diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..17ce236
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,17 @@
+# FROM nvidia/cuda:12.2.0-base-ubuntu20.04
+FROM ubuntu:20.04
+ENV DEBIAN_FRONTEND=noninteractive 
+RUN apt update && apt install -y build-essential git cmake curl wget flex bison python3-pip python-is-python3
+RUN rm -rf /var/lib/apt/lists/*
+WORKDIR /opt
+
+# Get Docker
+RUN curl -fsSL https://get.docker.com -o get-docker.sh
+RUN sh get-docker.sh
+
+# Get Taskography
+RUN git clone https://github.com/jiadingfang/taskography-api.git --recurse-submodules
+WORKDIR /opt/taskography-api
+RUN pip install .
+RUN pip install -r requirements.txt
+ENV PYTHONPATH "${PYTHONPATH}:/opt/taskography-api"
\ No newline at end of file
diff --git a/docker/docker.sh b/docker/docker.sh
new file mode 100644
index 0000000..7475fac
--- /dev/null
+++ b/docker/docker.sh
@@ -0,0 +1,2 @@
+docker build -t taskography .
+docker run -it --rm -v $DATA/3dscenegraph/:/data/3dscenegraph -v /var/run/docker.sock:/var/run/docker.sock taskography
\ No newline at end of file
diff --git a/scripts/benchmark/test.py b/scripts/benchmark/test.py
new file mode 100644
index 0000000..6ab978a
--- /dev/null
+++ b/scripts/benchmark/test.py
@@ -0,0 +1,11 @@
+import os
+from third_party.pddlgym_planners.pddlgym_planners import _SATISFICING, _OPTIMAL
+
+planners = list(_SATISFICING.keys()) + list(_OPTIMAL.keys())
+print('planners: ', planners) # ['FF', 'FF-X', 'FD-lama-first', 'Cerberus-seq-sat', 'Cerberus-seq-agl', 'DecStar-agl-decoupled', 'lapkt-bfws', 'FD-seq-opt-lmcut', 'Delfi', 'DecStar-opt-decoupled']
+
+pddl_domain = 'taskographyv2tiny1'
+
+for planner in planners:
+    print('running planner: ', planner)
+    os.system('python scripts/benchmark/plan.py --domain-name {} --planner {} --expid {}_{}'.format(pddl_domain, planner, pddl_domain, planner))
\ No newline at end of file
diff --git a/scripts/procthor_scenegraph.py b/scripts/procthor_scenegraph.py
new file mode 100644
index 0000000..1dbf412
--- /dev/null
+++ b/scripts/procthor_scenegraph.py
@@ -0,0 +1,139 @@
+import json
+
+class SceneGraphNode(object):
+    def __init__(self):
+        self.id = None
+
+    def set_attribute(self, attr, value):
+        if attr not in self.__dict__.keys():
+            raise ValueError(f"Unknown attribute: {attr}")
+        self.__dict__[attr] = value
+
+    def get_attribute(self, attr):
+        if attr not in self.__dict__.keys():
+            raise ValueError(f"Unknown attribute: {attr}")
+        return self.__dict__[attr]
+
+    def print_attributes(self):
+        print(f"--- {self.__class__.__name__} ID: {self.get_attribute('id')} ---")
+        for key in self.__dict__.keys():
+            print(f"Key: {key} | Value: {self.get_attribute(key)}")
+
+
+class Door(SceneGraphNode):
+    def __init__(self, data=None):
+        super().__init__()
+        self.asset_id = None
+        self.asset_position = None
+        self.hole_polygon = None
+        self.openable = None
+        self.openness = None
+        self.rooms = None
+        self.walls = None
+        if data is not None:
+            self.set_attribute('asset_id', data['assetId'])
+            self.set_attribute('asset_position', data['assetPosition'])
+            self.set_attribute('hole_polygon', data['holePolygon'])
+            self.set_attribute('id', data['id'])
+            self.set_attribute('openable', data['openable'])
+            self.set_attribute('openness', data['openness'])
+            self.set_attribute('rooms', [data['room0'], data['room1']])
+            self.set_attribute('walls', [data['wall0'], data['wall1']])
+
+
+class ObjectChild(SceneGraphNode):
+    def __init__(self, data=None):
+        super().__init__()
+        self.asset_id = None
+        self.kinematic = None
+        self.position = None
+        self.rotation = None
+        if data is not None:
+            self.set_attribute('asset_id', data['assetId'])
+            self.set_attribute('id', data['id'])
+            self.set_attribute('kinematic', data['kinematic'])
+            self.set_attribute('position', data['position'])
+            self.set_attribute('rotation', data['rotation'])
+
+
+class Object(SceneGraphNode):
+    def __init__(self, data=None):
+        super().__init__()
+        self.asset_id = None
+        self.children = None
+        self.kinematic = None
+        self.material = None
+        self.position = None
+        self.rotation = None
+        if data is not None:
+            self.set_attribute('asset_id', data['assetId'])
+            # self.set_attribute('children', [ObjectChild(child) for child in data['children']])
+            self.set_attribute('id', data['id'])
+            self.set_attribute('kinematic', data['kinematic'])
+            self.set_attribute('material', data['material'])
+            self.set_attribute('position', data['position'])
+            self.set_attribute('rotation', data['rotation'])
+            if 'children' in data:
+                self.set_attribute('children', [ObjectChild(child) for child in data['children']])
+            else:
+                self.set_attribute('children', [])
+
+class Room(SceneGraphNode):
+    def __init__(self, data=None):
+        super().__init__()
+        self.ceilings = None
+        self.children = None
+        self.floor_material = None
+        self.floor_polygon = None
+        self.room_type = None
+        if data is not None:
+            self.set_attribute('ceilings', data['ceilings'])
+            self.set_attribute('children', data['children'])
+            self.set_attribute('floor_material', data['floorMaterial'])
+            self.set_attribute('floor_polygon', data['floorPolygon'])
+            self.set_attribute('id', data['id'])
+            self.set_attribute('room_type', data['roomType'])
+
+
+class Wall(SceneGraphNode):
+    def __init__(self, data=None):
+        super().__init__()
+        self.color = None
+        self.material = None
+        self.polygon = None
+        self.room_id = None
+        if data is not None:
+            self.set_attribute('id', data['id'])
+            self.set_attribute('material', data['material'])
+            self.set_attribute('polygon', data['polygon'])
+            self.set_attribute('room_id', data['roomId'])
+            if 'color' in data:
+                self.set_attribute('color', data['color'])
+
+
+class House(SceneGraphNode):
+    def __init__(self, json_data=None):
+        super().__init__()
+        self.doors = None
+        self.objects = None
+        self.rooms = None
+        self.walls = None
+        self.windows = None
+        self.metadata = None
+        self.procedural_parameters = None
+        if json_data is not None:
+            self.set_attribute('doors', [Door(door) for door in json_data.get('doors', [])])
+            self.set_attribute('objects', [Object(obj) for obj in json_data.get('objects', [])])
+            self.set_attribute('rooms', [Room(room) for room in json_data.get('rooms', [])])
+            self.set_attribute('walls', [Wall(wall) for wall in json_data.get('walls', [])])
+            self.set_attribute('windows', json_data.get('windows', []))
+            self.set_attribute('metadata', json_data.get('metadata', {}))
+            self.set_attribute('procedural_parameters', json_data.get('proceduralParameters', {}))
+
+
+if __name__ == "__main__":
+    procthor_json_path = 'procthor_houses/procthor-10k_train_0.json'
+    with open(procthor_json_path, 'r') as f:
+        procthor_json = json.load(f)
+    house = House(procthor_json)
+    house.print_attributes()
diff --git a/setup.py b/setup.py
index edeeef7..1a3de07 100644
--- a/setup.py
+++ b/setup.py
@@ -23,7 +23,7 @@
     "scipy",
     "setuptools",
     "scikit-image",
-    "tqdm"
+    "tqdm",
     f"pddlgym_planners @ file://localhost/{Path(__file__).parent}/third_party/pddlgym_planners",
 ]
 
