category": "CreditCard",
+    "group": "CreditCard"
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+  {
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+    "category": "Newspaper",
+    "group": "Newspaper"
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+  {
+    "id": "objects/Tissue_Box_1_60",
+    "category": "TissueBox",
+    "group": "TissueBox"
+  },
+  {
+    "id": "objects/Fertility_Statue_3_61",
+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
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+    "category": "RemoteControl",
+    "group": "RemoteControl"
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+  {
+    "id": "objects/TV_Stand_206_3_63",
+    "category": "TVStand",
+    "group": "TVStand"
+  },
+  {
+    "id": "objects/Book_3_64",
+    "category": "Book",
+    "group": "Book"
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+  {
+    "id": "objects/Cellphone_4_65",
+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
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+    "category": "Sofa",
+    "group": "Sofa"
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+  {
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+    "category": "HousePlant",
+    "group": "HousePlant"
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+  {
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+    "category": "RemoteControl",
+    "group": "RemoteControl"
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+  {
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+    "category": "Plate",
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+  {
+    "id": "objects/Watch_1_70",
+    "category": "Watch",
+    "group": "Watch"
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+  {
+    "id": "objects/Dining_Table_223_1_71",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/Chair_007_2_72",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_007_2_73",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_007_2_74",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_007_2_75",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_dresser_rast_v_76",
+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
+    "id": "objects/Cart_1_77",
+    "category": "Cart",
+    "group": "Cart"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_3_84",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_10_85",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_9_open_89",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorway_Double_5_91",
+    "category": "Doorway",
+    "group": "Doorway"
+  }
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diff --git a/benchmark/scenes/procthor_train_5251/ground_truth.json b/benchmark/scenes/procthor_train_5251/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5ff63c6c6da19413a705d14d6e59a502e7fb088
--- /dev/null
+++ b/benchmark/scenes/procthor_train_5251/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "scene_index": 9278,
+  "scene_builder": "ProcTHOR",
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+  "target_count": 40,
+  "loaded_object_count": 94,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/7/ProcTHOR-Train-5251.scene_instance.json",
+  "origin_world_m": [
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+  "initial_camera_yaw_pitch_deg": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
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diff --git a/benchmark/scenes/procthor_train_5373/entity_library.json b/benchmark/scenes/procthor_train_5373/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f0bc2711550dc0e99b34754790edf90cb6160ba
--- /dev/null
+++ b/benchmark/scenes/procthor_train_5373/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/pillow_3_0",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/Box_21_1",
+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/Bed_28_2",
+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
+    "id": "objects/Mug_3_3",
+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
+    "id": "objects/Pen_4_4",
+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
+    "id": "objects/Alarm_Clock_3_5",
+    "category": "AlarmClock",
+    "group": "AlarmClock"
+  },
+  {
+    "id": "objects/Bowl_26_6",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/Book_19_7",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Book_26_8",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Keychain_2_9",
+    "category": "KeyChain",
+    "group": "KeyChain"
+  },
+  {
+    "id": "objects/Dresser_315_1_10",
+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
+    "id": "objects/Cellphone_3_11",
+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
+    "id": "objects/CreditCard_2_12",
+    "category": "CreditCard",
+    "group": "CreditCard"
+  },
+  {
+    "id": "objects/RoboTHOR_remote_coolux_v_13",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/Houseplant_8_14",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Vase_Flat_4_15",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/Book_9_16",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/RoboTHOR_pen_signo_v_17",
+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
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+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/Dining_Table_223_1_19",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/Basketball_1_20",
+    "category": "BasketBall",
+    "group": "BasketBall"
+  },
+  {
+    "id": "objects/Chair_007_1_21",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Pencil_4_22",
+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
+    "id": "objects/Chair_007_1_23",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_007_1_24",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_007_1_25",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_007_1_26",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_007_1_27",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Dog_Bed_2_1_28",
+    "category": "DogBed",
+    "group": "DogBed"
+  },
+  {
+    "id": "objects/RoboTHOR_armchair_tullsta_29",
+    "category": "ArmChair",
+    "group": "ArmChair"
+  },
+  {
+    "id": "objects/Floor_Lamp_21_30",
+    "category": "FloorLamp",
+    "group": "FloorLamp"
+  },
+  {
+    "id": "objects/Dish_Sponge_1_35",
+    "category": "DishSponge",
+    "group": "DishSponge"
+  },
+  {
+    "id": "objects/Washing_Machine_2_38",
+    "category": "WashingMachine",
+    "group": "WashingMachine"
+  },
+  {
+    "id": "objects/Soap_Bar_1_39",
+    "category": "SoapBar",
+    "group": "SoapBar"
+  },
+  {
+    "id": "objects/Dresser_318_2_40",
+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_8_41",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_1V_42",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_Double_9_open_45",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorway_Double_1_46",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Slider_48x48_47",
+    "category": "Window",
+    "group": "Window"
+  }
+]
diff --git a/benchmark/scenes/procthor_train_5373/ground_truth.json b/benchmark/scenes/procthor_train_5373/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae3ff9cc3c9d2f4d19b29c348d7fee63e06bd073
--- /dev/null
+++ b/benchmark/scenes/procthor_train_5373/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "scene_builder": "ProcTHOR",
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+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/7/ProcTHOR-Train-5373.scene_instance.json",
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+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/procthor_train_5518/entity_library.json b/benchmark/scenes/procthor_train_5518/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b0f8dffd0de7823fed66722e1f1642e93594931
--- /dev/null
+++ b/benchmark/scenes/procthor_train_5518/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/procthor_train_5518/ground_truth.json b/benchmark/scenes/procthor_train_5518/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c8f5f854101b3747e9fffb973029ddf4f5b9914
--- /dev/null
+++ b/benchmark/scenes/procthor_train_5518/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/procthor_train_602/entity_library.json b/benchmark/scenes/procthor_train_602/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4fca5067ce0f840c8f13dda23ddd4195c96efa1
--- /dev/null
+++ b/benchmark/scenes/procthor_train_602/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "HousePlant",
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+  {
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+    "category": "Bowl",
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+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_candle_glittrig_1_v_10",
+    "category": "Candle",
+    "group": "Candle"
+  },
+  {
+    "id": "objects/Toilet_Paper_11",
+    "category": "ToiletPaper",
+    "group": "ToiletPaper"
+  },
+  {
+    "id": "objects/Spray_Bottle_8_12",
+    "category": "SprayBottle",
+    "group": "SprayBottle"
+  },
+  {
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+    "category": "Toilet",
+    "group": "Toilet"
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+  {
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+    "category": "Television",
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+  {
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+    "category": "Book",
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+    "category": "Plate",
+    "group": "Plate"
+  },
+  {
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+    "group": "DiningTable"
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+  },
+  {
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+  },
+  {
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+    "category": "Newspaper",
+    "group": "Newspaper"
+  },
+  {
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+    "category": "Sofa",
+    "group": "Sofa"
+  },
+  {
+    "id": "objects/Desk_Lamp_4_47",
+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
+    "id": "objects/Side_Table_216_3_1_48",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Television_14_50",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_10_51",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_3_52",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_3V_53",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_3V_54",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_2_55",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_Double_8_open_57",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Hung_32x60_60",
+    "category": "Window",
+    "group": "Window"
+  }
+]
diff --git a/benchmark/scenes/procthor_train_602/ground_truth.json b/benchmark/scenes/procthor_train_602/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6f4c5891ba626ecd4ceba6b33aca6ef5960c57c
--- /dev/null
+++ b/benchmark/scenes/procthor_train_602/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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diff --git a/benchmark/scenes/procthor_train_6183/entity_library.json b/benchmark/scenes/procthor_train_6183/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fe8144a88fea5354482b02901d4ddb1185abfb7
--- /dev/null
+++ b/benchmark/scenes/procthor_train_6183/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "SprayBottle",
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+  {
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+    "category": "ToiletPaper",
+    "group": "ToiletPaper"
+  },
+  {
+    "id": "objects/Dish_Sponge_1_11",
+    "category": "DishSponge",
+    "group": "DishSponge"
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+  {
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+    "category": "Toilet",
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+  {
+    "id": "objects/Bathroom_Faucet_8_13",
+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
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+    "category": "Sink",
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+    "group": "Plunger"
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+  {
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+    "category": "Egg",
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+  {
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+    "category": "Egg",
+    "group": "Egg"
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+    "category": "Tomato",
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+  {
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+    "group": "Potato"
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+  {
+    "id": "objects/Fridge_24_33",
+    "category": "Fridge",
+    "group": "Fridge"
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+    "category": "GarbageBag",
+    "group": "GarbageBag"
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+  {
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+    "category": "HousePlant",
+    "group": "HousePlant"
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+  {
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+  {
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+  {
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+  {
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+  {
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+    "group": "Painting"
+  },
+  {
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+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
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+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorframe_Double_4_56",
+    "category": "Doorframe",
+    "group": "Doorframe"
+  },
+  {
+    "id": "objects/Doorway_5_open_57",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorway_4_58",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Fixed_60x72_59",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/Window_Slider_36x36_60",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
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+    "category": "Window",
+    "group": "Window"
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diff --git a/benchmark/scenes/procthor_train_6183/ground_truth.json b/benchmark/scenes/procthor_train_6183/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5011397312c5381fc2abac2fc58d4a58b52d7bd
--- /dev/null
+++ b/benchmark/scenes/procthor_train_6183/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "scene_index": 7357,
+  "scene_builder": "ProcTHOR",
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+  "target_count": 40,
+  "loaded_object_count": 63,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/8/ProcTHOR-Train-6183.scene_instance.json",
+  "origin_world_m": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/procthor_train_6554/entity_library.json b/benchmark/scenes/procthor_train_6554/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..424419afc0ea13269a7bc5de50a8305fe629cbb7
--- /dev/null
+++ b/benchmark/scenes/procthor_train_6554/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "Bread",
+    "group": "Bread"
+  },
+  {
+    "id": "objects/Spoon_1_1",
+    "category": "Spoon",
+    "group": "Spoon"
+  },
+  {
+    "id": "objects/Pot_2_2",
+    "category": "Pot",
+    "group": "Pot"
+  },
+  {
+    "id": "objects/Paper_Towel_1_3",
+    "category": "PaperTowelRoll",
+    "group": "PaperTowelRoll"
+  },
+  {
+    "id": "objects/Potato_15_4",
+    "category": "Potato",
+    "group": "Potato"
+  },
+  {
+    "id": "objects/Soap_Bottle_26_5",
+    "category": "SoapBottle",
+    "group": "SoapBottle"
+  },
+  {
+    "id": "objects/Countertop_I_4x2_6",
+    "category": "CounterTop",
+    "group": "CounterTop"
+  },
+  {
+    "id": "objects/Egg_10_7",
+    "category": "Egg",
+    "group": "Egg"
+  },
+  {
+    "id": "objects/Fridge_23_8",
+    "category": "Fridge",
+    "group": "Fridge"
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+  {
+    "id": "objects/Stool_2_3_9",
+    "category": "Stool",
+    "group": "Stool"
+  },
+  {
+    "id": "objects/Toilet_2_13",
+    "category": "Toilet",
+    "group": "Toilet"
+  },
+  {
+    "id": "objects/Box_24_19",
+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/Remote_2_20",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/Houseplant_8_21",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Dining_Table_227_1_22",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/Pencil_4_23",
+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
