Add files using upload-large-folder tool

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l000_r001/scene_annotations_split.json

@@ -0,0 +1,1534 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l000_r001",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l000_r001/lit.png",
+  "camera": {
+    "location": [
+      -91,
+      -245,
+      100
+    ],
+    "rotation": [
+      0,
+      59.99999999999999,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        0.5,
+        0.8660254037844385,
+        0,
+        0
+      ],
+      [
+        -0.8660254037844385,
+        0.5,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        -91,
+        -245,
+        100,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "door": [
+      {
+        "object_id": "SM_Door",
+        "bbox_2d": [
+          728,
+          248,
+          883,
+          647
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ]
+          },
+          "obb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            289.5849914550781,
+            222.52499389648438,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          255,
+          127
+        ]
+      }
+    ],
+    "background": [
+      {
+        "object_id": "SM_BackgroundBL",
+        "bbox_2d": [
+          932,
+          304,
+          1089,
+          618
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.0003356723356
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ]
+          },
+          "obb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.00033567233564
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ],
+            "rotation": [
+              -2.99844009532535e-06,
+              1.001790042209905e-05,
+              0
+            ]
+          },
+          "location": [
+            220.20399475097656,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            -2.99844009532535e-06,
+            1.001790042209905e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundB",
+        "bbox_2d": [
+          1090,
+          233,
+          1659,
+          675
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundBR",
+        "bbox_2d": [
+          1660,
+          194,
+          1919,
+          646
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ]
+          },
+          "obb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ],
+            "rotation": [
+              0,
+              1.0017900422099046e-05,
+              0
+            ]
+          },
+          "location": [
+            -217.3520050048828,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            1.0017900422099046e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          255,
+          0
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          0,
+          819,
+          249,
+          890
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "wall": [
+      {
+        "object_id": "SM_Wall",
+        "bbox_2d": [
+          0,
+          0,
+          931,
+          862
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          127
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          60,
+          0,
+          1919,
+          323
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          0,
+          735,
+          1860,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "whiteboard": [
+      {
+        "object_id": "SM_Whiteboard",
+        "bbox_2d": [
+          1174,
+          340,
+          1529,
+          557
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            368.8359680175781,
+            150
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          255
+        ]
+      }
+    ],
+    "picture": [
+      {
+        "object_id": "SM_Picture",
+        "bbox_2d": [
+          0,
+          167,
+          191,
+          477
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ],
+            "rotation": [
+              3.4150900773965982e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            -135.17440795898438,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.4150900773965982e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_Picture2",
+        "bbox_2d": [
+          406,
+          269,
+          564,
+          494
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ],
+            "rotation": [
+              3.0000001061125654e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            4.825592041015625,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.0000001061125654e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          191
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          867,
+          0,
+          1632,
+          173
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          130,
+          597,
+          1494,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "chair": [
+      {
+        "object_id": "SM_ChairA",
+        "bbox_2d": [
+          1272,
+          512,
+          1408,
+          604
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890417
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ]
+          },
+          "obb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890416
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ],
+            "rotation": [
+              -7.583033279093544e-22,
+              -159.99971008300778,
+              3.2329702662536874e-05
+            ]
+          },
+          "location": [
+            -16.805219650268555,
+            243.83599853515625,
+            -0.8154370188713074
+          ],
+          "rotation": [
+            -7.583033279093544e-22,
+            -159.99971008300778,
+            3.2329702662536874e-05
+          ],
+          "scale": [
+            0.9235389828681946,
+            0.9235389828681946,
+            1.1688100099563599
+          ]
+        },
+        "color": [
+          127,
+          0,
+          127
+        ]
+      }
+    ],
+    "air conditioning": [
+      {
+        "object_id": "SM_Air_Conditioning",
+        "bbox_2d": [
+          210,
+          0,
+          833,
+          247
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ]
