Datasets:

TaxonomyProject
/

SimulationMetadata

	{
	"scene_name": "PizzaStore",
	"view_id": "l003_r003",
	"image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/PizzaStore/l003_r003/lit.png",
	"camera": {
	"location": [
	676,
	-132,
	118
	],
	"rotation": [
	0,
	180,
	0
	],
	"fov": 90,
	"c2w": [
	[
	-0.9999999999999996,
	1.224646799147353e-16,
	0,
	0
	],
	[
	-1.224646799147353e-16,
	-0.9999999999999996,
	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": [
	674,
	772,
	1519,
	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
	]
	}
	],
	"roof": [
	{
	"object_id": "SM_roof_5",
	"bbox_2d": [
	666,
	0,
	978,
	326
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	-3,
	-24.625823974609375,
	491.1820068359375
	],
	"extent": [
	1235.6843500952236,
	284.49486201703985,
	3.760068655014038
	]
	},
	"obb": {
	"center": [
	-3,
	-24.625823974609375,
	491.1820068359375
	],
	"extent": [
	1235.6843500952236,
	284.49486201703985,
	3.760068655014038
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	-3,
	-24.625823974609375,
	491.1820068359375
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1.0174999237060547,
	1.0950000286102295,
	1
	]
	},
	"color": [
	255,
	255,
	255
	]
	},
	{
	"object_id": "SM_roofmetal_21",
	"bbox_2d": [
	673,
	0,
	970,
	326
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	-107.95600891113281,
	-49.59537506103514,
	450.57637139898725
	],
	"extent": [
	840.7164306640622,
	266.835693359375,
	39.01462141495722
	]
	},
	"obb": {
	"center": [
	-107.95600891113281,
	-49.595375061035156,
	450.57637139898725
	],
	"extent": [
	840.7164306640622,
	266.835693359375,
	39.01462141495722
	],
	"rotation": [
	0,
	180,
	0
	]
	},
	"location": [
	-107.95594787597656,
	3.7793197631835938,
	451.0682678222656
	],
	"rotation": [
	0,
	180,
	0
	],
	"scale": [
	1,
	1,
	0.8899327516555786
	]
	},
	"color": [
	0,
	127,
	255
	]
	}
	],
	"wall": [
	{
	"object_id": "SM_leftwall_8",
	"bbox_2d": [
	971,
	0,
	1301,
	771
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	-512.0688954164282,
	-240.97154998867288,
	245.5155487060547
	],
	"extent": [
	725.6351637653181,
	99.6704478559158,
	242.13623046875
	]
	},
	"obb": {
	"center": [
	-512.0688954164282,
	-240.97154998867288,
	245.5155487060547
	],
	"extent": [
	725.6351637653181,
	99.6704478559158,
	242.13623046875
	],
	"rotation": [
	0,
	179.99977111816406,
	0
	]
	},
	"location": [
	-512.0692138671875,
	-290.13128662109375,
	0
	],
	"rotation": [
	0,
	179.99977111816406,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	0,
	0,
	127
	]
	},
	{
	"object_id": "SM_rightwall_11",
	"bbox_2d": [
	737,
	300,
	752,
	316
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	-26.000122070144926,
	201.00004196215752,
	248.09518432617188
	],
	"extent": [
	1213.475322102896,
	56.19279383862782,
	242.13626098632812
	]
	},
	"obb": {
	"center": [
	-26.000122070144926,
	201.00004196215752,
	248.09518432617188
	],
	"extent": [
	1213.475322102896,
	56.19279383862782,
	242.13626098632812
	],
	"rotation": [
	0,
	179.99977111816406,
	0
	]
	},
	"location": [
	-26,
	201,
	9.81463623046875
	],
	"rotation": [
	0,
	179.99977111816406,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	0,
	255,
	127
	]
	},
	{
	"object_id": "SM_backwall_14",
	"bbox_2d": [
	1302,
	0,
	1919,
	533
	],
	"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
	]
	}
	],
	"door frame": [
	{
	"object_id": "SM_doorframe2",
	"bbox_2d": [
	974,
	271,
	981,
	336
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	49.11266356234569,
	-155.33301375058022,
	141.48603439331055
	],
	"extent": [
	59.77880480604274,
	13.562216479467907,
	135.9108123779297