+    "id": "objects/Book_7_24",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/RoboTHOR_book_ai2_2_v_25",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
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+    "category": "Sofa",
+    "group": "Sofa"
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+  {
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+    "category": "ArmChair",
+    "group": "ArmChair"
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+  {
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+    "category": "ArmChair",
+    "group": "ArmChair"
+  },
+  {
+    "id": "objects/Floor_Lamp_2_29",
+    "category": "FloorLamp",
+    "group": "FloorLamp"
+  },
+  {
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+    "category": "ArmChair",
+    "group": "ArmChair"
+  },
+  {
+    "id": "objects/Floor_Lamp_18_31",
+    "category": "FloorLamp",
+    "group": "FloorLamp"
+  },
+  {
+    "id": "objects/Vase_Flat_5_56",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
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+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
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+    "category": "Pencil",
+    "group": "Pencil"
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+  {
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+    "category": "Pen",
+    "group": "Pen"
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+  {
+    "id": "objects/RoboTHOR_pen_signo_v_61",
+    "category": "Pen",
+    "group": "Pen"
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+  {
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+    "category": "Desk",
+    "group": "Desk"
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+  {
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+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_10_77",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_3_78",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_1_79",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_2_80",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_9_open_81",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorway_8_open_82",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorway_Double_2_85",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Slider_60x36_88",
+    "category": "Window",
+    "group": "Window"
+  },
+  {
+    "id": "objects/Window_Hung_32x60_89",
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diff --git a/benchmark/scenes/procthor_train_6554/ground_truth.json b/benchmark/scenes/procthor_train_6554/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..36f163ea84fdca6440209596e6827ed247a0720b
--- /dev/null
+++ b/benchmark/scenes/procthor_train_6554/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "scene_index": 7345,
+  "scene_builder": "ProcTHOR",
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+  "target_count": 40,
+  "loaded_object_count": 90,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/8/ProcTHOR-Train-6554.scene_instance.json",
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+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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+}
diff --git a/benchmark/scenes/procthor_train_7248/entity_library.json b/benchmark/scenes/procthor_train_7248/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9af683312bc78a11488af53618e8de760783329
--- /dev/null
+++ b/benchmark/scenes/procthor_train_7248/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/Box_22_0",
+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/Bed_8_1",
+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
+    "id": "objects/Mug_2_2",
+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
+    "id": "objects/Laptop_14_3",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/CreditCard_3_4",
+    "category": "CreditCard",
+    "group": "CreditCard"
+  },
+  {
+    "id": "objects/Desk_Lamp_4_5",
+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
+    "id": "objects/RoboTHOR_cellphone_blackberry_v_6",
+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
+    "id": "objects/Stone_Statue_3_7",
+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
+    "id": "objects/Vase_Tall_1_8",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/Pen_4_9",
+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
+    "id": "objects/Pen_3_10",
+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
+    "id": "objects/RoboTHOR_dining_table_extendable_11",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/Chair_313_1_12",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_313_1_13",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_pencil_amazon_basics_v_14",
+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
+    "id": "objects/RoboTHOR_remote_coolux_v_15",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/Chair_313_1_16",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_313_1_17",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_313_1_18",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
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+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
+    "id": "objects/Chair_313_1_20",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Desk_Lamp_2_21",
+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
+    "id": "objects/Houseplant_24_22",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Bowl_11_23",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/Tissue_Box_1_24",
+    "category": "TissueBox",
+    "group": "TissueBox"
+  },
+  {
+    "id": "objects/Dresser_319_2_25",
+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
+    "id": "objects/pillow_22_26",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/pillow_22_27",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/Cellphone_4_28",
+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
+    "id": "objects/Remote_2_29",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/Bed_30_30",
+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
+    "id": "objects/bin_21_38",
+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/pillow_6_87",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/Newspaper_5_88",
+    "category": "Newspaper",
+    "group": "Newspaper"
+  },
+  {
+    "id": "objects/Television_14_91",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_9_94",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_7_96",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_7_97",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_6_open_100",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorway_Double_2_open_102",
+    "category": "Doorway",
+    "group": "Doorway"
+  }
+]
diff --git a/benchmark/scenes/procthor_train_7248/ground_truth.json b/benchmark/scenes/procthor_train_7248/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e8d3028b4362da4b45156606abd1217dc7a00c3
--- /dev/null
+++ b/benchmark/scenes/procthor_train_7248/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ProcTHOR/ProcTHOR-Train-7248.scene_instance.json",
+  "scene_index": 4122,
+  "scene_builder": "ProcTHOR",
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+  "target_count": 40,
+  "loaded_object_count": 108,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/9/ProcTHOR-Train-7248.scene_instance.json",
+  "origin_world_m": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/procthor_train_734/entity_library.json b/benchmark/scenes/procthor_train_734/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6608edb79c3fa98b72bc1ac33ff75292d6a1243
--- /dev/null
+++ b/benchmark/scenes/procthor_train_734/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/procthor_train_734/ground_truth.json b/benchmark/scenes/procthor_train_734/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..619ba08e2e71aae06d53f821befa9f6b146f377f
--- /dev/null
+++ b/benchmark/scenes/procthor_train_734/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/procthor_train_7831/entity_library.json b/benchmark/scenes/procthor_train_7831/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..486b10f1e9b4334a02617cf39d60fe90ab0fb177
--- /dev/null
+++ b/benchmark/scenes/procthor_train_7831/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "Knife",
+    "group": "Knife"
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+  {
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+    "category": "SoapBottle",
+    "group": "SoapBottle"
+  },
+  {
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+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
+    "id": "objects/Houseplant_14_3",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Cup_4_4",
+    "category": "Cup",
+    "group": "Cup"
+  },
+  {
+    "id": "objects/Cup_6_5",
+    "category": "Cup",
+    "group": "Cup"
+  },
+  {
+    "id": "objects/Pencil_5_6",
+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
+    "id": "objects/Pot_18_7",
+    "category": "Pot",
+    "group": "Pot"
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+  {
+    "id": "objects/Dish_Sponge_1_8",
+    "category": "DishSponge",
+    "group": "DishSponge"
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+  {
+    "id": "objects/RoboTHOR_salt_pepper_shaker_bnyd_salt_v_9",
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+    "group": "SaltShaker"
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+  {
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+    "category": "Pan",
+    "group": "Pan"
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+  {
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+  {
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+  {
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+  {
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+  {
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+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_3V_73",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_8_77",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_2_78",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_3_79",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_8_open_81",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Fixed_60x48_85",
+    "category": "Window",
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diff --git a/benchmark/scenes/procthor_train_7831/ground_truth.json b/benchmark/scenes/procthor_train_7831/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..94240043504e82dbad1082f2f6f77d9d3037dfa6
--- /dev/null
+++ b/benchmark/scenes/procthor_train_7831/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ProcTHOR/ProcTHOR-Train-7831.scene_instance.json",
+  "scene_index": 4057,
+  "scene_builder": "ProcTHOR",
+  "target_radius_m": 5.334951926987055,
+  "target_count": 40,
+  "loaded_object_count": 86,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/9/ProcTHOR-Train-7831.scene_instance.json",
+  "origin_world_m": [
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+  "initial_camera_yaw_pitch_deg": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
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diff --git a/benchmark/scenes/procthor_train_8076/entity_library.json b/benchmark/scenes/procthor_train_8076/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..54cdfc0230be7ab9970c6976b2e0aab4c66890db
--- /dev/null
+++ b/benchmark/scenes/procthor_train_8076/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "RemoteControl",
+    "group": "RemoteControl"
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+  {
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+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/RoboTHOR_pen_signo_v_13",
+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
+    "id": "objects/RoboTHOR_dining_table_extendable_14",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/Chair_307_1_15",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_307_1_16",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Microwave_9_44",
+    "category": "Microwave",
+    "group": "Microwave"
+  },
+  {
+    "id": "objects/Ladle_2_52",
+    "category": "Ladle",
+    "group": "Ladle"
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+  {
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+    "category": "Kettle",
+    "group": "Kettle"
+  },
+  {
+    "id": "objects/Wine_Bottle_1_54",
+    "category": "WineBottle",
+    "group": "WineBottle"
+  },
+  {
+    "id": "objects/Houseplant_10_55",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
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+    "category": "Statue",
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+  {
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+    "category": "Book",
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+    "category": "Cup",
+    "group": "Cup"
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+  {
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+    "category": "Cup",
+    "group": "Cup"
+  },
+  {
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+    "category": "Bread",
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+  {
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+    "category": "Pan",
+    "group": "Pan"
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+  {
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+    "group": "Television"
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+  {
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+  {
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+  {
+    "id": "objects/Wall_Decor_Photo_3_90",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_3V_91",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_1V_93",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_7_94",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_Double_9_open_96",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
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+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
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diff --git a/benchmark/scenes/procthor_train_8076/ground_truth.json b/benchmark/scenes/procthor_train_8076/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..43b2b2c9c3049ce977a56697b136bf3b859a418e
--- /dev/null
+++ b/benchmark/scenes/procthor_train_8076/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "loaded_object_count": 103,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/a/ProcTHOR-Train-8076.scene_instance.json",
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+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/procthor_train_8739/entity_library.json b/benchmark/scenes/procthor_train_8739/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c3790ada6b33965b4acd1be7dc9e7ace77e992b
--- /dev/null
+++ b/benchmark/scenes/procthor_train_8739/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/pillow_20_1",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/Laptop_11_2",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Bed_30_3",
+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
+    "id": "objects/Cellphone_8_4",
+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
+    "id": "objects/Vase_Flat_5_5",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/Dresser_210_1_1_6",
+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
+    "id": "objects/Houseplant_7_7",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Desk_Lamp_3_8",
+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
+    "id": "objects/Pencil_4_9",
+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
+    "id": "objects/Keychain_3_10",
+    "category": "KeyChain",
+    "group": "KeyChain"
+  },
+  {
+    "id": "objects/RoboTHOR_mug_ai2_1_v_11",
+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
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+    "category": "Bowl",
+    "group": "Bowl"
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+  {
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+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Dining_Table_218_1_14",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/RoboTHOR_chair_norden_gateleg_15",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Armchair_205_1_2_16",
+    "category": "ArmChair",
+    "group": "ArmChair"
+  },
+  {
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+    "category": "FloorLamp",
+    "group": "FloorLamp"
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+  {
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+  {
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+    "category": "Spatula",