+          },
+          "obb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            232.05331420898438,
+            15.000215530395508,
+            260
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          127
+        ]
+      }
+    ],
+    "cover": [
+      {
+        "object_id": "SM_CoverA",
+        "bbox_2d": [
+          1811,
+          72,
+          1870,
+          108
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              0.0001953129976755008,
+              9.063829793376499e-07,
+              290.00018310546875
+            ],
+            "extent": [
+              302.4259948730469,
+              391.7356872558594,
+              19.99981689453125
+            ]
+          },
+          "obb": {
+            "center": [
+              0.0001953129976755008,
+              9.063829793376499e-07,
+              290.00018310546875
+            ],
+            "extent": [
+              302.4259948730469,
+              391.7356872558594,
+              19.99981689453125
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0.0001953129976755008,
+            9.063829793376499e-07,
+            300
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          127,
+          0
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker",
+        "bbox_2d": [
+          1196,
+          553,
+          1219,
+          555
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              10.000028610229492,
+              0
+            ]
+          },
+          "location": [
+            77.39859771728516,
+            361.70098876953125,
+            90.5
+          ],
+          "rotation": [
+            0,
+            10.000028610229492,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          1320,
+          618,
+          1344,
+          626
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ],
+    "shelf": [
+      {
+        "object_id": "SM_Shelf",
+        "bbox_2d": [
+          1188,
+          555,
+          1254,
+          558
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ]
+          },
+          "obb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            69.33550262451172,
+            363.83599853515625,
+            89
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          127
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser",
+        "bbox_2d": [
+          1224,
+          551,
+          1251,
+          555
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              -2.5481939315795907,
+              0
+            ]
+          },
+          "location": [
+            58.85190200805664,
+            363.6290588378906,
+            89.5
+          ],
+          "rotation": [
+            0,
+            -2.5481939315795907,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          1028,
+          638,
+          1092,
+          656
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "switch two": [
+      {
+        "object_id": "SM_switch_two",
+        "bbox_2d": [
+          681,
+          434,
+          694,
+          451
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ]
+          },
+          "obb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ],
+            "rotation": [
+              0,
+              90.0000228881836,
+              0
+            ]
+          },
+          "location": [
+            280,
+            115,
+            150
+          ],
+          "rotation": [
+            0,
+            90.0000228881836,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          0,
+          0
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          1188,
+          620,
+          1290,
+          629
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          862,
+          495,
+          973,
+          665
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l007_r002/scene_annotations_split.json

@@ -0,0 +1,1348 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l007_r002",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l007_r002/lit.png",
+  "camera": {
+    "location": [
+      75,
+      -226,
+      100
+    ],
+    "rotation": [
+      0,
+      119.99999999999999,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        -0.4999999999999998,
+        0.8660254037844384,
+        0,
+        0
+      ],
+      [
+        -0.8660254037844384,
+        -0.4999999999999998,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        75,
+        -226,
+        100,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "background": [
+      {
+        "object_id": "SM_BackgroundBL",
+        "bbox_2d": [
+          0,
+          182,
+          207,
+          717
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.0003356723356
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ]
+          },
+          "obb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.00033567233564
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ],
+            "rotation": [
+              -2.99844009532535e-06,
+              1.001790042209905e-05,
+              0
+            ]
+          },
+          "location": [
+            220.20399475097656,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            -2.99844009532535e-06,
+            1.001790042209905e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundB",
+        "bbox_2d": [
+          208,
+          216,
+          814,
+          685
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundBR",
+        "bbox_2d": [
+          815,
+          294,
+          978,
+          623
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ]
+          },
+          "obb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ],
+            "rotation": [
+              0,
+              1.0017900422099046e-05,
+              0
+            ]
+          },
+          "location": [
+            -217.3520050048828,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            1.0017900422099046e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          255,
+          0
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          197,