	]
	},
	"obb": {
	"center": [
	49.11266356234569,
	-155.33301375058022,
	141.48603439331055
	],
	"extent": [
	59.77880480604274,
	13.562216479467907,
	135.9108123779297
	],
	"rotation": [
	0,
	179.30589294433597,
	0
	]
	},
	"location": [
	49.11272430419922,
	-155.33303833007812,
	7.076168060302734
	],
	"rotation": [
	0,
	179.30589294433597,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	0,
	127,
	0
	]
	}
	],
	"door": [
	{
	"object_id": "SM_wooddoor2",
	"bbox_2d": [
	978,
	334,
	978,
	336
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	51.556976318359375,
	-145.8241720199585,
	147.42587280273438
	],
	"extent": [
	56.42961883544922,
	8.872248649597168,
	124.50353240966797
	]
	},
	"obb": {
	"center": [
	51.556976318359375,
	-145.8241720199585,
	147.42587280273438
	],
	"extent": [
	56.42961883544922,
	8.872248649597168,
	124.50353240966797
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	51.55695343017578,
	-145.8241729736328,
	22.922348022460938
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	255,
	127,
	255
	]
	}
	],
	"pipe": [
	{
	"object_id": "SM_pipeskitchen2",
	"bbox_2d": [
	1262,
	0,
	1319,
	534
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	227.54487258468762,
	-284.40251964971355,
	248.0353830024833
	],
	"extent": [
	11.047083256055203,
	13.444635788883545,
	242.980073706829
	]
	},
	"obb": {
	"center": [
	227.54487258468762,
	-284.40251964971355,
	248.0353830024833
	],
	"extent": [
	11.047083256055203,
	13.444635788883545,
	242.980073706829
	],
	"rotation": [
	0,
	-0.23931884765624997,
	0
	]
	},
	"location": [
	227.58517456054688,
	-279.1572265625,
	5.055309295654297
	],
	"rotation": [
	0,
	-0.23931884765624997,
	0
	],
	"scale": [
	1.013401985168457,
	1.013401985168457,
	1.013401985168457
	]
	},
	"color": [
	63,
	191,
	63
	]
	}
	]
	},
	"foreground": {
	"appliance": [
	{
	"object_id": "SM_metalsink_60",
	"bbox_2d": [
	1055,
	467,
	1218,
	767
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	264.75233279905626,
	-209.32645588334057,
	81.72821044921875
	],
	"extent": [
	42.07584665726837,
	40.463185044579944,
	68.62519073486328
	]
	},
	"obb": {
	"center": [
	264.75233279905626,
	-209.32645588334057,
	81.72821044921875
	],
	"extent": [
	42.07584665726837,
	40.463185044579944,
	68.62519073486328
	],
	"rotation": [
	0,
	-3.2819552421569833,
	0
	]
	},
	"location": [
	264.72784423828125,
	-209.30799865722656,
	6.2085723876953125
	],
	"rotation": [
	0,
	-3.2819552421569833,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	0,
	191,
	63
	]
	},
	{
	"object_id": "SM_metalstove_01_63",
	"bbox_2d": [
	1212,
	525,
	1509,
	1062
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	428.0511474609375,
	-249.85353088378906,
	64.6959114074707
	],
	"extent": [
	50.72198486328125,
	44.144866943359375,
	56.601539611816406
	]
	},
	"obb": {
	"center": [
	428.0511474609375,
	-249.85353088378906,
	64.6959114074707
	],
	"extent": [
	50.72198486328125,
	44.144866943359375,
	56.601539611816406
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	428.0511474609375,
	-249.85353088378906,
	6.2086181640625
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	255,
	191,
	0
	]
	},
	{
	"object_id": "SM_drinkmachine_02_142",
	"bbox_2d": [
	495,
	0,
	764,
	526
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	494.77347951432216,
	-53.24713112184537,
	162.6904411315918
	],
	"extent": [
	46.57321219130756,
	32.825059154618884,
	41.84847640991211
	]
	},
	"obb": {
	"center": [
	494.77347951432216,
	-53.24713112184537,
	162.6904411315918
	],
	"extent": [
	46.57321219130756,
	32.825059154618884,
	41.84847640991211
	],
	"rotation": [
	0,