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+  {
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+    "category": "PaperTowelRoll",
+    "group": "PaperTowelRoll"
+  },
+  {
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+    "category": "Potato",
+    "group": "Potato"
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+  {
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+    "category": "SoapBottle",
+    "group": "SoapBottle"
+  },
+  {
+    "id": "objects/RoboTHOR_fork_ai2_v_27",
+    "category": "Fork",
+    "group": "Fork"
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+  {
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+    "category": "Fork",
+    "group": "Fork"
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+    "category": "CounterTop",
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+  {
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+    "group": "GarbageCan"
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+  {
+    "id": "objects/Houseplant_26_33",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Pot_19_34",
+    "category": "Pot",
+    "group": "Pot"
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+  {
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+    "category": "Potato",
+    "group": "Potato"
+  },
+  {
+    "id": "objects/Dining_Table_223_1_36",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_224_1_38",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Chair_224_1_39",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Remote_2_47",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/Television_27_52",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_6_55",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_Double_2_open_57",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorway_9_open_58",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Hung_44x60_61",
+    "category": "Window",
+    "group": "Window"
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diff --git a/benchmark/scenes/procthor_train_8739/ground_truth.json b/benchmark/scenes/procthor_train_8739/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..28e7d24b048554204f5c5c172e26c818c24bff67
--- /dev/null
+++ b/benchmark/scenes/procthor_train_8739/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/a/ProcTHOR-Train-8739.scene_instance.json",
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+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/procthor_train_9180/entity_library.json b/benchmark/scenes/procthor_train_9180/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..65fe54d82d20c9f15824d967935b153f6efbd7e0
--- /dev/null
+++ b/benchmark/scenes/procthor_train_9180/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/procthor_train_9180/ground_truth.json b/benchmark/scenes/procthor_train_9180/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..81e0f29a43368eac5e3bf472bb2b988f37d5b133
--- /dev/null
+++ b/benchmark/scenes/procthor_train_9180/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/procthor_train_945/entity_library.json b/benchmark/scenes/procthor_train_945/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..2866639584a7ac9b20082d50f143d3d45b339b2b
--- /dev/null
+++ b/benchmark/scenes/procthor_train_945/entity_library.json
@@ -0,0 +1,202 @@
+[
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diff --git a/benchmark/scenes/procthor_train_945/ground_truth.json b/benchmark/scenes/procthor_train_945/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb4270d0b653771f80d93580c4a8c4af3efa382
--- /dev/null
+++ b/benchmark/scenes/procthor_train_945/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/procthor_train_9525/entity_library.json b/benchmark/scenes/procthor_train_9525/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..2625321d4e94dc8a8b0339e1f44e7c62b7c16b36
--- /dev/null
+++ b/benchmark/scenes/procthor_train_9525/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "ToiletPaper",
+    "group": "ToiletPaper"
+  },
+  {
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+    "category": "Toilet",
+    "group": "Toilet"
+  },
+  {
+    "id": "objects/Bathroom_Faucet_14_22",
+    "category": "Faucet",
+    "group": "Faucet"
+  },
+  {
+    "id": "objects/Sink_19_23",
+    "category": "Sink",
+    "group": "Sink"
+  },
+  {
+    "id": "objects/bin_29_24",
+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/Plunger_3_25",
+    "category": "Plunger",
+    "group": "Plunger"
+  },
+  {
+    "id": "objects/Apple_14_26",
+    "category": "Apple",
+    "group": "Apple"
+  },
+  {
+    "id": "objects/Knife_2_27",
+    "category": "Knife",
+    "group": "Knife"
+  },
+  {
+    "id": "objects/Tomato_18_28",
+    "category": "Tomato",
+    "group": "Tomato"
+  },
+  {
+    "id": "objects/Mug_3_29",
+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
+    "id": "objects/coffee_machine_24_30",
+    "category": "CoffeeMachine",
+    "group": "CoffeeMachine"
+  },
+  {
+    "id": "objects/Vase_Open_1_31",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/Fertility_Statue_1_32",
+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
+    "id": "objects/Ladle_3_33",
+    "category": "Ladle",
+    "group": "Ladle"
+  },
+  {
+    "id": "objects/Potato_19_34",
+    "category": "Potato",
+    "group": "Potato"
+  },
+  {
+    "id": "objects/Spray_Bottle_4_35",
+    "category": "SprayBottle",
+    "group": "SprayBottle"
+  },
+  {
+    "id": "objects/CreditCard_4_36",
+    "category": "CreditCard",
+    "group": "CreditCard"
+  },
+  {
+    "id": "objects/RoboTHOR_cellphone_blackberry_v_37",
+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
+    "id": "objects/Spatula_1_38",
+    "category": "Spatula",
+    "group": "Spatula"
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+  {
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+    "category": "CounterTop",
+    "group": "CounterTop"
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+  {
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+    "category": "Egg",
+    "group": "Egg"
+  },
+  {
+    "id": "objects/Fridge_2_41",
+    "category": "Fridge",
+    "group": "Fridge"
+  },
+  {
+    "id": "objects/Houseplant_3_42",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/ButterKnife_1_43",
+    "category": "ButterKnife",
+    "group": "ButterKnife"
+  },
+  {
+    "id": "objects/Book_2_44",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Stone_Statue_1_45",
+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
+    "id": "objects/Knife_5_46",
+    "category": "Knife",
+    "group": "Knife"
+  },
+  {
+    "id": "objects/Bowl_27_47",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/Bottle_1_48",
+    "category": "Bottle",
+    "group": "Bottle"
+  },
+  {
+    "id": "objects/Kettle_1_49",
+    "category": "Kettle",
+    "group": "Kettle"
+  },
+  {
+    "id": "objects/Salt_Shaker_2_50",
+    "category": "SaltShaker",
+    "group": "SaltShaker"
+  },
+  {
+    "id": "objects/Spoon_1_51",
+    "category": "Spoon",
+    "group": "Spoon"
+  },
+  {
+    "id": "objects/Dining_Table_218_1_52",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/RoboTHOR_office_chair_jules_53",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_office_chair_jules_54",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_9_76",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_7_77",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_8_open_80",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Doorway_8_81",
+    "category": "Doorway",
+    "group": "Doorway"
+  },
+  {
+    "id": "objects/Window_Hung_48x24_86",
+    "category": "Window",
+    "group": "Window"
+  }
+]
diff --git a/benchmark/scenes/procthor_train_9525/ground_truth.json b/benchmark/scenes/procthor_train_9525/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a23785dce3e90d15f9a3f869cb1bea57aeea205
--- /dev/null
+++ b/benchmark/scenes/procthor_train_9525/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "ProcTHOR/ProcTHOR-Train-9525.scene_instance.json",
+  "scene_index": 3442,
+  "scene_builder": "ProcTHOR",
+  "target_radius_m": 5.070980252192854,
+  "target_count": 40,
+  "loaded_object_count": 87,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/ProcTHOR/b/ProcTHOR-Train-9525.scene_instance.json",
+  "origin_world_m": [
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+  "initial_camera_yaw_pitch_deg": [
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+  "camera_to_world_rotation": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
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diff --git a/benchmark/scenes/procthor_val_228/entity_library.json b/benchmark/scenes/procthor_val_228/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3cc0d6da95214f2c692296de287c22b128de793
--- /dev/null
+++ b/benchmark/scenes/procthor_val_228/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "Dresser",
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+  {
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+    "category": "HousePlant",
+    "group": "HousePlant"
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+  {
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+    "category": "GarbageCan",
+    "group": "GarbageCan"
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+  {
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+    "category": "Bowl",
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+  {
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+    "category": "Pencil",
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+  },
+  {
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+    "category": "DiningTable",
+    "group": "DiningTable"
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+  {
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+  {
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+  {
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+    "group": "SaltShaker"
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+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Television_16_49",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_5_54",
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+    "group": "Painting"
+  },
+  {
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+  {
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+  {
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diff --git a/benchmark/scenes/procthor_val_228/ground_truth.json b/benchmark/scenes/procthor_val_228/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..946dcd03f2004e7ccc74f19bcbb0082dadf35199
--- /dev/null
+++ b/benchmark/scenes/procthor_val_228/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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diff --git a/benchmark/scenes/procthor_val_443/entity_library.json b/benchmark/scenes/procthor_val_443/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..eda3614e313a2b58af16ab124b1e543d44757b76
--- /dev/null
+++ b/benchmark/scenes/procthor_val_443/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "Statue",
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+  {
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+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/RoboTHOR_book_ai2_6_v_7",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Remote_1_8",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
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+  {
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+    "category": "Laptop",
+    "group": "Laptop"
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+  {
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+    "category": "Pen",
+    "group": "Pen"
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+  {
+    "id": "objects/Dresser_220_1_12",
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+  {
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+    "category": "BaseballBat",
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+  {
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+  {
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+    "category": "TVStand",
+    "group": "TVStand"
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+  {
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+    "category": "Box",
+    "group": "Box"
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+  {
+    "id": "objects/Wall_Decor_Painting_2_82",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_4_84",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Doorway_Double_3_open_86",
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+  {
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diff --git a/benchmark/scenes/procthor_val_443/ground_truth.json b/benchmark/scenes/procthor_val_443/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..046a1d7a1850df94eaa290c967e40f3c7bb18b53
--- /dev/null
+++ b/benchmark/scenes/procthor_val_443/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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diff --git a/benchmark/scenes/procthor_val_548/entity_library.json b/benchmark/scenes/procthor_val_548/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c8ffd722444e23239e980bba308220cfc550fdb
--- /dev/null
+++ b/benchmark/scenes/procthor_val_548/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/procthor_val_548/ground_truth.json b/benchmark/scenes/procthor_val_548/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..683a5b4907c6465a3ed8584b5861d1af73f71dc9
--- /dev/null
+++ b/benchmark/scenes/procthor_val_548/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/replicacad_apt_0/entity_library.json b/benchmark/scenes/replicacad_apt_0/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..82984515e234d36dc95ef07d5682dfc5906e5171
--- /dev/null
+++ b/benchmark/scenes/replicacad_apt_0/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "indoor_plant_02",
+    "group": "indoor_plant"
+  },
+  {
+    "id": "objects/frl_apartment_rug_01-17",
+    "category": "rug_01",
+    "group": "rug"
+  },
+  {
+    "id": "objects/frl_apartment_wall_cabinet_02-30",
+    "category": "wall_cabinet_02",
+    "group": "wall_cabinet"
+  },
+  {
+    "id": "objects/frl_apartment_picture_04-31",
+    "category": "picture_04",
+    "group": "picture"
+  },
+  {
+    "id": "objects/frl_apartment_book_02-32",
+    "category": "book_02",
+    "group": "book"
+  },
+  {
+    "id": "objects/frl_apartment_book_03-33",
+    "category": "book_03",
+    "group": "book"
+  },
+  {
+    "id": "objects/frl_apartment_book_06-35",
+    "category": "book_06",
+    "group": "book"
+  },
+  {
+    "id": "objects/frl_apartment_book_01-37",
+    "category": "book_01",
+    "group": "book"
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+  {
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+    "category": "book_05",
+    "group": "book"
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+  {
+    "id": "objects/frl_apartment_book_01-39",
+    "category": "book_01",
+    "group": "book"
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+  {
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+    "category": "book_01",
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+  {
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+  {
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+    "group": "book"
+  },
+  {
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+    "category": "book_06",
+    "group": "book"
+  },
+  {
+    "id": "objects/frl_apartment_table_02-49",
+    "category": "table_02",
+    "group": "table"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_07-50",
+    "category": "bowl_07",
+    "group": "bowl"
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+  {
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+    "category": "kitchen_utensil_05",
+    "group": "kitchen_utensil"
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+    "group": "kitchen_utensil"
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+    "category": "choppingboard_02",
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+  {
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+    "category": "monitor",
+    "group": "monitor"
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+    "category": "camera_02",
+    "group": "camera"
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+  {
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+    "category": "plate_01",
+    "group": "plate"
+  },
+  {
+    "id": "objects/frl_apartment_cup_03-63",