+          745,
+          198,
+          746
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "window": [
+      {
+        "object_id": "SM_Window",
+        "bbox_2d": [
+          979,
+          21,
+          1919,
+          909
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ]
+          },
+          "obb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          0
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          0,
+          0,
+          1785,
+          315
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          0,
+          747,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "whiteboard": [
+      {
+        "object_id": "SM_Whiteboard",
+        "bbox_2d": [
+          347,
+          329,
+          725,
+          558
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            368.8359680175781,
+            150
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          255
+        ]
+      }
+    ],
+    "downlight": [
+      {
+        "object_id": "SM_Downlight",
+        "bbox_2d": [
+          1377,
+          108,
+          1397,
+          118
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ]
+          },
+          "obb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ],
+            "rotation": [
+              5.008960215491242e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -243.08078002929688,
+            5,
+            260
+          ],
+          "rotation": [
+            5.008960215491242e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          255
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          219,
+          0,
+          1041,
+          153
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          310,
+          600,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "chair": [
+      {
+        "object_id": "SM_ChairA",
+        "bbox_2d": [
+          565,
+          512,
+          682,
+          605
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890417
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ]
+          },
+          "obb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890416
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ],
+            "rotation": [
+              -7.583033279093544e-22,
+              -159.99971008300778,
+              3.2329702662536874e-05
+            ]
+          },
+          "location": [
+            -16.805219650268555,
+            243.83599853515625,
+            -0.8154370188713074
+          ],
+          "rotation": [
+            -7.583033279093544e-22,
+            -159.99971008300778,
+            3.2329702662536874e-05
+          ],
+          "scale": [
+            0.9235389828681946,
+            0.9235389828681946,
+            1.1688100099563599
+          ]
+        },
+        "color": [
+          127,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_ChairB",
+        "bbox_2d": [
+          1041,
+          547,
+          1099,
+          641
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ]
+          },
+          "obb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ],
+            "rotation": [
+              0,
+              -90.00012207031251,
+              0
+            ]
+          },
+          "location": [
+            -250,
+            225,
+            0
+          ],
+          "rotation": [
+            0,
+            -90.00012207031251,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          191
+        ]
+      }
+    ],
+    "curtain": [
+      {
+        "object_id": "SM_Curtain",
+        "bbox_2d": [
+          1334,
+          45,
+          1672,
+          497
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -286.70534936152023,
+              -3.2094228267669678,
+              200.57251746353654
+            ],
+            "extent": [
+              1.0004270430589486,
+              69.80915069580078,
+              83.06246194247147
+            ]
+          },
+          "obb": {
+            "center": [
+              -286.70534936152023,
+              -3.2094228267669678,
+              200.57251746353654
+            ],
+            "extent": [
+              1.0004270430589486,
+              69.80915069580078,
+              83.06246194247147
+            ],
+            "rotation": [
+              -5.1226397772552446e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -285.9389953613281,
+            -3.209399938583374,
+            283.635009765625
+          ],
+          "rotation": [
+            -5.1226397772552446e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          63,
+          63
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker",
+        "bbox_2d": [
+          383,
+          556,
+          417,
+          558
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              10.000028610229492,
+              0
+            ]
+          },
+          "location": [
+            77.39859771728516,
+            361.70098876953125,
+            90.5
+          ],
+          "rotation": [
+            0,
+            10.000028610229492,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          773,
+          615,
+          782,
+          623
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ],
+    "shelf": [
+      {
+        "object_id": "SM_Shelf",
+        "bbox_2d": [
+          374,
+          558,
+          459,
+          561
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ]
+          },
+          "obb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            69.33550262451172,
+            363.83599853515625,
+            89
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          127
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser",
+        "bbox_2d": [
+          423,
+          552,
+          456,
+          558
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              -2.5481939315795907,
+              0
+            ]
+          },
+          "location": [
+            58.85190200805664,
+            363.6290588378906,
+            89.5
+          ],
+          "rotation": [
+            0,