	179.7389678955078,
	0
	]
	},
	"location": [
	494.7735290527344,
	-53.24714279174805,
	118.64938354492188
	],
	"rotation": [
	0,
	179.7389678955078,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	191,
	63,
	255
	]
	},
	{
	"object_id": "SM_drinkmachine_01_148",
	"bbox_2d": [
	0,
	0,
	589,
	532
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	578.17551612854,
	-54.67023849487305,
	159.90197372436523
	],
	"extent": [
	29.289949417114258,
	29.229614257812514,
	40.97690200805664
	]
	},
	"obb": {
	"center": [
	578.17551612854,
	-54.67023849487305,
	159.90197372436523
	],
	"extent": [
	29.289949417114258,
	29.229614257812514,
	40.97690200805664
	],
	"rotation": [
	0,
	-90.00000000000001,
	0
	]
	},
	"location": [
	578.175537109375,
	-54.67021179199219,
	116.28553009033203
	],
	"rotation": [
	0,
	-90.00000000000001,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	191,
	63,
	127
	]
	}
	],
	"shelving": [
	{
	"object_id": "SM_kitchenshelf_2",
	"bbox_2d": [
	1389,
	549,
	1919,
	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
	]
	},
	{
	"object_id": "SM_kitchenshelf_5",
	"bbox_2d": [
	0,
	526,
	774,
	1079
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	552.35986328125,
	-48.998043060302734,
	63.65044021606445
	],
	"extent": [
	99.99972534179685,
	39.9998779296875,
	54.99895095825195
	]
	},
	"obb": {
	"center": [
	552.35986328125,
	-48.998043060302734,
	63.65044021606445
	],
	"extent": [
	99.99972534179685,
	39.9998779296875,
	54.99895095825195
	],
	"rotation": [
	0,
	180,
	0
	]
	},
	"location": [
	552.35986328125,
	-48.998043060302734,
	6.20855712890625
	],
	"rotation": [
	0,
	180,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	127,
	191,
	255
	]
	}
	],
	"rack": [
	{
	"object_id": "SM_potrack_98",
	"bbox_2d": [
	1587,
	0,
	1919,
	291
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	552.9032776829881,
	-272.0926284614452,
	208.36021662483108
	],
	"extent": [
	57.77327762029381,
	24.881000084882558,
	47.0049159501541
	]
	},
	"obb": {
	"center": [
	552.9032776829881,
	-272.0926284614452,
	208.36021662483108
	],
	"extent": [
	57.77327762029381,
	24.881000084882558,
	47.0049159501541
	],
	"rotation": [
	0,
	90.00000000000001,
	0
	]
	},
	"location": [
	552.9215698242188,
	-272.63623046875,
	180.7266387939453
	],
	"rotation": [
	0,
	90.00000000000001,
	0
	],
	"scale": [
	1.2925000190734863,
	1.2925000190734863,
	1.2925000190734863
	]
	},
	"color": [
	255,
	191,
	191
	]
	}
	],
	"lamp": [
	{
	"object_id": "SM_menulamp_110",
	"bbox_2d": [
	841,
	71,
	986,
	207
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	190.35113716125488,
	-110.09845352172852,
	324.38989639282227
	],
	"extent": [
	22.20184326171875,
	35.38909912109374,
	38.32521057128906
	]
	},
	"obb": {
	"center": [
	190.35113716125488,
	-110.09845352172852,
	324.38989639282227
	],
	"extent": [
	22.20184326171875,
	35.38909912109374,
	38.32521057128906
	],
	"rotation": [
	0,
	180,
	0
	]
	},
	"location": [
	194.90130615234375,
	-110.19397735595703,
	324.34259033203125
	],
	"rotation": [
	0,
	180,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	191,
	0,
	0
	]
	},
	{
	"object_id": "SM_menulamp2",
	"bbox_2d": [
	714,
	71,
	848,
	207
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	190.35118293762207,
	-39.281951904296875,
	324.38989639282227
	],
	"extent": [
	22.20184326171875,
	35.389099121093736,
	38.32521057128906
	]
	},
	"obb": {
	"center": [
	190.35118293762207,
	-39.281951904296875,
	324.38989639282227
	],
	"extent": [
	22.20184326171875,
	35.389099121093736,
	38.32521057128906
	],
	"rotation": [
	0,
	180,
	0
	]
	},
	"location": [
	194.90135192871094,