+    "category": "cup_03",
+    "group": "cup"
+  },
+  {
+    "id": "objects/frl_apartment_cup_01-64",
+    "category": "cup_01",
+    "group": "cup"
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+  {
+    "id": "objects/frl_apartment_plate_02-65",
+    "category": "plate_02",
+    "group": "plate"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_06-66",
+    "category": "bowl_06",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_cup_02-67",
+    "category": "cup_02",
+    "group": "cup"
+  },
+  {
+    "id": "objects/frl_apartment_sponge_dish-68",
+    "category": "sponge_dish",
+    "group": "sponge_dish"
+  },
+  {
+    "id": "objects/frl_apartment_kitchen_utensil_02-69",
+    "category": "kitchen_utensil_02",
+    "group": "kitchen_utensil"
+  },
+  {
+    "id": "objects/frl_apartment_small_appliance_01-70",
+    "category": "small_appliance_01",
+    "group": "small_appliance"
+  },
+  {
+    "id": "objects/frl_apartment_setupbox-87",
+    "category": "setupbox",
+    "group": "setupbox"
+  },
+  {
+    "id": "objects/frl_apartment_lamp_02-101",
+    "category": "lamp_02",
+    "group": "lamp"
+  },
+  {
+    "id": "objects/frl_apartment_lamp_02-102",
+    "category": "lamp_02",
+    "group": "lamp"
+  },
+  {
+    "id": "objects/frl_apartment_monitor_stand-106",
+    "category": "monitor_stand",
+    "group": "monitor_stand"
+  },
+  {
+    "id": "fridge-0",
+    "category": "fridge",
+    "group": "fridge"
+  },
+  {
+    "id": "kitchen_counter-0",
+    "category": "kitchen_counter",
+    "group": "kitchen_counter"
+  },
+  {
+    "id": "cabinet-0",
+    "category": "cabinet",
+    "group": "cabinet"
+  }
+]
diff --git a/benchmark/scenes/replicacad_apt_0/ground_truth.json b/benchmark/scenes/replicacad_apt_0/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..751505b66bd0139b7377fa7d5a46a718c0a850db
--- /dev/null
+++ b/benchmark/scenes/replicacad_apt_0/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "apt_0.scene_instance.json",
+  "scene_index": 0,
+  "scene_builder": "ReplicaCAD",
+  "target_radius_m": 3.0770226079824092,
+  "target_count": 40,
+  "loaded_object_count": 118,
+  "source_file": "assets/scene_datasets/replica_cad_dataset/configs/scenes/apt_0.scene_instance.json",
+  "origin_world_m": [
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+    -2.413,
+    1.45
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+  "initial_camera_yaw_pitch_deg": [
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+  "camera_to_world_rotation": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
+    {
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+}
diff --git a/benchmark/scenes/replicacad_apt_1/entity_library.json b/benchmark/scenes/replicacad_apt_1/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..81aed38fdefdd30372af812ceefda4d38ffc2574
--- /dev/null
+++ b/benchmark/scenes/replicacad_apt_1/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/frl_apartment_chair_05-4",
+    "category": "chair_05",
+    "group": "chair"
+  },
+  {
+    "id": "objects/frl_apartment_vase_01-7",
+    "category": "vase_01",
+    "group": "vase"
+  },
+  {
+    "id": "objects/frl_apartment_table_02-8",
+    "category": "table_02",
+    "group": "table"
+  },
+  {
+    "id": "objects/frl_apartment_mat-21",
+    "category": "mat",
+    "group": "mat"
+  },
+  {
+    "id": "objects/frl_apartment_vase_02-22",
+    "category": "vase_02",
+    "group": "vase"
+  },
+  {
+    "id": "objects/frl_apartment_indoor_plant_02-24",
+    "category": "indoor_plant_02",
+    "group": "indoor_plant"
+  },
+  {
+    "id": "objects/frl_apartment_pan_01-33",
+    "category": "pan_01",
+    "group": "pan"
+  },
+  {
+    "id": "objects/frl_apartment_kitchen_utensil_05-34",
+    "category": "kitchen_utensil_05",
+    "group": "kitchen_utensil"
+  },
+  {
+    "id": "objects/frl_apartment_plate_02-35",
+    "category": "plate_02",
+    "group": "plate"
+  },
+  {
+    "id": "objects/frl_apartment_kitchen_utensil_01-38",
+    "category": "kitchen_utensil_01",
+    "group": "kitchen_utensil"
+  },
+  {
+    "id": "objects/frl_apartment_kitchen_utensil_02-39",
+    "category": "kitchen_utensil_02",
+    "group": "kitchen_utensil"
+  },
+  {
+    "id": "objects/frl_apartment_small_appliance_01-43",
+    "category": "small_appliance_01",
+    "group": "small_appliance"
+  },
+  {
+    "id": "objects/frl_apartment_bike_01-49",
+    "category": "bike_01",
+    "group": "bike"
+  },
+  {
+    "id": "objects/frl_apartment_setupbox-53",
+    "category": "setupbox",
+    "group": "setupbox"
+  },
+  {
+    "id": "objects/frl_apartment_monitor-55",
+    "category": "monitor",
+    "group": "monitor"
+  },
+  {
+    "id": "objects/frl_apartment_plate_01-61",
+    "category": "plate_01",
+    "group": "plate"
+  },
+  {
+    "id": "objects/frl_apartment_towel-63",
+    "category": "towel",
+    "group": "towel"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_01-64",
+    "category": "bowl_01",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_02-65",
+    "category": "bowl_02",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_03-66",
+    "category": "bowl_03",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_picture_03-67",
+    "category": "picture_03",
+    "group": "picture"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_07-69",
+    "category": "bowl_07",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_cup_01-70",
+    "category": "cup_01",
+    "group": "cup"
+  },
+  {
+    "id": "objects/frl_apartment_cup_03-71",
+    "category": "cup_03",
+    "group": "cup"
+  },
+  {
+    "id": "objects/frl_apartment_cup_02-73",
+    "category": "cup_02",
+    "group": "cup"
+  },
+  {
+    "id": "objects/frl_apartment_beanbag-75",
+    "category": "beanbag",
+    "group": "beanbag"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_06-76",
+    "category": "bowl_06",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_camera_02-78",
+    "category": "camera_02",
+    "group": "camera"
+  },
+  {
+    "id": "objects/frl_apartment_kitchen_utensil_04-79",
+    "category": "kitchen_utensil_04",
+    "group": "kitchen_utensil"
+  },
+  {
+    "id": "objects/frl_apartment_chair_01-101",
+    "category": "chair_01",
+    "group": "chair"
+  },
+  {
+    "id": "objects/frl_apartment_chair_05-104",
+    "category": "chair_05",
+    "group": "chair"
+  },
+  {
+    "id": "objects/frl_apartment_choppingboard_02-105",
+    "category": "choppingboard_02",
+    "group": "choppingboard"
+  },
+  {
+    "id": "objects/frl_apartment_monitor_stand-106",
+    "category": "monitor_stand",
+    "group": "monitor_stand"
+  },
+  {
+    "id": "objects/frl_apartment_sponge_dish-107",
+    "category": "sponge_dish",
+    "group": "sponge_dish"
+  },
+  {
+    "id": "objects/frl_apartment_lamp_02-108",
+    "category": "lamp_02",
+    "group": "lamp"
+  },
+  {
+    "id": "objects/frl_apartment_kitchen_utensil_03-113",
+    "category": "kitchen_utensil_03",
+    "group": "kitchen_utensil"
+  },
+  {
+    "id": "objects/frl_apartment_kitchen_utensil_03-114",
+    "category": "kitchen_utensil_03",
+    "group": "kitchen_utensil"
+  },
+  {
+    "id": "fridge-0",
+    "category": "fridge",
+    "group": "fridge"
+  },
+  {
+    "id": "kitchen_counter-0",
+    "category": "kitchen_counter",
+    "group": "kitchen_counter"
+  },
+  {
+    "id": "kitchenCupboard_01-0",
+    "category": "kitchenCupboard_01",
+    "group": "kitchenCupboard"
+  }
+]
diff --git a/benchmark/scenes/replicacad_apt_1/ground_truth.json b/benchmark/scenes/replicacad_apt_1/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..55df5921184ab966da17294c93aa7c00376b3e6e
--- /dev/null
+++ b/benchmark/scenes/replicacad_apt_1/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "apt_1.scene_instance.json",
+  "scene_index": 1,
+  "scene_builder": "ReplicaCAD",
+  "target_radius_m": 3.1380196607368664,
+  "target_count": 40,
+  "loaded_object_count": 125,
+  "source_file": "assets/scene_datasets/replica_cad_dataset/configs/scenes/apt_1.scene_instance.json",
+  "origin_world_m": [
+    0.448,
+    -2.023,
+    1.45
+  ],
+  "initial_camera_yaw_pitch_deg": [
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+    -12
+  ],
+  "camera_to_world_rotation": [
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+  ],
+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
+    {
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+      "category": "chair_05",
+      "group": "chair",
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+    {
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+}
diff --git a/benchmark/scenes/replicacad_apt_2/entity_library.json b/benchmark/scenes/replicacad_apt_2/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d03c8524e25caa19dd2995f361218d35283b6c1
--- /dev/null
+++ b/benchmark/scenes/replicacad_apt_2/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/frl_apartment_box-3",
+    "category": "box",
+    "group": "box"
+  },
+  {
+    "id": "objects/frl_apartment_table_02-5",
+    "category": "table_02",
+    "group": "table"
+  },
+  {
+    "id": "objects/frl_apartment_table_04-6",
+    "category": "table_04",
+    "group": "table"
+  },
+  {
+    "id": "objects/frl_apartment_chair_01-14",
+    "category": "chair_01",
+    "group": "chair"
+  },
+  {
+    "id": "objects/frl_apartment_mat-17",
+    "category": "mat",
+    "group": "mat"
+  },
+  {
+    "id": "objects/frl_apartment_clock-18",
+    "category": "clock",
+    "group": "clock"
+  },
+  {
+    "id": "objects/frl_apartment_indoor_plant_02-19",
+    "category": "indoor_plant_02",
+    "group": "indoor_plant"
+  },
+  {
+    "id": "objects/frl_apartment_cushion_01-27",
+    "category": "cushion_01",
+    "group": "cushion"
+  },
+  {
+    "id": "objects/frl_apartment_pan_01-28",
+    "category": "pan_01",
+    "group": "pan"
+  },
+  {
+    "id": "objects/frl_apartment_kitchen_utensil_05-29",
+    "category": "kitchen_utensil_05",
+    "group": "kitchen_utensil"
+  },
+  {
+    "id": "objects/frl_apartment_kitchen_utensil_01-30",
+    "category": "kitchen_utensil_01",
+    "group": "kitchen_utensil"
+  },
+  {
+    "id": "objects/frl_apartment_bike_02-38",
+    "category": "bike_02",
+    "group": "bike"
+  },
+  {
+    "id": "objects/frl_apartment_setupbox-42",
+    "category": "setupbox",
+    "group": "setupbox"
+  },
+  {
+    "id": "objects/frl_apartment_wall_cabinet_01-44",
+    "category": "wall_cabinet_01",
+    "group": "wall_cabinet"
+  },
+  {
+    "id": "objects/frl_apartment_monitor-46",
+    "category": "monitor",
+    "group": "monitor"
+  },
+  {
+    "id": "objects/frl_apartment_towel-50",
+    "category": "towel",
+    "group": "towel"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_07-51",
+    "category": "bowl_07",
+    "group": "bowl"
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+    "category": "book_04",
+    "group": "book"
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+  {
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+    "category": "book_01",
+    "group": "book"
+  },
+  {
+    "id": "objects/frl_apartment_book_04-72",
+    "category": "book_04",
+    "group": "book"
+  },
+  {
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+    "category": "chair_01",
+    "group": "chair"
+  },
+  {
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+    "category": "choppingboard_02",
+    "group": "choppingboard"
+  },
+  {
+    "id": "objects/frl_apartment_monitor_stand-78",
+    "category": "monitor_stand",
+    "group": "monitor_stand"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_02-82",
+    "category": "bowl_02",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_03-83",
+    "category": "bowl_03",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_06-84",
+    "category": "bowl_06",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_cup_01-86",
+    "category": "cup_01",
+    "group": "cup"
+  },
+  {
+    "id": "objects/frl_apartment_cup_02-87",
+    "category": "cup_02",
+    "group": "cup"
+  },
+  {
+    "id": "objects/frl_apartment_cup_03-88",
+    "category": "cup_03",
+    "group": "cup"
+  },
+  {
+    "id": "objects/frl_apartment_plate_01-107",
+    "category": "plate_01",
+    "group": "plate"
+  },
+  {
+    "id": "objects/frl_apartment_plate_02-108",
+    "category": "plate_02",
+    "group": "plate"
+  },
+  {
+    "id": "objects/frl_apartment_small_appliance_01-109",
+    "category": "small_appliance_01",
+    "group": "small_appliance"
+  },
+  {
+    "id": "objects/frl_apartment_sponge_dish-111",
+    "category": "sponge_dish",
+    "group": "sponge_dish"
+  },
+  {
+    "id": "objects/frl_apartment_vase_01-112",
+    "category": "vase_01",
+    "group": "vase"
+  },
+  {
+    "id": "objects/frl_apartment_vase_02-113",
+    "category": "vase_02",
+    "group": "vase"
+  },
+  {
+    "id": "objects/frl_apartment_chair_05-114",
+    "category": "chair_05",
+    "group": "chair"
+  },
+  {
+    "id": "objects/frl_apartment_chair_05-115",
+    "category": "chair_05",
+    "group": "chair"
+  },
+  {
+    "id": "kitchen_counter-0",
+    "category": "kitchen_counter",
+    "group": "kitchen_counter"
+  },
+  {
+    "id": "kitchenCupboard_01-0",
+    "category": "kitchenCupboard_01",
+    "group": "kitchenCupboard"
+  }
+]
diff --git a/benchmark/scenes/replicacad_apt_2/ground_truth.json b/benchmark/scenes/replicacad_apt_2/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..afc4faf9d9a80c6d85a9f9f076ca0e5370b2838b
--- /dev/null
+++ b/benchmark/scenes/replicacad_apt_2/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "apt_2.scene_instance.json",
+  "scene_index": 2,
+  "scene_builder": "ReplicaCAD",
+  "target_radius_m": 2.871340299831366,
+  "target_count": 40,
+  "loaded_object_count": 124,
+  "source_file": "assets/scene_datasets/replica_cad_dataset/configs/scenes/apt_2.scene_instance.json",
+  "origin_world_m": [
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+    -1.883,
+    1.45
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+  "initial_camera_yaw_pitch_deg": [
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+  "camera_to_world_rotation": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
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+    },
+    {
+      "id": "kitchenCupboard_01-0",
+      "category": "kitchenCupboard_01",
+      "group": "kitchenCupboard",
+      "xyz_m": [
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+        1.465882332677857,
+        1.0712457217797946
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+      "center_world_m": [
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+    }
+  ]
+}
diff --git a/benchmark/scenes/replicacad_apt_3/entity_library.json b/benchmark/scenes/replicacad_apt_3/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..be728aa8f394f1cd46b479fdc6c3f67590137dba
--- /dev/null
+++ b/benchmark/scenes/replicacad_apt_3/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/frl_apartment_umbrella-0",
+    "category": "umbrella",
+    "group": "umbrella"
+  },
+  {
+    "id": "objects/frl_apartment_lamp_01-3",
+    "category": "lamp_01",
+    "group": "lamp"
+  },
+  {
+    "id": "objects/frl_apartment_table_03-8",
+    "category": "table_03",
+    "group": "table"
+  },
+  {
+    "id": "objects/frl_apartment_table_01-9",
+    "category": "table_01",
+    "group": "table"
+  },
+  {
+    "id": "objects/frl_apartment_chair_01-10",
+    "category": "chair_01",
+    "group": "chair"
+  },
+  {
+    "id": "objects/frl_apartment_rug_01-13",
+    "category": "rug_01",
+    "group": "rug"
+  },
+  {
+    "id": "objects/frl_apartment_mat-14",
+    "category": "mat",
+    "group": "mat"
+  },
+  {
+    "id": "objects/frl_apartment_cushion_01-15",
+    "category": "cushion_01",
+    "group": "cushion"
+  },
+  {
+    "id": "objects/frl_apartment_stool_02-29",
+    "category": "stool_02",
+    "group": "stool"
+  },
+  {
+    "id": "objects/frl_apartment_towel-30",
+    "category": "towel",
+    "group": "towel"
+  },
+  {
+    "id": "objects/frl_apartment_chair_04-33",
+    "category": "chair_04",
+    "group": "chair"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_06-39",
+    "category": "bowl_06",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_cup_01-41",
+    "category": "cup_01",
+    "group": "cup"
+  },
+  {
+    "id": "objects/frl_apartment_cup_02-42",
+    "category": "cup_02",
+    "group": "cup"
+  },
+  {
+    "id": "objects/frl_apartment_cup_03-43",
+    "category": "cup_03",