+            -2.5481939315795907,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          734,
+          650,
+          800,
+          676
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          734,
+          623,
+          761,
+          631
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          602,
+          480,
+          747,
+          710
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l014_r005/scene_annotations_split.json

@@ -0,0 +1,1230 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l014_r005",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l014_r005/lit.png",
+  "camera": {
+    "location": [
+      -89,
+      247,
+      100
+    ],
+    "rotation": [
+      0,
+      -59.999999999999986,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        0.5000000000000002,
+        -0.8660254037844384,
+        0,
+        0
+      ],
+      [
+        0.8660254037844384,
+        0.5000000000000002,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        -89,
+        247,
+        100,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "background": [
+      {
+        "object_id": "SM_BackgroundA",
+        "bbox_2d": [
+          282,
+          232,
+          811,
+          568
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.4258699417114258,
+              -361.33600664138794,
+              172.50015258789062
+            ],
+            "extent": [
+              146.0001220703125,
+              0.40011221170425415,
+              87.50019836425781
+            ]
+          },
+          "obb": {
+            "center": [
+              1.4258699417114258,
+              -361.33600664138794,
+              172.50015258789062
+            ],
+            "extent": [
+              146.0001220703125,
+              0.40011221170425415,
+              87.50019836425781
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.4258699417114258,
+            -361.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          255
+        ]
+      }
+    ],
+    "wall": [
+      {
+        "object_id": "SM_Wall",
+        "bbox_2d": [
+          1013,
+          0,
+          1919,
+          765
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          127
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          0,
+          0,
+          1851,
+          312
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          0,
+          830,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "projection screen": [
+      {
+        "object_id": "SM_Projection_Screen",
+        "bbox_2d": [
+          299,
+          239,
+          806,
+          555
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.4258166270214474,
+              -354.6729736328125,
+              173.4909820556659
+            ],
+            "extent": [
+              137.78615051265047,
+              5.51713228225708,
+              81.9183695848694
+            ]
+          },
+          "obb": {
+            "center": [
+              1.4258166270214474,
+              -354.6729736328125,
+              173.4909820556659
+            ],
+            "extent": [
+              137.78615051265047,
+              5.51713228225708,
+              81.9183695848694
+            ],
+            "rotation": [
+              -1.7075500409191593e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.425879955291748,
+            -354.6730041503906,
+            250.43499755859375
+          ],
+          "rotation": [
+            -1.7075500409191593e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          0
+        ]
+      }
+    ],
+    "cabinet": [
+      {
+        "object_id": "SM_CabinetA",
+        "bbox_2d": [
+          275,
+          563,
+          797,
+          680
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              -348.23598861694336,
+              42.5
+            ],
+            "extent": [
+              146.00003051757812,
+              23.500003814697266,
+              42.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              -348.23598861694336,
+              42.5
+            ],
+            "extent": [
+              146.00003051757812,
+              23.500003814697266,
+              42.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            -371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          255
+        ]
+      },
+      {
+        "object_id": "SM_CabinetB",
+        "bbox_2d": [
+          0,
+          171,
+          281,
+          713
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -212.07400512695312,
+              -345.7359867095947,
+              130.00018310546875
+            ],
+            "extent": [
+              67.4999771118164,
+              26.0000057220459,
+              130.00018310546875
+            ]
+          },
+          "obb": {
+            "center": [
+              -212.07400512695312,
+              -345.7359867095947,
+              130.00018310546875
+            ],
+            "extent": [
+              67.4999771118164,
+              26.0000057220459,
+              130.00018310546875
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -212.07400512695312,
+            -371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          0,
+          127
+        ]
+      }
+    ],
+    "picture": [
+      {
+        "object_id": "SM_Picture",
+        "bbox_2d": [
+          1153,
+          332,
+          1250,
+          500
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ],
+            "rotation": [
+              3.4150900773965982e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            -135.17440795898438,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.4150900773965982e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_Picture2",
+        "bbox_2d": [
+          1367,
+          263,
+          1530,
+          490
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ],
+            "rotation": [
+              3.0000001061125654e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            4.825592041015625,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.0000001061125654e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          191