	-39.37747573852539,
	324.34259033203125
	],
	"rotation": [
	0,
	180,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	191,
	0,
	127
	]
	},
	{
	"object_id": "SM_menulamp3",
	"bbox_2d": [
	704,
	71,
	711,
	84
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	190.35057258605957,
	31.783302307128906,
	324.38989639282227
	],
	"extent": [
	22.20184326171875,
	35.389099121093736,
	38.32521057128906
	]
	},
	"obb": {
	"center": [
	190.35057258605957,
	31.783302307128906,
	324.38989639282227
	],
	"extent": [
	22.20184326171875,
	35.389099121093736,
	38.32521057128906
	],
	"rotation": [
	0,
	180,
	0
	]
	},
	"location": [
	194.90074157714844,
	31.68777847290039,
	324.34259033203125
	],
	"rotation": [
	0,
	180,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	191,
	0,
	63
	]
	},
	{
	"object_id": "SM_lamp_01_135",
	"bbox_2d": [
	791,
	152,
	946,
	274
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	-155.69004873376252,
	-53.48185731531885,
	419.36306829580644
	],
	"extent": [
	67.05482144542475,
	67.05480329110287,
	68.9042566781718
	]
	},
	"obb": {
	"center": [
	-155.69004873376252,
	-53.48185731531885,
	419.36306829580644
	],
	"extent": [
	67.05482144542475,
	67.05480329110287,
	68.9042566781718
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	-154.6347198486328,
	-54.026309967041016,
	487.3963623046875
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1.1897616386413574,
	1.1897616386413574,
	1.1897616386413574
	]
	},
	"color": [
	191,
	127,
	127
	]
	},
	{
	"object_id": "SM_lamp_5",
	"bbox_2d": [
	755,
	235,
	970,
	336
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	-540.7869415283203,
	-17.849308013916016,
	435.2052917480469
	],
	"extent": [
	77.56246948242188,
	133.66229248046875,
	52.4345703125
	]
	},
	"obb": {
	"center": [
	-540.7869415283203,
	-17.849308013916016,
	435.2052917480469
	],
	"extent": [
	77.56246948242188,
	133.66229248046875,
	52.4345703125
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	-540.2338256835938,
	-9.948246002197266,
	487.0996398925781
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	191,
	0,
	191
	]
	},
	{
	"object_id": "SM_toplight3",
	"bbox_2d": [
	844,
	0,
	863,
	1
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	317.0322265625,
	-81.23478698730469,
	382.4129333496094
	],
	"extent": [
	102.64682006835939,
	6.204101562500028,
	6.41528844833374
	]
	},
	"obb": {
	"center": [
	317.0322265625,
	-81.23478698730469,
	382.4129333496094
	],
	"extent": [
	102.64682006835939,
	6.204101562500028,
	6.41528844833374
	],
	"rotation": [
	0,
	-90.00000000000001,
	0
	]
	},
	"location": [
	317.0322265625,
	-81.23478698730469,
	382.4129333496094
	],
	"rotation": [
	0,
	-90.00000000000001,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	95,
	255,
	0
	]
	},
	{
	"object_id": "SM_lamp_2",
	"bbox_2d": [
	907,
	292,
	942,
	326
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	-763.8600051710182,
	-69.62036678713093,
	402.1257868154471
	],
	"extent": [
	84.0441918516135,
	84.04416909761494,
	86.36220994736868
	]
	},
	"obb": {
	"center": [
	-763.8600051710182,
	-69.62036678713093,
	402.1257868154471
	],
	"extent": [
	84.0441918516135,
	84.04416909761494,
	86.36220994736868
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	-762.5372924804688,
	-70.30276489257812,
	487.3963623046875
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1.4912060499191284,
	1.4912060499191284,
	1.4912060499191284
	]
	},
	"color": [
	95,
	127,
	191
	]
	}
	],
	"trash": [
	{
	"object_id": "SM_smalltrashcan_01_14",
	"bbox_2d": [
	777,
	746,
	886,
	897
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	365.7261355399341,