+    "group": "cup"
+  },
+  {
+    "id": "objects/frl_apartment_plate_01-61",
+    "category": "plate_01",
+    "group": "plate"
+  },
+  {
+    "id": "objects/frl_apartment_plate_02-62",
+    "category": "plate_02",
+    "group": "plate"
+  },
+  {
+    "id": "objects/frl_apartment_small_appliance_01-63",
+    "category": "small_appliance_01",
+    "group": "small_appliance"
+  },
+  {
+    "id": "objects/frl_apartment_vase_01-66",
+    "category": "vase_01",
+    "group": "vase"
+  },
+  {
+    "id": "objects/frl_apartment_camera_02-70",
+    "category": "camera_02",
+    "group": "camera"
+  },
+  {
+    "id": "objects/frl_apartment_monitor-71",
+    "category": "monitor",
+    "group": "monitor"
+  },
+  {
+    "id": "objects/frl_apartment_monitor_stand-72",
+    "category": "monitor_stand",
+    "group": "monitor_stand"
+  },
+  {
+    "id": "objects/frl_apartment_setupbox-73",
+    "category": "setupbox",
+    "group": "setupbox"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_07-96",
+    "category": "bowl_07",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_chair_05-97",
+    "category": "chair_05",
+    "group": "chair"
+  },
+  {
+    "id": "objects/frl_apartment_chair_05-98",
+    "category": "chair_05",
+    "group": "chair"
+  },
+  {
+    "id": "objects/frl_apartment_choppingboard_02-99",
+    "category": "choppingboard_02",
+    "group": "choppingboard"
+  },
+  {
+    "id": "objects/frl_apartment_kitchen_utensil_01-100",
+    "category": "kitchen_utensil_01",
+    "group": "kitchen_utensil"
+  },
+  {
+    "id": "objects/frl_apartment_kitchen_utensil_05-101",
+    "category": "kitchen_utensil_05",
+    "group": "kitchen_utensil"
+  },
+  {
+    "id": "objects/frl_apartment_pan_01-102",
+    "category": "pan_01",
+    "group": "pan"
+  },
+  {
+    "id": "objects/frl_apartment_table_02-103",
+    "category": "table_02",
+    "group": "table"
+  },
+  {
+    "id": "objects/frl_apartment_chair_04-104",
+    "category": "chair_04",
+    "group": "chair"
+  },
+  {
+    "id": "objects/frl_apartment_book_01-105",
+    "category": "book_01",
+    "group": "book"
+  },
+  {
+    "id": "objects/frl_apartment_book_04-106",
+    "category": "book_04",
+    "group": "book"
+  },
+  {
+    "id": "objects/frl_apartment_book_04-107",
+    "category": "book_04",
+    "group": "book"
+  },
+  {
+    "id": "objects/frl_apartment_box-108",
+    "category": "box",
+    "group": "box"
+  },
+  {
+    "id": "objects/frl_apartment_clock-109",
+    "category": "clock",
+    "group": "clock"
+  },
+  {
+    "id": "objects/frl_apartment_wall_cabinet_01-110",
+    "category": "wall_cabinet_01",
+    "group": "wall_cabinet"
+  },
+  {
+    "id": "objects/frl_apartment_indoor_plant_02-112",
+    "category": "indoor_plant_02",
+    "group": "indoor_plant"
+  },
+  {
+    "id": "objects/frl_apartment_cushion_03-114",
+    "category": "cushion_03",
+    "group": "cushion"
+  }
+]
diff --git a/benchmark/scenes/replicacad_apt_3/ground_truth.json b/benchmark/scenes/replicacad_apt_3/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..affb228576eae9552c16fec4d8a60faa090dcfb8
--- /dev/null
+++ b/benchmark/scenes/replicacad_apt_3/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "apt_3.scene_instance.json",
+  "scene_index": 3,
+  "scene_builder": "ReplicaCAD",
+  "target_radius_m": 3.3743983454541753,
+  "target_count": 40,
+  "loaded_object_count": 123,
+  "source_file": "assets/scene_datasets/replica_cad_dataset/configs/scenes/apt_3.scene_instance.json",
+  "origin_world_m": [
+    1.049,
+    -2.032,
+    1.45
+  ],
+  "initial_camera_yaw_pitch_deg": [
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+    -12
+  ],
+  "camera_to_world_rotation": [
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+  ],
+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
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+      "category": "umbrella",
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+}
diff --git a/benchmark/scenes/replicacad_apt_4/entity_library.json b/benchmark/scenes/replicacad_apt_4/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..588191866e86595c8e86f25f4c15be8268ff9a3f
--- /dev/null
+++ b/benchmark/scenes/replicacad_apt_4/entity_library.json
@@ -0,0 +1,202 @@
+[
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diff --git a/benchmark/scenes/replicacad_apt_4/ground_truth.json b/benchmark/scenes/replicacad_apt_4/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..059f0f239b78e1ff16d9bf08b1697eae866a23cf
--- /dev/null
+++ b/benchmark/scenes/replicacad_apt_4/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+}
diff --git a/benchmark/scenes/replicacad_apt_5/entity_library.json b/benchmark/scenes/replicacad_apt_5/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa9af96bcffc3374f192b4b479bd7fc68fcb2213
--- /dev/null
+++ b/benchmark/scenes/replicacad_apt_5/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "group": "bin"
+  },
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+    "category": "table_04",
+    "group": "table"
+  },
+  {
+    "id": "objects/frl_apartment_indoor_plant_02-12",
+    "category": "indoor_plant_02",
+    "group": "indoor_plant"
+  },
+  {
+    "id": "objects/frl_apartment_bike_01-15",
+    "category": "bike_01",
+    "group": "bike"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_01-28",
+    "category": "bowl_01",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_02-29",
+    "category": "bowl_02",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_03-30",
+    "category": "bowl_03",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_bowl_06-31",
+    "category": "bowl_06",
+    "group": "bowl"
+  },
+  {
+    "id": "objects/frl_apartment_cup_01-33",
+    "category": "cup_01",
+    "group": "cup"
+  },
+  {
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+    "category": "cup_02",
+    "group": "cup"
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+  {
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+    "category": "cup_03",
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+  {
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+    "group": "kitchen_utensil"
+  },
+  {
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+    "category": "kitchen_utensil_03",
+    "group": "kitchen_utensil"
+  },
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+    "category": "kitchen_utensil_03",
+    "group": "kitchen_utensil"
+  },
+  {
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+    "category": "kitchen_utensil_04",
+    "group": "kitchen_utensil"
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+    "group": "plate"
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+    "group": "small_appliance"
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+    "group": "sponge_dish"
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+    "group": "vase"
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+    "category": "vase_02",
+    "group": "vase"
+  },
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+  {
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+    "category": "book_04",
+    "group": "book"
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+  {
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+  },
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+    "id": "objects/frl_apartment_wall_cabinet_01-66",
+    "category": "wall_cabinet_01",
+    "group": "wall_cabinet"
+  },
+  {
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+    "category": "mat",
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+  },
+  {
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+    "category": "cushion_03",
+    "group": "cushion"
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+    "category": "camera_02",
+    "group": "camera"
+  },
+  {
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+    "category": "monitor",
+    "group": "monitor"
+  },
+  {
+    "id": "objects/frl_apartment_monitor_stand-100",
+    "category": "monitor_stand",
+    "group": "monitor_stand"
+  },
+  {
+    "id": "objects/frl_apartment_setupbox-101",
+    "category": "setupbox",
+    "group": "setupbox"
+  },
+  {
+    "id": "objects/frl_apartment_chair_05-105",
+    "category": "chair_05",
+    "group": "chair"
+  },
+  {
+    "id": "objects/frl_apartment_chair_05-106",
+    "category": "chair_05",
+    "group": "chair"
+  },
+  {
+    "id": "objects/frl_apartment_table_02-107",
+    "category": "table_02",
+    "group": "table"
+  },
+  {
+    "id": "fridge-0",
+    "category": "fridge",
+    "group": "fridge"
+  },
+  {
+    "id": "kitchen_counter-0",
+    "category": "kitchen_counter",
+    "group": "kitchen_counter"
+  },
+  {
+    "id": "kitchenCupboard_01-0",
+    "category": "kitchenCupboard_01",
+    "group": "kitchenCupboard"
+  },
+  {
+    "id": "cabinet-0",
+    "category": "cabinet",
+    "group": "cabinet"
+  }
+]
diff --git a/benchmark/scenes/replicacad_apt_5/ground_truth.json b/benchmark/scenes/replicacad_apt_5/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..bac6aab26051c8998580ef381c17ec9aef8043a5
--- /dev/null
+++ b/benchmark/scenes/replicacad_apt_5/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "apt_5.scene_instance.json",
+  "scene_index": 5,
+  "scene_builder": "ReplicaCAD",
+  "target_radius_m": 3.09473198203609,
+  "target_count": 40,
+  "loaded_object_count": 118,
+  "source_file": "assets/scene_datasets/replica_cad_dataset/configs/scenes/apt_5.scene_instance.json",
+  "origin_world_m": [
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+  "initial_camera_yaw_pitch_deg": [
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+  "camera_to_world_rotation": [
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diff --git a/benchmark/scenes/robothor_train12_5/entity_library.json b/benchmark/scenes/robothor_train12_5/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..a52d9dee9744b415991d4676898cefc47be85b33
--- /dev/null
+++ b/benchmark/scenes/robothor_train12_5/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/Side_Table_209_2_1_0",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_10_1",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Side_Table_213_3_1_2",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/RoboTHOR_desk_lillasen_3",
+    "category": "Desk",
+    "group": "Desk"
+  },
+  {
+    "id": "objects/Book_29_4",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Book_16_5",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Plate_10_6",
+    "category": "Plate",
+    "group": "Plate"
+  },
+  {
+    "id": "objects/Basketball_1_7",
+    "category": "BasketBall",
+    "group": "BasketBall"
+  },
+  {
+    "id": "objects/RoboTHOR_bed_kritter_8",
+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
+    "id": "objects/Floor_Lamp_21_9",
+    "category": "FloorLamp",
+    "group": "FloorLamp"
+  },
+  {
+    "id": "objects/DecorativeBox4_10",
+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/RoboTHOR_armchair_tullsta_11",
+    "category": "ArmChair",
+    "group": "ArmChair"
+  },
+  {
+    "id": "objects/Alarm_Clock_30_12",
+    "category": "AlarmClock",
+    "group": "AlarmClock"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_8_13",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_8_14",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Side_Table_209_2_1_15",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/bin_30_16",
+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/Side_Table_209_2_1_17",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_1_18",
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+  },
+  {
+    "id": "objects/Television_30_19",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Apple_30_20",
+    "category": "Apple",
+    "group": "Apple"
+  },
+  {
+    "id": "objects/pillow_30_21",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/Book_20_22",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/RoboTHOR_side_table_strind_23",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/BaseballBat_4_24",
+    "category": "BaseballBat",
+    "group": "BaseballBat"
+  },
+  {
+    "id": "objects/RoboTHOR_side_table_strind_25",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Side_Table_209_1_1_26",
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+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Spray_Bottle_4_27",
+    "category": "SprayBottle",
+    "group": "SprayBottle"
+  },
+  {
+    "id": "objects/Remote_3_28",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/Desk_Lamp_8_29",
+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
+    "id": "objects/Cup_23_30",
+    "category": "Cup",
+    "group": "Cup"
+  },
+  {
+    "id": "objects/Laptop_30_31",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Side_Table_213_3_1_32",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Mug_3_34",
+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
+    "id": "objects/Pen_2_35",
+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
+    "id": "objects/Pencil_3_36",
+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
+    "id": "objects/Houseplant_30_37",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Tennis_Racquet_2_38",
+    "category": "TennisRacket",
+    "group": "TennisRacket"
+  },
+  {
+    "id": "objects/Bottle_1_39",
+    "category": "Bottle",
+    "group": "Bottle"
+  },
+  {
+    "id": "objects/Book_9_40",
+    "category": "Book",
+    "group": "Book"
+  }
+]
diff --git a/benchmark/scenes/robothor_train12_5/ground_truth.json b/benchmark/scenes/robothor_train12_5/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..48b81dc8ec50d888fc52ce1fccbd10aad0b5a614
--- /dev/null
+++ b/benchmark/scenes/robothor_train12_5/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "RoboTHOR/FloorPlan_Train12_5.scene_instance.json",
+  "scene_index": 9,
+  "scene_builder": "RoboTHOR",
+  "target_radius_m": 7.359753390328318,
+  "target_count": 40,
+  "loaded_object_count": 42,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/RoboTHOR/FloorPlan_Train12_5.scene_instance.json",
+  "origin_world_m": [
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+  "initial_camera_yaw_pitch_deg": [
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+  "camera_to_world_rotation": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
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diff --git a/benchmark/scenes/robothor_train1_4/entity_library.json b/benchmark/scenes/robothor_train1_4/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..d240cf0ab87b3a0cf63b2fc1cd29188a87ac1863
--- /dev/null
+++ b/benchmark/scenes/robothor_train1_4/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/RoboTHOR_desk_lisabo_1",
+    "category": "Desk",
+    "group": "Desk"
+  },
+  {
+    "id": "objects/Armchair_208_3_2",
+    "category": "ArmChair",
+    "group": "ArmChair"
+  },
+  {
+    "id": "objects/Side_Table_209_1_Master_3",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Bowl_14_4",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/RoboTHOR_desk_norrasen_5",
+    "category": "Desk",
+    "group": "Desk"
+  },
+  {
+    "id": "objects/Side_Table_216_1_1_6",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/RoboTHOR_sofa_alrid_7",
+    "category": "Sofa",
+    "group": "Sofa"
+  },
+  {
+    "id": "objects/RoboTHOR_desk_gustav_8",
+    "category": "Desk",
+    "group": "Desk"
+  },
+  {
+    "id": "objects/RoboTHOR_side_table_hol_9",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_1_10",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
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+  {
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+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
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+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/BaseballBat_2_14",
+    "category": "BaseballBat",
+    "group": "BaseballBat"
+  },
+  {
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+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
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+    "category": "SprayBottle",
+    "group": "SprayBottle"
+  },
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+    "category": "RemoteControl",
+    "group": "RemoteControl"
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+  {
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+    "group": "Book"
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+    "category": "DeskLamp",
+    "group": "DeskLamp"
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+  {