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          275,
+          0,
+          1092,
+          154
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          419,
+          600,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "air conditioning": [
+      {
+        "object_id": "SM_Air_Conditioning",
+        "bbox_2d": [
+          1117,
+          0,
+          1701,
+          232
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ]
+          },
+          "obb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            232.05331420898438,
+            15.000215530395508,
+            260
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          127
+        ]
+      }
+    ],
+    "cover": [
+      {
+        "object_id": "SM_CoverA",
+        "bbox_2d": [
+          119,
+          87,
+          119,
+          87
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              0.0001953129976755008,
+              9.063829793376499e-07,
+              290.00018310546875
+            ],
+            "extent": [
+              302.4259948730469,
+              391.7356872558594,
+              19.99981689453125
+            ]
+          },
+          "obb": {
+            "center": [
+              0.0001953129976755008,
+              9.063829793376499e-07,
+              290.00018310546875
+            ],
+            "extent": [
+              302.4259948730469,
+              391.7356872558594,
+              19.99981689453125
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0.0001953129976755008,
+            9.063829793376499e-07,
+            300
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          127,
+          0
+        ]
+      }
+    ],
+    "projector": [
+      {
+        "object_id": "SM_Projector",
+        "bbox_2d": [
+          613,
+          0,
+          770,
+          231
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ]
+          },
+          "obb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            9.918209980241954e-05,
+            -101.14700317382812,
+            290
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          191
+        ]
+      }
+    ],
+    "switch two": [
+      {
+        "object_id": "SM_switch_two",
+        "bbox_2d": [
+          1756,
+          363,
+          1791,
+          394
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ]
+          },
+          "obb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ],
+            "rotation": [
+              0,
+              90.0000228881836,
+              0
+            ]
+          },
+          "location": [
+            280,
+            115,
+            150
+          ],
+          "rotation": [
+            0,
+            90.0000228881836,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          0,
+          0
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          794,
+          677,
+          949,
+          703
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          756,
+          622,
+          811,
+          639
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          789,
+          509,
+          862,
+          626
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          761,
+          698,
+          780,
+          726
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l020_r001/scene_annotations_split.json

@@ -0,0 +1,1534 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l020_r001",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l020_r001/lit.png",
+  "camera": {
+    "location": [
+      5,
+      -289,
+      100
+    ],
+    "rotation": [
+      0,
+      59.99999999999999,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        0.5,
+        0.8660254037844385,
+        0,
+        0
+      ],
+      [
+        -0.8660254037844385,
+        0.5,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        5,
+        -289,
+        100,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "door": [
+      {
+        "object_id": "SM_Door",
+        "bbox_2d": [
+          919,
+          243,
+          1038,
+          708
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ]
+          },
+          "obb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            289.5849914550781,
+            222.52499389648438,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          255,
+          127
+        ]
+      }
+    ],
+    "background": [
+      {
+        "object_id": "SM_BackgroundBL",
+        "bbox_2d": [
+          1076,
+          300,
+          1248,
+          665
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.0003356723356
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ]
+          },
+          "obb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.00033567233564
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ],
+            "rotation": [
+              -2.99844009532535e-06,
+              1.001790042209905e-05,
+              0
+            ]
+          },
+          "location": [
+            220.20399475097656,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            -2.99844009532535e-06,
+            1.001790042209905e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundB",
+        "bbox_2d": [
+          1249,
+          226,
+          1881,
+          640
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundBR",
+        "bbox_2d": [
+          1882,
+          217,
+          1919,
+          646
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ]
+          },
+          "obb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ],
+            "rotation": [
+              0,
+              1.0017900422099046e-05,
+              0
+            ]
+          },
+          "location": [
+            -217.3520050048828,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            1.0017900422099046e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          255,
+          0
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          0,
+          666,
+          1081,
+          1012