	-90.71529199849716,
	27.19583511352539
	],
	"extent": [
	19.535204710954986,
	19.480301210596053,
	20.416366577148438
	]
	},
	"obb": {
	"center": [
	365.7261355399341,
	-90.71529199849716,
	27.19583511352539
	],
	"extent": [
	19.535204710954986,
	19.480301210596053,
	20.416366577148438
	],
	"rotation": [
	0,
	-8.624664306640625,
	0
	]
	},
	"location": [
	365.72613525390625,
	-90.71529388427734,
	6.779468536376953
	],
	"rotation": [
	0,
	-8.624664306640625,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	127,
	191,
	31
	]
	},
	{
	"object_id": "SM_garbagebags_374",
	"bbox_2d": [
	1030,
	678,
	1170,
	861
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	332.81017875671387,
	-182.2951259613037,
	37.31867218017578
	],
	"extent": [
	27.970190048217773,
	26.099994659423828,
	31.86831283569336
	]
	},
	"obb": {
	"center": [
	332.81017875671387,
	-182.2951259613037,
	37.31867218017578
	],
	"extent": [
	27.970190048217773,
	26.099994659423828,
	31.86831283569336
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	340.5830993652344,
	-181.63600158691406,
	6.2085723876953125
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	159,
	191,
	31
	]
	},
	{
	"object_id": "SM_garbagebags_377",
	"bbox_2d": [
	888,
	674,
	1034,
	873
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	330.4171733856201,
	-133.01383209228516,
	35.51463508605957
	],
	"extent": [
	26.861629486083984,
	26.60877227783203,
	33.79692077636719
	]
	},
	"obb": {
	"center": [
	330.4171733856201,
	-133.01383209228516,
	35.51463508605957
	],
	"extent": [
	26.861629486083984,
	26.60877227783203,
	33.79692077636719
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	331.5993957519531,
	-134.28604125976562,
	6.208587646484375
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	159,
	191,
	95
	]
	},
	{
	"object_id": "SM_trash_16",
	"bbox_2d": [
	1161,
	820,
	1267,
	884
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	317.5610656738281,
	-230.304931640625,
	9.12835693359375
	],
	"extent": [
	68.53819155073755,
	57.098744935024,
	4.942708969116211
	]
	},
	"obb": {
	"center": [
	317.5610656738281,
	-230.304931640625,
	9.12835693359375
	],
	"extent": [
	68.53819155073755,
	57.098744935024,
	4.942708969116211
	],
	"rotation": [
	0,
	-16.83160400390625,
	0
	]
	},
	"location": [
	317.5610656738281,
	-230.304931640625,
	9.12835693359375
	],
	"rotation": [
	0,
	-16.83160400390625,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	0,
	31,
	223
	]
	},
	{
	"object_id": "SM_trash_19",
	"bbox_2d": [
	1335,
	1030,
	1505,
	1079
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	496.064453125,
	-232.10482788085938,
	10.614845275878906
	],
	"extent": [
	58.95458984375,
	41.81941223144531,
	4.942708969116211
	]
	},
	"obb": {
	"center": [
	496.064453125,
	-232.10482788085938,
	10.614845275878906
	],
	"extent": [
	58.95458984375,
	41.81941223144531,
	4.942708969116211
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	496.064453125,
	-232.10482788085938,
	10.614845275878906
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	0,
	95,
	223
	]
	},
	{
	"object_id": "SM_trash_5",
	"bbox_2d": [
	699,
	831,
	906,
	898
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	345.6716613769531,
	-73.26252746582031,
	10.805870056152344
	],
	"extent": [
	63.816711306391596,
	71.44799589856137,
	4.942708969116211
	]
	},
	"obb": {
	"center": [
	345.6716613769531,
	-73.26252746582031,
	10.805870056152344
	],
	"extent": [
	63.816711306391596,
	71.44799589856137,
	4.942708969116211
	],
	"rotation": [
	0,
	-116.644287109375,
	0
	]
	},
	"location": [
	345.6716613769531,
	-73.26252746582031,
	10.805870056152344
