Datasets:

TaxonomyProject
/

SimulationMetadata

	{
	"camera": {
	"location": [
	676,
	-132,
	118
	],
	"rotation": [
	0,
	-59.999999999999986,
	0
	],
	"fov": 90,
	"c2w": [
	[
	0.5000000000000002,
	-0.8660254037844384,
	0,
	0
	],
	[
	0.8660254037844384,
	0.5000000000000002,
	0,
	0
	],
	[
	0,
	0,
	1,
	0
	],
	[
	676,
	-132,
	118,
	1
	]
	],
	"width": 1920,
	"height": 1080,
	"fxfycxcy": [
	960.0000000000001,
	960.0000000000002,
	960.0,
	540.0
	]
	},
	"background": {
	"ground": [
	{
	"object_id": "SM_ground_8",
	"bbox_2d": [
	1505,
	1010,
	1723,
	1079
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	-0.999755859375,
	-27,
	-5.1021575927734375e-05
	],
	"extent": [
	1238.3093261718745,
	284.8822830769005,
	6.2086181640625
	]
	},
	"obb": {
	"center": [
	-0.999755859375,
	-27,
	-5.1021575927734375e-05
	],
	"extent": [
	1238.3093261718745,
	284.8822830769005,
	6.2086181640625
	],
	"rotation": [
	0,
	180,
	0
	]
	},
	"location": [
	-1,
	-27,
	0
	],
	"rotation": [
	0,
	180,
	0
	],
	"scale": [
	1,
	0.9549999833106995,
	1
	]
	},
	"color": [
	255,
	255,
	0
	]
	}
	],
	"wall": [
	{
	"object_id": "SM_backwall_14",
	"bbox_2d": [
	0,
	0,
	1359,
	1079
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	727,
	-42,
	244.2459716796875
	],
	"extent": [
	513.4542740243764,
	298.30824864120177,
	243.74131774902344
	]
	},
	"obb": {
	"center": [
	726.9999999999999,
	-42,
	244.2459716796875
	],
	"extent": [
	513.4542740243764,
	298.30824864120177,
	243.74131774902344
	],
	"rotation": [
	0,
	179.999755859375,
	0
	]
	},
	"location": [
	727,
	-42,
	-1.56610107421875
	],
	"rotation": [
	0,
	179.999755859375,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	255,
	0,
	127
	]
	}
	]
	},
	"foreground": {
	"shelving": [
	{
	"object_id": "SM_kitchenshelf_01_66",
	"bbox_2d": [
	533,
	326,
	1712,
	1079
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	789.006477355957,
	-256.27825927734375,
	85.66647338867188
	],
	"extent": [
	100.21844482421875,
	40.54936981201172,
	79.90824890136719
	]
	},
	"obb": {
	"center": [
	789.006477355957,
	-256.27825927734375,
	85.66647338867188
	],
	"extent": [
	100.21844482421875,
	40.54936981201172,
	79.90824890136719
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	789.0064697265625,
	-256.27825927734375,
	5.758232116699219
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	255,
	191,
	255
	]
	},
	{
	"object_id": "SM_kitchenshelf_2",
	"bbox_2d": [
	0,
	553,
	567,
	1079
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	587.5064392089844,
	-256.2773094177246,
	61.13639831542969
	],
	"extent": [
	100.01679229736328,
	40.04176330566406,
	54.999107360839844
	]
	},
	"obb": {
	"center": [
	587.5064392089844,
	-256.2773094177246,
	61.13639831542969
	],
	"extent": [
	100.01679229736328,
	40.04176330566406,
	54.999107360839844
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	587.5064697265625,
	-256.27728271484375,
	5.758232116699219
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	255,
	191,
	63
	]
	}
	],
	"fridge": [
	{
	"object_id": "SM_fridge_02_84",
	"bbox_2d": [
	1360,
	0,
	1919,
	1079
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	966.9981079101562,
	-245.73443603515625,
	135.7894058227539
	],
	"extent": [
	80.00001525878906,
	47.4110107421875,
	129.93312072753906
	]
	},
	"obb": {
	"center": [
	966.9981079101562,
	-245.73443603515625,
	135.7894058227539
	],
	"extent": [
	80.00001525878906,
	47.4110107421875,
	129.93312072753906
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	966.9981079101562,
	-245.73443603515625,
	4.546058654785156
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	63,
	191,
	0
	]
	}
	],
	"rack": [
	{
	"object_id": "SM_potrack2_101",
	"bbox_2d": [
	0,
	0,
	832,
	230
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	668.0903504368944,
	-272.0927200141796,
	208.36021662483108
	],
	"extent": [
	57.77327762029381,
	24.881000084882558,
	47.0049159501541
	]
	},
	"obb": {
	"center": [
	668.0903504368944,
	-272.0927200141796,
	208.36021662483108
	],
	"extent": [
	57.77327762029381,
	24.881000084882558,
	47.0049159501541
	],
	"rotation": [
	0,
	90.00000000000001,
	0
	]
	},
	"location": [
	668.108642578125,
	-272.6363220214844,
	180.7266387939453
	],