diff --git a/taskography_api/taskography/samplers/problem_sampler_base.py b/taskography_api/taskography/samplers/problem_sampler_base.py
index ce33f3e..3eb20cc 100644
--- a/taskography_api/taskography/samplers/problem_sampler_base.py
+++ b/taskography_api/taskography/samplers/problem_sampler_base.py
@@ -1,5 +1,5 @@
-from typing import List, Dict, Set, ClassVar
 from __future__ import annotations
+from typing import List, Dict, Set, ClassVar
 
 import os
 import json
diff --git a/taskography_api/taskography/utils/loader.py b/taskography_api/taskography/utils/loader.py
index cea8e8f..badd62a 100644
--- a/taskography_api/taskography/utils/loader.py
+++ b/taskography_api/taskography/utils/loader.py
@@ -115,8 +115,8 @@ def scenegraph_mst(building: Building) -> None:
 
                 # floor-floor heuristic: mean of min connection between rooms in both floors
                 n, m = len(floor_a_rooms), len(floor_b_rooms)
-                floor_a_rooms_repeat = np.repeat(np.array(floor_a_rooms, dtype=np.int), m)
-                floor_b_rooms_tile = np.tile(np.array(floor_b_rooms, dtype=np.int), n)
+                floor_a_rooms_repeat = np.repeat(np.array(floor_a_rooms, dtype=int), m)
+                floor_b_rooms_tile = np.tile(np.array(floor_b_rooms, dtype=int), n)
                 room_a_to_b_dist = room_dist_mat[floor_a_rooms_repeat, floor_b_rooms_tile].reshape(
                     n, m
                 )
@@ -147,8 +147,8 @@ def scenegraph_mst(building: Building) -> None:
 
     # connect all rooms in each floor
     for _, rooms in floor_rooms.items():
-        room_idx_repeat = np.repeat(np.array(list(rooms), dtype=np.int), len(rooms))
-        room_idx_tile = np.tile(np.array(list(rooms), dtype=np.int), len(rooms))
+        room_idx_repeat = np.repeat(np.array(list(rooms), dtype=int), len(rooms))
+        room_idx_tile = np.tile(np.array(list(rooms), dtype=int), len(rooms))
         room_dist = room_dist_mat[room_idx_repeat, room_idx_tile]
         room_graph.add_weighted_edges_from(list(zip(room_idx_repeat, room_idx_tile, room_dist)))