	],
	"rotation": [
	0,
	-116.644287109375,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	0,
	159,
	223
	]
	}
	],
	"kitchen equipment": [
	{
	"object_id": "SM_coffeemachine2_111",
	"bbox_2d": [
	0,
	0,
	119,
	526
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	628.5644757456818,
	-62.57016567440319,
	145.2459659576416
	],
	"extent": [
	20.84668319814216,
	31.785150268529655,
	26.59660530090332
	]
	},
	"obb": {
	"center": [
	628.5644757456818,
	-62.57016567440319,
	145.2459659576416
	],
	"extent": [
	20.84668319814216,
	31.785150268529655,
	26.59660530090332
	],
	"rotation": [
	0,
	-172.9453582763672,
	0
	]
	},
	"location": [
	627.8916015625,
	-57.132965087890625,
	118.64936828613281
	],
	"rotation": [
	0,
	-172.9453582763672,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	31,
	255,
	0
	]
	}
	],
	"detergent bag": [
	{
	"object_id": "SM_detergent2_177",
	"bbox_2d": [
	1156,
	457,
	1192,
	537
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	238.79157256253774,
	-229.6070421815169,
	137.44909286499023
	],
	"extent": [
	8.192377415929286,
	9.72026615356424,
	18.756542205810547
	]
	},
	"obb": {
	"center": [
	238.79157256253774,
	-229.6070421815169,
	137.44909286499023
	],
	"extent": [
	8.192377415929286,
	9.72026615356424,
	18.756542205810547
	],
	"rotation": [
	0,
	-63.13784790039062,
	0
	]
	},
	"location": [
	238.59779357910156,
	-229.22445678710938,
	118.69255065917969
	],
	"rotation": [
	0,
	-63.13784790039062,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	31,
	191,
	63
	]
	}
	],
	"power": [
	{
	"object_id": "SM_power_box_219",
	"bbox_2d": [
	1360,
	247,
	1460,
	440
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	323.1612663269043,
	-292.20082092285156,
	185.96233367919922
	],
	"extent": [
	37.290985107421875,
	5.41290283203125,
	28.38867950439453
	]
	},
	"obb": {
	"center": [
	323.1612663269043,
	-292.20082092285156,
	185.96233367919922
	],
	"extent": [
	37.290985107421875,
	5.41290283203125,
	28.38867950439453
	],
	"rotation": [
	0,
	90.00000000000001,
	0
	]
	},
	"location": [
	322.9575500488281,
	-292.1800842285156,
	185.96234130859375
	],
	"rotation": [
	0,
	90.00000000000001,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	0,
	0,
	95
	]
	}
	],
	"rag": [
	{
	"object_id": "SM_rag_01_222",
	"bbox_2d": [
	964,
	335,
	1093,
	380
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	285.14586639404297,
	-142.20605850219727,
	194.02125549316406
	],
	"extent": [
	44.20343780517578,
	40.65312194824219,
	6.162961006164551
	]
	},
	"obb": {
	"center": [
	285.14586639404297,
	-142.20605850219727,
	194.02125549316406
	],
	"extent": [
	44.20343780517578,
	40.65312194824219,
	6.162961006164551
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	278.95208740234375,
	-142.16123962402344,
	194.02125549316406
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	0,
	255,
	95
	]
	}
	],
	"radio": [
	{
	"object_id": "SM_radio_239",
	"bbox_2d": [
	738,
	255,
	782,
	336
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	267.2080949640321,
	-36.92670261380694,
	214.54082679748535
	],
	"extent": [
	24.151767612249344,
	22.936805058142753,
	26.571252822875977
	]
	},
	"obb": {
	"center": [
	267.2080949640321,
	-36.92670261380694,
	214.54082679748535
	],
	"extent": [
	24.151767612249344,
	22.936805058142753,
	26.571252822875977
	],
	"rotation": [
	0,
	-41.07333755493164,
	0
	]
	},
	"location": [
	267.12860107421875,
	-37.017913818359375,
	187.96853637695312
	],
	"rotation": [
	0,
	-41.07333755493164,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	255,
	255,
	95
	]
	}
	],
	"gas burner": [
	{
	"object_id": "SM_gas_272",