	"rotation": [
	0,
	90.00000000000001,
	0
	],
	"scale": [
	1.2925000190734863,
	1.2925000190734863,
	1.2925000190734863
	]
	},
	"color": [
	127,
	191,
	191
	]
	},
	{
	"object_id": "SM_kitchenrack_01_191",
	"bbox_2d": [
	746,
	0,
	1381,
	207
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	795.0182226657862,
	-283.8942193627356,
	221.20362854003906
	],
	"extent": [
	69.32912685175688,
	13.728644802682538,
	33.61538142823338
	]
	},
	"obb": {
	"center": [
	795.0182226657862,
	-283.8942193627356,
	221.20362854003906
	],
	"extent": [
	69.32912685175688,
	13.728644802682538,
	33.61538142823338
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	795.0182495117188,
	-283.89422607421875,
	221.20362854003906
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1.4075000286102295,
	1.4075000286102295,
	1.4075000286102295
	]
	},
	"color": [
	0,
	63,
	31
	]
	}
	],
	"detergent bag": [
	{
	"object_id": "SM_detergent_174",
	"bbox_2d": [
	1130,
	365,
	1186,
	516
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	806.8837890484732,
	-278.65231895727624,
	134.52036666870117
	],
	"extent": [
	9.648114948387388,
	7.775964348389152,
	18.756542205810547
	]
	},
	"obb": {
	"center": [
	806.8837890484732,
	-278.65231895727624,
	134.52036666870117
	],
	"extent": [
	9.648114948387388,
	7.775964348389152,
	18.756542205810547
	],
	"rotation": [
	0,
	-22.576663970947266,
	0
	]
	},
	"location": [
	806.48779296875,
	-278.4876708984375,
	115.76382446289062
	],
	"rotation": [
	0,
	-22.576663970947266,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	31,
	191,
	127
	]
	}
	],
	"decor": [
	{
	"object_id": "SM_sunfloweroil_225",
	"bbox_2d": [
	101,
	126,
	266,
	559
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	657.5003614425659,
	-252.60947465896606,
	137.17693328857422
	],
	"extent": [
	5.742660999298096,
	5.742663383483887,
	21.04144287109375
	]
	},
	"obb": {
	"center": [
	657.5003614425659,
	-252.60947465896606,
	137.17693328857422
	],
	"extent": [
	5.742660999298096,
	5.742663383483887,
	21.04144287109375
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	657.5003662109375,
	-252.60946655273438,
	116.13548278808594
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	0,
	127,
	95
	]
	}
	],
	"knife": [
	{
	"object_id": "SM_knife_01_83",
	"bbox_2d": [
	939,
	551,
	1040,
	555
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	749.0878825189488,
	-251.87404060091131,
	115.76382452249527
	],
	"extent": [
	5.229935788745593,
	9.763024288403301,
	0.6032625436782837
	]
	},
	"obb": {
	"center": [
	749.0878825189488,
	-251.87404060091131,
	115.76382452249527
	],
	"extent": [
	5.229935788745593,
	9.763024288403301,
	0.6032625436782837
	],
	"rotation": [
	0,
	-24.396179199218757,
	0
	]
	},
	"location": [
	747.4592895507812,
	-255.6338653564453,
	115.76382446289062
	],
	"rotation": [
	0,
	-24.396179199218757,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	95,
	95,
	95
	]
	},
	{
	"object_id": "SM_knife_02_86",
	"bbox_2d": [
	973,
	549,
	1032,
	554
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	760.0522495176997,
	-263.95330343865015,
	115.7638093829155
	],
	"extent": [
	3.7122543307530123,
	12.599260122671708,
	0.6032631397247314
	]
	},
	"obb": {
	"center": [
	760.0522495176997,
	-263.95330343865015,
	115.7638093829155
	],
	"extent": [
	3.7122543307530123,
	12.599260122671708,
	0.6032631397247314
	],
	"rotation": [
	0,
	12.045557022094727,
	0
	]
	},
	"location": [
	761.4401245117188,
	-269.96142578125,
	115.76380920410156
	],
	"rotation": [
	0,
	12.045557022094727,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	0,
	0,
	159
	]
	}
	],
	"plate": [
	{
	"object_id": "SM_Plate_04_115",
	"bbox_2d": [
	1288,
	719,
	1359,
	740
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	835.579704284668,
	-250.69109535217285,
	81.8488461971283
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	]
	},
	"obb": {
	"center": [
	835.579704284668,
	-250.69109535217285,
	81.8488461971283
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	835.5797119140625,
	-250.6911163330078,
	79.49287414550781
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	255,
	127,
	159
	]
	},
	{
	"object_id": "SM_Plate_121",
	"bbox_2d": [