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+    "group": "SideTable"
+  },
+  {
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+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
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+    "category": "Pen",
+    "group": "Pen"
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+  {
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+    "category": "Painting",
+    "group": "Painting"
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+  {
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+    "category": "Dresser",
+    "group": "Dresser"
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+  {
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+    "category": "Apple",
+    "group": "Apple"
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+  {
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+    "category": "GarbageCan",
+    "group": "GarbageCan"
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+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
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+  {
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+    "category": "Book",
+    "group": "Book"
+  },
+  {
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+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Vase_Medium_5_34",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/Pencil_1_35",
+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
+    "id": "objects/Bottle_1_37",
+    "category": "Bottle",
+    "group": "Bottle"
+  },
+  {
+    "id": "objects/Basketball_1_38",
+    "category": "BasketBall",
+    "group": "BasketBall"
+  },
+  {
+    "id": "objects/Television_14_39",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Cellphone_4_40",
+    "category": "CellPhone",
+    "group": "CellPhone"
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diff --git a/benchmark/scenes/robothor_train1_4/ground_truth.json b/benchmark/scenes/robothor_train1_4/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..e769f50f8ca4ba413e9683657dff4074ffb552e8
--- /dev/null
+++ b/benchmark/scenes/robothor_train1_4/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/robothor_train2_4/entity_library.json b/benchmark/scenes/robothor_train2_4/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e45ac2ae185b679670934ee73fc48014210c38a
--- /dev/null
+++ b/benchmark/scenes/robothor_train2_4/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/Spray_Bottle_1_0",
+    "category": "SprayBottle",
+    "group": "SprayBottle"
+  },
+  {
+    "id": "objects/Book_5_1",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Book_3_2",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Side_Table_209_1_1_3",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/RoboTHOR_office_chair_skruvsta_4",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_bed_kritter_5",
+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
+    "id": "objects/BaseballBat_1_6",
+    "category": "BaseballBat",
+    "group": "BaseballBat"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_6_7",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Cup_6_8",
+    "category": "Cup",
+    "group": "Cup"
+  },
+  {
+    "id": "objects/RoboTHOR_desk_lisabo_9",
+    "category": "Desk",
+    "group": "Desk"
+  },
+  {
+    "id": "objects/Side_Table_214_1_10",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/RoboTHOR_desk_lisabo_11",
+    "category": "Desk",
+    "group": "Desk"
+  },
+  {
+    "id": "objects/Alarm_Clock_9_12",
+    "category": "AlarmClock",
+    "group": "AlarmClock"
+  },
+  {
+    "id": "objects/Box_16_13",
+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/RoboTHOR_side_table_strind_14",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Desk_Lamp_9_15",
+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
+    "id": "objects/Laptop_9_16",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Plate_18_17",
+    "category": "Plate",
+    "group": "Plate"
+  },
+  {
+    "id": "objects/Basketball_1_18",
+    "category": "BasketBall",
+    "group": "BasketBall"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_6_19",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Book_4_20",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Mug_3_21",
+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
+    "id": "objects/Apple_9_22",
+    "category": "Apple",
+    "group": "Apple"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_3_23",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Pen_2_24",
+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
+    "id": "objects/Side_Table_209_1_1_25",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Cup_21_26",
+    "category": "Cup",
+    "group": "Cup"
+  },
+  {
+    "id": "objects/Cup_16_27",
+    "category": "Cup",
+    "group": "Cup"
+  },
+  {
+    "id": "objects/Floor_Lamp_16_28",
+    "category": "FloorLamp",
+    "group": "FloorLamp"
+  },
+  {
+    "id": "objects/Pencil_5_29",
+    "category": "Pencil",
+    "group": "Pencil"
+  },
+  {
+    "id": "objects/Houseplant_9_30",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_3_31",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/pillow_9_32",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/Bowl_9_33",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/Box_15_34",
+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/Vase_Medium_1_36",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/Bottle_1_37",
+    "category": "Bottle",
+    "group": "Bottle"
+  },
+  {
+    "id": "objects/bin_9_38",
+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/Floor_Lamp_5_39",
+    "category": "FloorLamp",
+    "group": "FloorLamp"
+  },
+  {
+    "id": "objects/Remote_3_41",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  }
+]
diff --git a/benchmark/scenes/robothor_train2_4/ground_truth.json b/benchmark/scenes/robothor_train2_4/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b750fbaa191cf951a46b314afd54df5566e98fc
--- /dev/null
+++ b/benchmark/scenes/robothor_train2_4/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "RoboTHOR/FloorPlan_Train2_4.scene_instance.json",
+  "scene_index": 47,
+  "scene_builder": "RoboTHOR",
+  "target_radius_m": 6.433966930118132,
+  "target_count": 40,
+  "loaded_object_count": 42,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/RoboTHOR/FloorPlan_Train2_4.scene_instance.json",
+  "origin_world_m": [
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+    3.653,
+    1.45
+  ],
+  "initial_camera_yaw_pitch_deg": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
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diff --git a/benchmark/scenes/robothor_train3_2/entity_library.json b/benchmark/scenes/robothor_train3_2/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e1b9445f037def4daef5e64d96e8fb3a4821589
--- /dev/null
+++ b/benchmark/scenes/robothor_train3_2/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/robothor_train3_2/ground_truth.json b/benchmark/scenes/robothor_train3_2/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..d459dc283b8c6dff74d131c960f48df41267e912
--- /dev/null
+++ b/benchmark/scenes/robothor_train3_2/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/robothor_train4_1/entity_library.json b/benchmark/scenes/robothor_train4_1/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..b780e4a17363ec1dfe0f15a647f21469339b45c6
--- /dev/null
+++ b/benchmark/scenes/robothor_train4_1/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "Painting",
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+  },
+  {
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+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/RoboTHOR_sofa_alrid_2",
+    "category": "Sofa",
+    "group": "Sofa"
+  },
+  {
+    "id": "objects/Laptop_16_3",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Spray_Bottle_8_4",
+    "category": "SprayBottle",
+    "group": "SprayBottle"
+  },
+  {
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+    "category": "ArmChair",
+    "group": "ArmChair"
+  },
+  {
+    "id": "objects/Cellphone_8_7",
+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
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+    "category": "AlarmClock",
+    "group": "AlarmClock"
+  },
+  {
+    "id": "objects/Book_27_10",
+    "category": "Book",
+    "group": "Book"
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+  {
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+    "category": "Candle",
+    "group": "Candle"
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+  {
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+    "category": "Cup",
+    "group": "Cup"
+  },
+  {
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+    "group": "TVStand"
+  },
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+    "category": "Bottle",
+    "group": "Bottle"
+  },
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+    "group": "TennisRacket"
+  },
+  {
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+  {
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+    "category": "RemoteControl",
+    "group": "RemoteControl"
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+  {
+    "id": "objects/pillow_16_25",
+    "category": "Pillow",
+    "group": "Pillow"
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+  {
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+    "category": "ButterKnife",
+    "group": "ButterKnife"
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+  {
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+    "category": "BasketBall",
+    "group": "BasketBall"
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+  {
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+    "group": "Desk"
+  },
+  {
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+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
+    "id": "objects/Apple_16_34",
+    "category": "Apple",
+    "group": "Apple"
+  },
+  {
+    "id": "objects/Desk_Lamp_3_35",
+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
+    "id": "objects/Book_15_36",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Book_16_37",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Television_16_38",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
+    "id": "objects/Coffee_Table_202_2_39",
+    "category": "CoffeeTable",
+    "group": "CoffeeTable"
+  },
+  {
+    "id": "objects/Mug_1_40",
+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
+    "id": "objects/Cup_11_41",
+    "category": "Cup",
+    "group": "Cup"
+  },
+  {
+    "id": "objects/BaseballBat_4_42",
+    "category": "BaseballBat",
+    "group": "BaseballBat"
+  }
+]
diff --git a/benchmark/scenes/robothor_train4_1/ground_truth.json b/benchmark/scenes/robothor_train4_1/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ee5b2da12b49a243411bdcf40d9fd50b13d0aac
--- /dev/null
+++ b/benchmark/scenes/robothor_train4_1/ground_truth.json
@@ -0,0 +1,1040 @@
+{
+  "scene": "RoboTHOR/FloorPlan_Train4_1.scene_instance.json",
+  "scene_index": 36,
+  "scene_builder": "RoboTHOR",
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+  "target_count": 40,
+  "loaded_object_count": 43,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/RoboTHOR/FloorPlan_Train4_1.scene_instance.json",
+  "origin_world_m": [
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+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
+  "objects": [
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diff --git a/benchmark/scenes/robothor_train5_4/entity_library.json b/benchmark/scenes/robothor_train5_4/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebfe75017ea3a63bc753253940c7d3f7a5349d5f
--- /dev/null
+++ b/benchmark/scenes/robothor_train5_4/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
+    "id": "objects/Houseplant_24_1",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/Spray_Bottle_8_2",
+    "category": "SprayBottle",
+    "group": "SprayBottle"
+  },
+  {
+    "id": "objects/Cup_22_4",
+    "category": "Cup",
+    "group": "Cup"
+  },
+  {
+    "id": "objects/Dog_Statue_3_5",
+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
+    "id": "objects/DecorativeBox3_6",
+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/Apple_24_7",
+    "category": "Apple",
+    "group": "Apple"
+  },
+  {
+    "id": "objects/RoboTHOR_chair_liatorp_8",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Laptop_24_10",
+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/RoboTHOR_dining_table_liatorp_11",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
+    "id": "objects/Side_Table_209_2_1_12",
+    "category": "SideTable",
+    "group": "SideTable"
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+  {
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+  {
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+    "group": "Cup"
+  },
+  {
+    "id": "objects/RoboTHOR_side_table_strind_15",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Mug_3_16",
+    "category": "Mug",
+    "group": "Mug"
+  },
+  {
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+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/RoboTHOR_desk_gustav_18",
+    "category": "Desk",
+    "group": "Desk"
+  },
+  {
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+    "group": "Bottle"
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+  {
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+  {
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+  {
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+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Vase_Tall_5_25",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/BaseballBat_4_27",
+    "category": "BaseballBat",
+    "group": "BaseballBat"
+  },
+  {
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+    "category": "SideTable",
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+  {
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+    "category": "SideTable",
+    "group": "SideTable"
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+  {
+    "id": "objects/Wall_Decor_Photo_5_30",
+    "category": "Painting",
+    "group": "Painting"
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+  {
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+    "group": "FloorLamp"
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+  {
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+  {
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+    "group": "Plate"
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+  {
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+    "category": "Pen",
+    "group": "Pen"
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+  {
+    "id": "objects/Alarm_Clock_24_36",
+    "category": "AlarmClock",
+    "group": "AlarmClock"
+  },
+  {
+    "id": "objects/RoboTHOR_dresser_aneboda_38",
+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
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+    "category": "Book",
+    "group": "Book"
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+  {
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+    "category": "Box",
+    "group": "Box"
+  },
+  {
+    "id": "objects/Bowl_24_42",
+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/Book_30_43",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Cup_12_45",
+    "category": "Cup",
+    "group": "Cup"
+  },
+  {
+    "id": "objects/Book_7_46",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Side_Table_209_2_1_47",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Basketball_1_49",
+    "category": "BasketBall",
+    "group": "BasketBall"
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diff --git a/benchmark/scenes/robothor_train5_4/ground_truth.json b/benchmark/scenes/robothor_train5_4/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea573599fa3c7c080ce347c653a41166bbaf234d
--- /dev/null
+++ b/benchmark/scenes/robothor_train5_4/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "scene_builder": "RoboTHOR",
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+  "loaded_object_count": 50,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/RoboTHOR/FloorPlan_Train5_4.scene_instance.json",
+  "origin_world_m": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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+}
diff --git a/benchmark/scenes/robothor_val1_1/entity_library.json b/benchmark/scenes/robothor_val1_1/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c0856084bc5d009df4619a573ae1c76b47ef175