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "wall": [
+      {
+        "object_id": "SM_Wall",
+        "bbox_2d": [
+          0,
+          0,
+          1075,
+          974
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          127
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          434,
+          0,
+          1919,
+          320
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          0,
+          704,
+          1150,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "whiteboard": [
+      {
+        "object_id": "SM_Whiteboard",
+        "bbox_2d": [
+          1341,
+          336,
+          1735,
+          558
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            368.8359680175781,
+            150
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          255
+        ]
+      }
+    ],
+    "picture": [
+      {
+        "object_id": "SM_Picture",
+        "bbox_2d": [
+          245,
+          121,
+          503,
+          475
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ],
+            "rotation": [
+              3.4150900773965982e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            -135.17440795898438,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.4150900773965982e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_Picture2",
+        "bbox_2d": [
+          668,
+          261,
+          795,
+          491
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ],
+            "rotation": [
+              3.0000001061125654e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            4.825592041015625,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.0000001061125654e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          191
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          1136,
+          0,
+          1919,
+          166
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          894,
+          600,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "chair": [
+      {
+        "object_id": "SM_ChairA",
+        "bbox_2d": [
+          1497,
+          511,
+          1647,
+          605
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890417
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ]
+          },
+          "obb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890416
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ],
+            "rotation": [
+              -7.583033279093544e-22,
+              -159.99971008300778,
+              3.2329702662536874e-05
+            ]
+          },
+          "location": [
+            -16.805219650268555,
+            243.83599853515625,
+            -0.8154370188713074
+          ],
+          "rotation": [
+            -7.583033279093544e-22,
+            -159.99971008300778,
+            3.2329702662536874e-05
+          ],
+          "scale": [
+            0.9235389828681946,
+            0.9235389828681946,
+            1.1688100099563599
+          ]
+        },
+        "color": [
+          127,
+          0,
+          127
+        ]
+      }
+    ],
+    "air conditioning": [
+      {
+        "object_id": "SM_Air_Conditioning",
+        "bbox_2d": [
+          588,
+          0,
+          1032,
+          241
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ]
+          },
+          "obb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            232.05331420898438,
+            15.000215530395508,
+            260
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          127
+        ]
+      }
+    ],
+    "cover": [
+      {
+        "object_id": "SM_CoverA",
+        "bbox_2d": [
+          1602,
+          173,
+          1602,
+          173
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              0.0001953129976755008,
+              9.063829793376499e-07,
+              290.00018310546875
+            ],
+            "extent": [
+              302.4259948730469,
+              391.7356872558594,
+              19.99981689453125
+            ]
+          },
+          "obb": {
+            "center": [
+              0.0001953129976755008,
+              9.063829793376499e-07,
+              290.00018310546875
+            ],
+            "extent": [
+              302.4259948730469,
+              391.7356872558594,
+              19.99981689453125
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0.0001953129976755008,
+            9.063829793376499e-07,
+            300
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          127,
+          0
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker",
+        "bbox_2d": [
+          1373,
+          554,
+          1380,
+          555
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              10.000028610229492,
+              0
+            ]
+          },
+          "location": [
+            77.39859771728516,
+            361.70098876953125,
+            90.5
+          ],
+          "rotation": [
+            0,
+            10.000028610229492,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          1659,
+          621,
+          1673,
+          629
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ],
+    "shelf": [
+      {
+        "object_id": "SM_Shelf",
+        "bbox_2d": [
+          1377,
+          556,
+          1403,
+          558
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ]
+          },
+          "obb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            69.33550262451172,
+            363.83599853515625,
+            89
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          127
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser",
+        "bbox_2d": [
+          1402,
+          555,
+          1402,
+          555
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              -2.5481939315795907,
+              0
+            ]
+          },
+          "location": [
+            58.85190200805664,
+            363.6290588378906,
+            89.5
+          ],
+          "rotation": [
+            0,
+            -2.5481939315795907,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          1462,