	1288,
	516,
	1416,
	526
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	800.4238119125366,
	-232.97500705718994,
	119.30856418609619
	],
	"extent": [
	12.399820327758789,
	12.399818420410156,
	2.0544354915618896
	]
	},
	"obb": {
	"center": [
	800.4238119125366,
	-232.97500705718994,
	119.30856418609619
	],
	"extent": [
	12.399820327758789,
	12.399818420410156,
	2.0544354915618896
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	800.423828125,
	-232.97503662109375,
	116.79820251464844
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	255,
	191,
	159
	]
	},
	{
	"object_id": "SM_Plate_124",
	"bbox_2d": [
	1270,
	527,
	1424,
	555
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	798.2294845581055,
	-235.3245029449463,
	117.48576331138611
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	]
	},
	"obb": {
	"center": [
	798.2294845581055,
	-235.3245029449463,
	117.48576331138611
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	798.2294921875,
	-235.32452392578125,
	115.12979125976562
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	255,
	31,
	159
	]
	},
	{
	"object_id": "SM_Plate_01_127",
	"bbox_2d": [
	1026,
	545,
	1073,
	553
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	782.7360763549805,
	-260.4333305358887,
	116.45846271514893
	],
	"extent": [
	16.948688507080078,
	16.948688507080078,
	0.6946386098861694
	]
	},
	"obb": {
	"center": [
	782.7360763549805,
	-260.4333305358887,
	116.45846271514893
	],
	"extent": [
	16.948688507080078,
	16.948688507080078,
	0.6946386098861694
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	782.736083984375,
	-260.433349609375,
	115.76382446289062
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	255,
	95,
	159
	]
	},
	{
	"object_id": "SM_Plate_130",
	"bbox_2d": [
	1051,
	546,
	1308,
	557
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	766.5143356323242,
	-230.07152938842773,
	116.45847034454346
	],
	"extent": [
	16.948688507080078,
	16.948688507080078,
	0.6946386098861694
	]
	},
	"obb": {
	"center": [
	766.5143356323242,
	-230.07152938842773,
	116.45847034454346
	],
	"extent": [
	16.948688507080078,
	16.948688507080078,
	0.6946386098861694
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	766.5143432617188,
	-230.07154846191406,
	115.76383209228516
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	127,
	0,
	159
	]
	},
	{
	"object_id": "SM_Plate_133",
	"bbox_2d": [
	1043,
	516,
	1299,
	546
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	765.778923034668,
	-231.0051212310791,
	118.46438574790955
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	]
	},
	"obb": {
	"center": [
	765.778923034668,
	-231.0051212310791,
	118.46438574790955
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	765.7789306640625,
	-231.00514221191406,
	116.10841369628906
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	127,
	255,
	159
	]
	},
	{
	"object_id": "SM_Plate_142",
	"bbox_2d": [
	1153,
	771,
	1346,
	855
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	779.590934753418,
	-234.57891273498535,
	78.06807684898376
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	]
	},
	"obb": {
	"center": [
	779.590934753418,
	-234.57891273498535,
	78.06807684898376
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	779.5909423828125,
	-234.5789337158203,
	75.71210479736328
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	127,
	191,
	159
	]
	},
	{
	"object_id": "SM_Plate_145",
	"bbox_2d": [
	1153,
	787,
	1313,
	837
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	778.6076583862305,
	-239.4612522125244,
	78.41265845298767
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	]
	},
	"obb": {
	"center": [
	778.6076583862305,
	-239.4612522125244,
	78.41265845298767
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	778.607666015625,
	-239.46127319335938,
	76.05668640136719
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	127,
	31,
	159
	]
	},
	{
	"object_id": "SM_Plate_10",
	"bbox_2d": [
	1153,
	748,
	1303,
	819
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	776.5998458862305,
	-239.4612522125244,
	80.87624335289001
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	]
	},
	"obb": {
	"center": [