	"bbox_2d": [
	759,
	753,
	856,
	1079
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	468.4299296343328,
	-99.2789077758789,
	38.9744488118904
	],
	"extent": [
	10.509175998558362,
	10.467527378355953,
	32.73289833020499
	]
	},
	"obb": {
	"center": [
	468.4299296343328,
	-99.2789077758789,
	38.9744488118904
	],
	"extent": [
	10.509175998558362,
	10.467527378355953,
	32.73289833020499
	],
	"rotation": [
	0,
	0,
	0
	]
	},
	"location": [
	468.429931640625,
	-99.2789077758789,
	6.2085723876953125
	],
	"rotation": [
	0,
	0,
	0
	],
	"scale": [
	1.4024999141693115,
	1.4024999141693115,
	1.4024999141693115
	]
	},
	"color": [
	191,
	31,
	95
	]
	}
	],
	"cup": [
	{
	"object_id": "SM_Cup10_5",
	"bbox_2d": [
	740,
	482,
	745,
	483
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	461.28981541142366,
	-81.5676137508445,
	126.1908655166626
	],
	"extent": [
	6.239052977384063,
	5.867265286233419,
	4.488618850708008
	]
	},
	"obb": {
	"center": [
	461.28981541142366,
	-81.5676137508445,
	126.1908655166626
	],
	"extent": [
	6.239052977384063,
	5.867265286233419,
	4.488618850708008
	],
	"rotation": [
	0,
	33.62855529785157,
	0
	]
	},
	"location": [
	462.4000244140625,
	-80.82919311523438,
	121.7022476196289
	],
	"rotation": [
	0,
	33.62855529785157,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	95,
	191,
	0
	]
	}
	],
	"utensil": [
	{
	"object_id": "SM_ladle_103",
	"bbox_2d": [
	1645,
	255,
	1697,
	436
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	518.1432495117188,
	-250.1768615245819,
	147.98595809936523
	],
	"extent": [
	4.590956687927246,
	4.456455707550049,
	16.89163589477539
	]
	},
	"obb": {
	"center": [
	518.1432495117188,
	-250.1768615245819,
	147.98595809936523
	],
	"extent": [
	4.590956687927246,
	4.456455707550049,
	16.89163589477539
	],
	"rotation": [
	0,
	0,
	180
	]
	},
	"location": [
	518.1432495117188,
	-248.08279418945312,
	160.36016845703125
	],
	"rotation": [
	0,
	0,
	180
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	0,
	63,
	159
	]
	},
	{
	"object_id": "SM_ladle2",
	"bbox_2d": [
	1629,
	239,
	1717,
	467
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	524.7545732327121,
	-244.71684787915044,
	146.83758989710148
	],
	"extent": [
	5.526463139583484,
	10.634249389853466,
	18.349037378728525
	]
	},
	"obb": {
	"center": [
	524.7545732327121,
	-244.71684787915044,
	146.83758989710148
	],
	"extent": [
	5.526463139583484,
	10.634249389853466,
	18.349037378728525
	],
	"rotation": [
	0,
	0,
	98.63956451416018
	]
	},
	"location": [
	524.7548217773438,
	-248.56887817382812,
	164.72760009765625
	],
	"rotation": [
	0,
	0,
	98.63956451416018
	],
	"scale": [
	0.685836672782898,
	0.685836672782898,
	0.685836672782898
	]
	},
	"color": [
	0,
	191,
	159
	]
	},
	{
	"object_id": "SM_ladle4",
	"bbox_2d": [
	1844,
	168,
	1919,
	436
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	554.6373901367188,
	-250.1768615245819,
	147.98595809936523
	],
	"extent": [
	4.590956687927246,
	4.456455707550049,
	16.89163589477539
	]
	},
	"obb": {
	"center": [
	554.6373901367188,
	-250.1768615245819,
	147.98595809936523
	],
	"extent": [
	4.590956687927246,
	4.456455707550049,
	16.89163589477539
	],
	"rotation": [
	0,
	0,
	180
	]
	},
	"location": [
	554.6373901367188,
	-248.08279418945312,
	160.36016845703125
	],
	"rotation": [
	0,
	0,
	180
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	0,
	95,
	159
	]
	},
	{
	"object_id": "SM_DishTray_358",
	"bbox_2d": [
	1505,
	525,
	1630,
	549
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	496.18432569504745,
	-249.66693115537112,
	118.42861437797546
	],
	"extent": [
	5.780400222320395,