--- /dev/null
+++ b/benchmark/scenes/robothor_val1_1/entity_library.json
@@ -0,0 +1,202 @@
+[
+  {
+    "id": "objects/Vase_Tall_3_0",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
+    "id": "objects/Houseplant_1_1",
+    "category": "HousePlant",
+    "group": "HousePlant"
+  },
+  {
+    "id": "objects/pillow_1_2",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/Book_12_3",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Chair_002_3_4",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/RoboTHOR_dresser_aneboda_5",
+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
+    "id": "objects/Book_14_6",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/pillow_1_8",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/Desk_Lamp_9_9",
+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
+    "id": "objects/Chair_002_3_10",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_7_11",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
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+    "category": "Fork",
+    "group": "Fork"
+  },
+  {
+    "id": "objects/RoboTHOR_dresser_aneboda_13",
+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
+    "id": "objects/Television_1_14",
+    "category": "Television",
+    "group": "Television"
+  },
+  {
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+    "category": "AlarmClock",
+    "group": "AlarmClock"
+  },
+  {
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+    "category": "Statue",
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+  {
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+  {
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+    "group": "TennisRacket"
+  },
+  {
+    "id": "objects/RoboTHOR_coffee_table_bankas_21",
+    "category": "CoffeeTable",
+    "group": "CoffeeTable"
+  },
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+    "group": "Pillow"
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+  {
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+    "group": "Bed"
+  },
+  {
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+    "category": "CellPhone",
+    "group": "CellPhone"
+  },
+  {
+    "id": "objects/RoboTHOR_dining_table_liatorp_26",
+    "category": "DiningTable",
+    "group": "DiningTable"
+  },
+  {
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+    "category": "BasketBall",
+    "group": "BasketBall"
+  },
+  {
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+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
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+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
+    "id": "objects/RoboTHOR_bed_hemnes_31",
+    "category": "Bed",
+    "group": "Bed"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_5_32",
+    "category": "Painting",
+    "group": "Painting"
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+  {
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+    "group": "Painting"
+  },
+  {
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+    "category": "Newspaper",
+    "group": "Newspaper"
+  },
+  {
+    "id": "objects/Spray_Bottle_5_36",
+    "category": "SprayBottle",
+    "group": "SprayBottle"
+  },
+  {
+    "id": "objects/Remote_1_38",
+    "category": "RemoteControl",
+    "group": "RemoteControl"
+  },
+  {
+    "id": "objects/Book_13_39",
+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_2_40",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/RoboTHOR_desk_gustav_41",
+    "category": "Desk",
+    "group": "Desk"
+  },
+  {
+    "id": "objects/bin_1_42",
+    "category": "GarbageCan",
+    "group": "GarbageCan"
+  },
+  {
+    "id": "objects/Plate_11_44",
+    "category": "Plate",
+    "group": "Plate"
+  },
+  {
+    "id": "objects/Pen_2_45",
+    "category": "Pen",
+    "group": "Pen"
+  },
+  {
+    "id": "objects/RoboTHOR_chair_extendable_47",
+    "category": "Chair",
+    "group": "Chair"
+  }
+]
diff --git a/benchmark/scenes/robothor_val1_1/ground_truth.json b/benchmark/scenes/robothor_val1_1/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bcc3266793fee0d41ba0678c59f70750be7ade5
--- /dev/null
+++ b/benchmark/scenes/robothor_val1_1/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "scene_builder": "RoboTHOR",
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+  "loaded_object_count": 48,
+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/RoboTHOR/FloorPlan_Val1_1.scene_instance.json",
+  "origin_world_m": [
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+  "initial_camera_yaw_pitch_deg": [
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/robothor_val1_5/entity_library.json b/benchmark/scenes/robothor_val1_5/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..abba82e244d860f1123be12c98191c5aaa7cd886
--- /dev/null
+++ b/benchmark/scenes/robothor_val1_5/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/robothor_val1_5/ground_truth.json b/benchmark/scenes/robothor_val1_5/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdf57a438d188ba4608a9da20cb7b5f9cf56684a
--- /dev/null
+++ b/benchmark/scenes/robothor_val1_5/ground_truth.json
@@ -0,0 +1,1040 @@
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diff --git a/benchmark/scenes/robothor_val2_4/entity_library.json b/benchmark/scenes/robothor_val2_4/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..f09f44ed8d089552d8354535ceab68f627c014e9
--- /dev/null
+++ b/benchmark/scenes/robothor_val2_4/entity_library.json
@@ -0,0 +1,202 @@
+[
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+  {
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+    "category": "DeskLamp",
+    "group": "DeskLamp"
+  },
+  {
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+    "category": "FloorLamp",
+    "group": "FloorLamp"
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+  {
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+    "category": "Pot",
+    "group": "Pot"
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+  {
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+    "category": "Apple",
+    "group": "Apple"
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+  {
+    "id": "objects/RoboTHOR_office_chair_jules_12",
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+  {
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+    "category": "SprayBottle",
+    "group": "SprayBottle"
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+    "category": "Painting",
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+  },
+  {
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+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Teddy_Bear_2_50",
+    "category": "TeddyBear",
+    "group": "TeddyBear"
+  },
+  {
+    "id": "objects/RoboTHOR_dresser_aspelund_51",
+    "category": "Dresser",
+    "group": "Dresser"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_8_52",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
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+    "category": "GarbageCan",
+    "group": "GarbageCan"
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diff --git a/benchmark/scenes/robothor_val2_4/ground_truth.json b/benchmark/scenes/robothor_val2_4/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8fd535f8a1a4b5064016c40b989873365b36151
--- /dev/null
+++ b/benchmark/scenes/robothor_val2_4/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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+  "scene_builder": "RoboTHOR",
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+  "source_file": "assets/scene_datasets/ai2thor/ai2thor-hab/configs/scenes/RoboTHOR/FloorPlan_Val2_4.scene_instance.json",
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+  "coordinate_frame": "+x initial camera forward, +y initial camera left, +z initial camera up",
+  "center_definition": "center of the tight world-axis-aligned render-geometry bounding box, transformed to the initial camera frame",
+  "excluded": "architectural stage, Fetch robot, lights, and objects outside the selected target subset",
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diff --git a/benchmark/scenes/robothor_val2_5/entity_library.json b/benchmark/scenes/robothor_val2_5/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..de2ae9bfd5bdd0356f2421aa2ebaee8d0501791f
--- /dev/null
+++ b/benchmark/scenes/robothor_val2_5/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "RemoteControl",
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+  {
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+  {
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+    "category": "Statue",
+    "group": "Statue"
+  },
+  {
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+    "category": "Painting",
+    "group": "Painting"
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+  {
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+  {
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+    "category": "Statue",
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+  {
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+  {
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+  {
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+    "category": "Chair",
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+  {
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+    "group": "SideTable"
+  },
+  {
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+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Side_Table_201_2_1_50",
+    "category": "SideTable",
+    "group": "SideTable"
+  },
+  {
+    "id": "objects/Vase_Medium_1_51",
+    "category": "Vase",
+    "group": "Vase"
+  },
+  {
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+    "category": "Painting",
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+  {
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diff --git a/benchmark/scenes/robothor_val2_5/ground_truth.json b/benchmark/scenes/robothor_val2_5/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..852b4ff175ae022fc972b528f4d8615993c1c740
--- /dev/null
+++ b/benchmark/scenes/robothor_val2_5/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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diff --git a/benchmark/scenes/robothor_val3_3/entity_library.json b/benchmark/scenes/robothor_val3_3/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..754bb6a98f1fc992751ba16ac9d695e6b2113c20
--- /dev/null
+++ b/benchmark/scenes/robothor_val3_3/entity_library.json
@@ -0,0 +1,202 @@
+[
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+    "category": "Chair",
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+  },
+  {
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+    "category": "Box",
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+  },
+  {
+    "id": "objects/pillow_14_3",
+    "category": "Pillow",
+    "group": "Pillow"
+  },
+  {
+    "id": "objects/BaseballBat_3_4",
+    "category": "BaseballBat",
+    "group": "BaseballBat"
+  },
+  {
+    "id": "objects/RoboTHOR_office_chair_allak_7",
+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
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+    "category": "Laptop",
+    "group": "Laptop"
+  },
+  {
+    "id": "objects/Wall_Decor_Photo_6_9",
+    "category": "Painting",
+    "group": "Painting"
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+  {
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+  {
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+  {
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+  {
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+    "group": "Desk"
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+    "group": "ArmChair"
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+  {
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+    "category": "SaltShaker",
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+    "group": "HousePlant"
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+  {
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+    "category": "Bowl",
+    "group": "Bowl"
+  },
+  {
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+    "category": "Chair",
+    "group": "Chair"
+  },
+  {
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+    "category": "Book",
+    "group": "Book"
+  },
+  {
+    "id": "objects/Wall_Decor_Painting_4_47",
+    "category": "Painting",
+    "group": "Painting"
+  },
+  {
+    "id": "objects/Plate_4_48",
+    "category": "Plate",
+    "group": "Plate"
+  },
+  {
+    "id": "objects/ButterKnife_1_49",
+    "category": "ButterKnife",
+    "group": "ButterKnife"
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diff --git a/benchmark/scenes/robothor_val3_3/ground_truth.json b/benchmark/scenes/robothor_val3_3/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..267d845c64dd6e73e6cff7cab49e13d5f373dbfa
--- /dev/null
+++ b/benchmark/scenes/robothor_val3_3/ground_truth.json
@@ -0,0 +1,1040 @@
+{
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diff --git a/benchmark/scenes/robothor_val3_5/entity_library.json b/benchmark/scenes/robothor_val3_5/entity_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca5690f568ce1cd5cbca1fa86465c9131f97f576
--- /dev/null
+++ b/benchmark/scenes/robothor_val3_5/entity_library.json
@@ -0,0 +1,202 @@
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diff --git a/benchmark/scenes/robothor_val3_5/ground_truth.json b/benchmark/scenes/robothor_val3_5/ground_truth.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d68fbc637ca40a6ce3175456de2412f178704c4
--- /dev/null
+++ b/benchmark/scenes/robothor_val3_5/ground_truth.json
@@ -0,0 +1,1040 @@
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index 0000000000000000000000000000000000000000..0a2dc7e79f8e99788db30b5b34b2ac26ae517563
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/base_link_left.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
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diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/base_link_left.obj b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/base_link_left.obj
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+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/base_link_left.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc01616cbd28d9c133a4ed6942ddf07e55ec84fa99a900c6b9bf6499d87ceca
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+version https://git-lfs.github.com/spec/v1
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+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_0.0.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
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diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_0.0.obj b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_0.0.obj
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_1.0.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
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diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_1.0.obj b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_1.0.obj
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+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_1.0.obj
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_12.0_left.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_12.0_left.mtl b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_12.0_left.mtl
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_12.0_left.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_metal
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_12.0_right.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_12.0_right.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_13.0.mtl
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+# Blender MTL File: 'None'
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+newmtl black_metal
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+version https://git-lfs.github.com/spec/v1
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+# Blender MTL File: 'None'
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+newmtl black_metal
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
+Ns 639.999995
+Ka 0.500000 0.500000 0.500000
+Kd 0.004025 0.004025 0.004025
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_4.0.obj b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_4.0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29f3c33aad099d01c0eaaf8b688936fbf5c94bb7