	776.5998458862305,
	-239.4612522125244,
	80.87624335289001
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	776.599853515625,
	-239.46127319335938,
	78.52027130126953
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	127,
	95,
	159
	]
	},
	{
	"object_id": "SM_Plate_149",
	"bbox_2d": [
	1287,
	758,
	1457,
	816
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	809.6802816390991,
	-232.54211521148682,
	78.22247409820557
	],
	"extent": [
	12.399820327758789,
	12.399818420410156,
	2.0544354915618896
	]
	},
	"obb": {
	"center": [
	809.6802816390991,
	-232.54211521148682,
	78.22247409820557
	],
	"extent": [
	12.399820327758789,
	12.399818420410156,
	2.0544354915618896
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	809.6802978515625,
	-232.54214477539062,
	75.71211242675781
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	63,
	0,
	159
	]
	},
	{
	"object_id": "SM_Plate_152",
	"bbox_2d": [
	1315,
	774,
	1397,
	794
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	810.0030508041382,
	-234.992338180542,
	77.54239356517792
	],
	"extent": [
	8.78738784790039,
	3.448993444442749,
	1.005528450012207
	]
	},
	"obb": {
	"center": [
	810.0030508041382,
	-234.992338180542,
	77.54239356517792
	],
	"extent": [
	8.78738784790039,
	3.448993444442749,
	1.005528450012207
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	810.0030517578125,
	-234.9923553466797,
	76.29185485839844
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	63,
	255,
	159
	]
	},
	{
	"object_id": "SM_Plate_179",
	"bbox_2d": [
	70,
	514,
	410,
	555
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	659.681510925293,
	-279.7842197418213,
	118.49147009849548
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	]
	},
	"obb": {
	"center": [
	659.681510925293,
	-279.7842197418213,
	118.49147009849548
	],
	"extent": [
	16.940677642822266,
	16.940677642822266,
	2.3559725284576416
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	659.6815185546875,
	-279.78424072265625,
	116.135498046875
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	191,
	63,
	159
	]
	}
	],
	"supply": [
	{
	"object_id": "SM_plasticbottle_136",
	"bbox_2d": [
	890,
	412,
	934,
	529
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	750.8613831996918,
	-278.1194152832031,
	127.69552040100098
	],
	"extent": [
	3.7313179969787598,
	3.788879156112671,
	11.931714057922363
	]
	},
	"obb": {
	"center": [
	750.8613831996918,
	-278.1194152832031,
	127.69552040100098
	],
	"extent": [
	3.7313179969787598,
	3.788879156112671,
	11.931714057922363
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	750.8613891601562,
	-278.1194152832031,
	115.76382446289062
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	127,
	127,
	159
	]
	},
	{
	"object_id": "SM_canfood3",
	"bbox_2d": [
	656,
	0,
	748,
	25
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	701.0185569487624,
	-265.89859355221813,
	186.51668082140526
	],
	"extent": [
	22.858663262056098,
	22.858663262056112,
	4.004496630525978
	]
	},
	"obb": {
	"center": [
	701.0185569487624,
	-265.89859355221813,
	186.51668082140526
	],
	"extent": [
	22.858663262056098,
	22.858663262056112,
	4.004496630525978
	],
	"rotation": [
	0,
	-120.30135345458984,
	0
	]
	},
	"location": [
	701.0185546875,
	-265.8985900878906,
	182.75030517578125
	],
	"rotation": [
	0,
	-120.30135345458984,
	0
	],
	"scale": [
	1.940000057220459,
	1.940000057220459,
	1.940000057220459
	]
	},
	"color": [
	95,
	159,
	191
	]
	}
	],
	"rag": [
	{
	"object_id": "SM_rag_263",
	"bbox_2d": [
	1790,
	996,
	1919,
	1079
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	993.100926195624,
	-198.0217117237778,
	17.8968505859375
	],
	"extent": [
	124.40931699569313,
	124.82899930857332,
	11.653009539027835
	]
	},
	"obb": {
	"center": [
	993.100926195624,
	-198.0217117237778,
	17.8968505859375
	],
	"extent": [
	124.40931699569313,
	124.82899930857332,
	11.653009539027835
	],
	"rotation": [
	0,
	46.15792083740234,
	0
	]
	},
	"location": [
	991.707275390625,
	-187.34722900390625,
	17.8968505859375
	],
	"rotation": [
	0,
	46.15792083740234,
	0
	],
	"scale": [
	1.8549998998641968,
	1.8549998998641968,
	1.8549998998641968
	]
	},
	"color": [
	31,
	159,
	0
	]
	}
	]
	}
	}