	13.423718501232983,
	2.2931244373321533
	]
	},
	"obb": {
	"center": [
	496.18432569504745,
	-249.66693115537112,
	118.42861437797546
	],
	"extent": [
	5.780400222320395,
	13.423718501232983,
	2.2931244373321533
	],
	"rotation": [
	0,
	90.36376953125,
	0
	]
	},
	"location": [
	496.184326171875,
	-249.66693115234375,
	116.13549041748047
	],
	"rotation": [
	0,
	90.36376953125,
	0
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	159,
	63,
	127
	]
	}
	],
	"device": [
	{
	"object_id": "SM_megaphone_109",
	"bbox_2d": [
	853,
	302,
	906,
	336
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	291.82728012609203,
	-104.44778969655124,
	194.50672012655326
	],
	"extent": [
	24.642490398743746,
	21.582222146958372,
	15.047307297863
	]
	},
	"obb": {
	"center": [
	291.82728012609203,
	-104.44778969655124,
	194.50672012655326
	],
	"extent": [
	24.642490398743746,
	21.582222146958372,
	15.047307297863
	],
	"rotation": [
	-11.495376586914064,
	-157.4867706298828,
	89.37276458740233
	]
	},
	"location": [
	289.30743408203125,
	-109.3406753540039,
	193.69873046875
	],
	"rotation": [
	-11.495376586914064,
	-157.4867706298828,
	89.37276458740233
	],
	"scale": [
	1,
	1,
	1
	]
	},
	"color": [
	255,
	0,
	159
	]
	}
	],
	"decor": [
	{
	"object_id": "SM_flowerbag3",
	"bbox_2d": [
	1605,
	0,
	1919,
	177
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	528.5713788774483,
	-256.8285333813705,
	187.23351448345022
	],
	"extent": [
	23.166766287308405,
	13.910308041812797,
	9.276372931430615
	]
	},
	"obb": {
	"center": [
	528.5713788774483,
	-256.8285333813705,
	187.23351448345022
	],
	"extent": [
	23.166766287308405,
	13.910308041812797,
	9.276372931430615
	],
	"rotation": [
	2.6114339828491264,
	-93.80771636962898,
	-90.17299652099615
	]
	},
	"location": [
	550.3392944335938,
	-258.3123779296875,
	187.27366638183594
	],
	"rotation": [
	2.6114339828491264,
	-93.80771636962898,
	-90.17299652099615
	],
	"scale": [
	1.9625329971313477,
	1.9625329971313477,
	1.9625329971313477
	]
	},
	"color": [
	95,
	159,
	0
	]
	},
	{
	"object_id": "SM_flowerbag4",
	"bbox_2d": [
	1806,
	70,
	1919,
	146
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	536.5554867199428,
	-277.45601737332703,
	188.17610634067148
	],
	"extent": [
	23.462050405892683,
	14.527224056245359,
	9.304720055439759
	]
	},
	"obb": {
	"center": [
	536.5554867199428,
	-277.45601737332703,
	188.17610634067148
	],
	"extent": [
	23.462050405892683,
	14.527224056245359,
	9.304720055439759
	],
	"rotation": [
	2.6054580211639444,
	-95.46537780761723,
	-90.24874877929693
	]
	},
	"location": [
	558.2714233398438,
	-279.567626953125,
	188.2450714111328
	],
	"rotation": [
	2.6054580211639444,
	-95.46537780761723,
	-90.24874877929693
	],
	"scale": [
	1.9625329971313477,
	1.9625329971313477,
	1.9625329971313477
	]
	},
	"color": [
	95,
	159,
	255
	]
	},
	{
	"object_id": "SM_flowerbag5",
	"bbox_2d": [
	1803,
	0,
	1823,
	11
	],
	"bbox_3d": {
	"aabb": {
	"center": [
	558.825447084571,
	-261.5061600914243,
	200.29528551338197
	],
	"extent": [
	24.45779304411701,
	16.90616171673605,
	9.413652144500986
	]
	},
	"obb": {
	"center": [
	558.825447084571,
	-261.5061600914243,
	200.29528551338197
	],
	"extent": [
	24.45779304411701,
	16.90616171673605,
	9.413652144500986
	],
	"rotation": [
	-2.557696819305421,
	102.19784545898445,
	-90.55316925048834
	]
	},
	"location": [
	537.4908447265625,
	-266.0720520019531,
	200.47674560546875
	],
	"rotation": [
	-2.557696819305421,
	102.19784545898445,
	-90.55316925048834
	],
	"scale": [
	1.9625329971313477,
	1.9625329971313477,
	1.9625329971313477
	]
	},
	"color": [
	95,
	159,
	127
	]
	}
	]
	}
	}