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_4.0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac59782293ebf679e40e8db47a48bd1aae918ecac2098c2992f70994203a0700
+size 20978
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_tip.glb b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_tip.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c011d5c6dfcfaee1429d775d51909baf809d951d
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_tip.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:578c515dda261f5f633ed3d9de2c588843b4a4bc009e82be672aafa3f8663555
+size 78524
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_tip.mtl b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_tip.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..56c1bd92d4fded9295aa26c00f2d1e72e6370ae8
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_tip.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl white_head
+Ns 159.999981
+Ka 1.000000 1.000000 1.000000
+Kd 0.950000 0.950000 0.950000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_tip.obj b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fbea6a88cf7344f42688f2afe0ea2977bd5243b
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/meshes/visual/link_tip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c1cdca17b218ad9cf912ff2ecc9509bfff35fdc8ca4c58468e8c5e9689d30b7
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diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/collision/longer_finger_tip.obj b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/collision/longer_finger_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbaa2fb7cd97bbfeace9b407f1bcffdc0c817dad
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/collision/longer_finger_tip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b9bcc85a90a9d63f4767ba4a3e931e67dedb952132e3605f9cbcc697a1dbb88
+size 102200
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/longer_finger_tip.glb b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/longer_finger_tip.glb
new file mode 100644
index 0000000000000000000000000000000000000000..35f433ab879d38151c8988d521ddeb49cfc4dcfb
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/longer_finger_tip.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a99b74adc1b7b28a4fd90dcea4046016d8e9aefe27ec87e7e15159ad9ea42bd9
+size 166232
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/longer_finger_tip.mtl b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/longer_finger_tip.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7b1b9d2fb3e93fcfcc59eaf69e41ada5b05f576d
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/longer_finger_tip.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.2 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 39.999996
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
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+Ni 1.500000
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diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/longer_finger_tip.obj b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/longer_finger_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5b788af51dbf66218d65e39c6c8f6043e3dbe59
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/longer_finger_tip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45bf44eaed5c647aa79c54b8a93192b29ce996d0b320dba6a207403f141c4a32
+size 320165
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/tactile.glb b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/tactile.glb
new file mode 100644
index 0000000000000000000000000000000000000000..60664080436f7c5c66aabb201ec34434fefd84cc
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/tactile.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1eff9d29d0f953084ec38e48054bf2f8ea085deafb29a74072fabf87cc6060f
+size 328600
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/tactile.mtl b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/tactile.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cef6305ed00f267b801fe5bc86388de15d999a0f
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/tactile.mtl
@@ -0,0 +1,22 @@
+# Blender 4.0.2 MTL File: 'None'
+# www.blender.org
+
+newmtl RED_FRONT
+Ns 39.999996
+Ka 1.000000 1.000000 1.000000
+Kd 0.807338 0.000430 0.002673
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl SILER_PART
+Ns 902.500000
+Ka 0.500000 0.500000 0.500000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/tactile.obj b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/tactile.obj
new file mode 100644
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/allegro/variation/meshes/visual/tactile.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec6112bda50cfa7478faae3df4767d5ed471c26b9bb6216550848578a8d9994d
+size 647838
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/collision/base_link_cylinder.obj b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/collision/base_link_cylinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a188a83ba87537947e2f1e3a0fa6205b17b373
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/collision/base_link_cylinder.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:038fce444975c9d763a26ba594cc1f2ffc75f5d20c2602ef2c2e80c282ac2b0f
+size 7370
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/collision/finger_tip.obj b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/collision/finger_tip.obj
new file mode 100644
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/collision/finger_tip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:186a67df7b7f27734ca0f936b0c646d14d8c17058a9456d66845b0511fb5f303
+size 72020
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/base_link.glb b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/base_link.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f7f667e37c7b1388d960193fcb3a30fc8a8f5740
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/base_link.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:438e5ab306e31130ec4cc6ac03662cc76e45bf6c2e8dd394c70fded44a2b6120
+size 3176500
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/base_link.mtl b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/base_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..413aa53aa4d8e52f52a9e2719986d67161f0a065
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/base_link.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.250000 0.250000 0.250000
+Kd 0.023153 0.023153 0.023153
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+Ke 0.000000 0.000000 0.000000
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diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/base_link.obj b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/base_link.obj
new file mode 100644
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/base_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adc9593bccc40dc3e98ad3c3e88343c12b350c62e32df12b160c663c223578a6
+size 2691993
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_1.glb b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_1.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0151e5c1d1f0d8199c5d254a4d6a66036abedece
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe0232aecae53efbf45c8482d05155126cf5b3c8262976b7a268f680d0ce933c
+size 2325976
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_1.mtl b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..413aa53aa4d8e52f52a9e2719986d67161f0a065
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_1.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.250000 0.250000 0.250000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
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diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_1.obj b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_1.obj
new file mode 100644
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1904112
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_2.glb b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_2.glb
new file mode 100644
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_2.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfb59659008d10bced76bf1a271fd6df494351b3e60a1052e56a772fd8784392
+size 2379768
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_2.mtl b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..413aa53aa4d8e52f52a9e2719986d67161f0a065
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_2.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.250000 0.250000 0.250000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
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diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_2.obj b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_2.obj
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1895985
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_3.glb b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_3.glb
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_3.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 957224
diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_3.mtl b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_3.mtl
new file mode 100644
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_3.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.250000 0.250000 0.250000
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diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_3.obj b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_3.obj
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/dclaw/meshes/visual/link_3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/fetch/fetch_description/meshes/base_link.dae b/runtime/ManiSkill3/mani_skill/assets/robots/fetch/fetch_description/meshes/base_link.dae
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/assets/robots/fetch/fetch_description/meshes/base_link.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/fetch/fetch_description/meshes/base_link_collision.STL b/runtime/ManiSkill3/mani_skill/assets/robots/fetch/fetch_description/meshes/base_link_collision.STL
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1,3 @@
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diff --git a/runtime/ManiSkill3/mani_skill/assets/robots/fetch/fetch_description/meshes/elbow_flex_link.dae b/runtime/ManiSkill3/mani_skill/assets/robots/fetch/fetch_description/meshes/elbow_flex_link.dae
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+++ b/runtime/ManiSkill3/mani_skill/envs/tasks/humanoid/assets/cardboard_box/textured.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12723
diff --git a/runtime/ManiSkill3/mani_skill/envs/tasks/humanoid/assets/frl_apartment_bowl_07.glb b/runtime/ManiSkill3/mani_skill/envs/tasks/humanoid/assets/frl_apartment_bowl_07.glb
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/envs/tasks/humanoid/assets/frl_apartment_bowl_07.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 94480
diff --git a/runtime/ManiSkill3/mani_skill/envs/tasks/humanoid/assets/frl_apartment_bowl_07.ply b/runtime/ManiSkill3/mani_skill/envs/tasks/humanoid/assets/frl_apartment_bowl_07.ply
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+++ b/runtime/ManiSkill3/mani_skill/envs/tasks/humanoid/assets/frl_apartment_bowl_07.ply
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diff --git a/runtime/ManiSkill3/mani_skill/envs/tasks/humanoid/assets/test.obj b/runtime/ManiSkill3/mani_skill/envs/tasks/humanoid/assets/test.obj
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/envs/tasks/humanoid/assets/test.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/runtime/ManiSkill3/mani_skill/examples/.gitignore b/runtime/ManiSkill3/mani_skill/examples/.gitignore
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index 0000000000000000000000000000000000000000..f3e6bd02800d58c8c156b8fa4b5ffc58e4de6005
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/examples/.gitignore
@@ -0,0 +1 @@
+videos/
\ No newline at end of file
diff --git a/runtime/ManiSkill3/mani_skill/examples/benchmarking/envs/maniskill/assets/black_grid.png b/runtime/ManiSkill3/mani_skill/examples/benchmarking/envs/maniskill/assets/black_grid.png
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+++ b/runtime/ManiSkill3/mani_skill/examples/benchmarking/envs/maniskill/assets/black_grid.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 21548
diff --git a/runtime/ManiSkill3/mani_skill/examples/benchmarking/envs/maniskill/kloofendal_28d_misty_puresky_1k.hdr b/runtime/ManiSkill3/mani_skill/examples/benchmarking/envs/maniskill/kloofendal_28d_misty_puresky_1k.hdr
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@@ -0,0 +1,3 @@
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diff --git a/runtime/ManiSkill3/mani_skill/examples/benchmarking/envs/maniskill/overcast.exr b/runtime/ManiSkill3/mani_skill/examples/benchmarking/envs/maniskill/overcast.exr
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/examples/benchmarking/envs/maniskill/overcast.exr
@@ -0,0 +1,3 @@
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+size 13113
diff --git a/runtime/ManiSkill3/mani_skill/examples/benchmarking/envs/mujoco/.gitignore b/runtime/ManiSkill3/mani_skill/examples/benchmarking/envs/mujoco/.gitignore
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--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/examples/benchmarking/envs/mujoco/.gitignore
@@ -0,0 +1 @@
+franka_description
\ No newline at end of file
diff --git a/runtime/ManiSkill3/mani_skill/shaders/postprocessing.comp b/runtime/ManiSkill3/mani_skill/shaders/postprocessing.comp
new file mode 100644
index 0000000000000000000000000000000000000000..d5366281989b437fae073a4bc92a7bfa694ceeae
--- /dev/null
+++ b/runtime/ManiSkill3/mani_skill/shaders/postprocessing.comp
@@ -0,0 +1,81 @@
+#version 450
+
+#include "push_constant.glsl"
+#include "grain.glsl"
+
+layout(set = 0, binding = 0, rgba32f) uniform readonly image2D HdrColor;
+layout(set = 0, binding = 1, rgba32f) uniform writeonly image2D Color;
+
+vec3 Gamma(vec3 x) {
+  return clamp(pow(x, vec3(1/2.2)), 0.0, 1.0);
+}
+
+vec3 sRGB(vec3 x) {
+  bvec3 cutoff = lessThan(x, vec3(0.0031308));
+  vec3 higher = vec3(1.055) * pow(x, vec3(1.0/2.4)) - vec3(0.055);
+  vec3 lower = x * vec3(12.92);
+  return clamp(mix(higher, lower, cutoff), 0.0, 1.0);
+}
+
+const mat3 ACESInputMat = mat3(
+    0.59719, 0.35458, 0.04823,
+    0.07600, 0.90834, 0.01566,
+    0.02840, 0.13383, 0.83777
+);
+
+const mat3 ACESOutputMat = mat3(
+     1.60475, -0.53108, -0.07367,
+    -0.10208,  1.10813, -0.00605,
+    -0.00327, -0.07276,  1.07602
+);
+
+vec3 RRTAndODTFit(vec3 v)
+{
+    vec3 a = v * (v + 0.0245786) - 0.000090537;
+    vec3 b = v * (0.983729 * v + 0.4329510) + 0.238081;
+    return a / b;
+}
+
+vec3 ACESsRGB(vec3 color) {
+    color = color * ACESInputMat;
+    color = RRTAndODTFit(color);
+    color = color * ACESOutputMat;
+    color = clamp(color, 0.0, 1.0);
+    return sRGB(color);
+}
+
+void main() {
+  uint x = gl_GlobalInvocationID.x;
+  uint y = gl_GlobalInvocationID.y;
+  vec4 color = imageLoad(HdrColor, ivec2(gl_GlobalInvocationID.xy));
+
+  // make nan visible for debugging
+  if (isnan(color.x + color.y + color.z)) {
+    color = vec4(1000.0, 0, 1000.0, 1);
+  }
+
+
+  if (toneMapper == 1) {
+    color = vec4(sRGB(color.rgb * exposure), color.a);
+  } else if (toneMapper == 2) {
+    color = vec4(ACESsRGB(color.rgb * exposure), color.a);
+  } else {
+    color = vec4(Gamma(color.rgb * exposure), color.a);
+  }
+
+  //imageStore(Color, ivec2(gl_GlobalInvocationID.xy), color);
+
+  // vec3 backgroundColor = color.rgb;
+  // vec2 resolution = vec2(gl_NumWorkGroups.xy);
+  // vec2 texCoord = vec2(gl_GlobalInvocationID.xy) / resolution;
+
+  // float grainSize = 2.0;
+  // vec3 g = vec3(grain(texCoord, resolution / grainSize));
+  // vec3 color2 = blendSoftLight(backgroundColor, g);
+  // float luminance = luma(backgroundColor);
+  // float response = smoothstep(0.05, 0.5, luminance);
+  // color2.rgb = mix(color2, backgroundColor, pow(response, 2.0));
+  color = mix(vec4(0.282, 0.294, 0.322, 1), color, color.a);
+  imageStore(Color, ivec2(gl_GlobalInvocationID.xy), color);
+  //imageStore(Color, ivec2(gl_GlobalInvocationID.xy), vec4(backgroundColor, color.a));
+}
diff --git a/runtime/ManiSkill3/mani_skill/utils/building/assets/floor_tiles_06_diff_2k_aligned.png b/runtime/ManiSkill3/mani_skill/utils/building/assets/floor_tiles_06_diff_2k_aligned.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2990251
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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