+          642,
+          1542,
+          661
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "switch two": [
+      {
+        "object_id": "SM_switch_two",
+        "bbox_2d": [
+          884,
+          432,
+          894,
+          450
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ]
+          },
+          "obb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ],
+            "rotation": [
+              0,
+              90.0000228881836,
+              0
+            ]
+          },
+          "location": [
+            280,
+            115,
+            150
+          ],
+          "rotation": [
+            0,
+            90.0000228881836,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          0,
+          0
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          1509,
+          622,
+          1633,
+          632
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          1312,
+          493,
+          1435,
+          671
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l020_r002/scene_annotations_split.json

@@ -0,0 +1,1346 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l020_r002",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l020_r002/lit.png",
+  "camera": {
+    "location": [
+      5,
+      -289,
+      100
+    ],
+    "rotation": [
+      0,
+      119.99999999999999,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        -0.4999999999999998,
+        0.8660254037844384,
+        0,
+        0
+      ],
+      [
+        -0.8660254037844384,
+        -0.4999999999999998,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        5,
+        -289,
+        100,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "background": [
+      {
+        "object_id": "SM_BackgroundBL",
+        "bbox_2d": [
+          0,
+          217,
+          56,
+          615
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.0003356723356
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ]
+          },
+          "obb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.00033567233564
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ],
+            "rotation": [
+              -2.99844009532535e-06,
+              1.001790042209905e-05,
+              0
+            ]
+          },
+          "location": [
+            220.20399475097656,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            -2.99844009532535e-06,
+            1.001790042209905e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundB",
+        "bbox_2d": [
+          57,
+          228,
+          681,
+          644
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundBR",
+        "bbox_2d": [
+          682,
+          301,
+          852,
+          646
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ]
+          },
+          "obb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ],
+            "rotation": [
+              0,
+              1.0017900422099046e-05,
+              0
+            ]
+          },
+          "location": [
+            -217.3520050048828,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            1.0017900422099046e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          255,
+          0
+        ]
+      }
+    ],
+    "window": [
+      {
+        "object_id": "SM_Window",
+        "bbox_2d": [
+          853,
+          50,
+          1919,
+          1000
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ]
+          },
+          "obb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          0
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          0,
+          0,
+          1513,
+          321
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          826,
+          772,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "whiteboard": [
+      {
+        "object_id": "SM_Whiteboard",
+        "bbox_2d": [
+          201,
+          337,
+          590,
+          557
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            368.8359680175781,
+            150
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          255
+        ]
+      }
+    ],
+    "downlight": [
+      {
+        "object_id": "SM_Downlight",
+        "bbox_2d": [
+          1123,
+          131,
+          1140,
+          139
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ]
+          },
+          "obb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ],
+            "rotation": [
+              5.008960215491242e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -243.08078002929688,
+            5,
+            260
+          ],
+          "rotation": [
+            5.008960215491242e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          255
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          1,
+          0,
+          800,
+          169
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          0,
+          598,
+          1087,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "chair": [
+      {
+        "object_id": "SM_ChairA",
+        "bbox_2d": [
+          388,
+          513,
+          524,
+          602
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890417
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ]
+          },
+          "obb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890416
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ],
+            "rotation": [
+              -7.583033279093544e-22,
+              -159.99971008300778,
+              3.2329702662536874e-05
+            ]
+          },
+          "location": [
+            -16.805219650268555,
+            243.83599853515625,
+            -0.8154370188713074
+          ],
+          "rotation": [
+            -7.583033279093544e-22,
+            -159.99971008300778,
+            3.2329702662536874e-05
+          ],
+          "scale": [
+            0.9235389828681946,
+            0.9235389828681946,
+            1.1688100099563599
+          ]
+        },
+        "color": [
+          127,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_ChairB",
+        "bbox_2d": [
+          879,
+          548,
+          928,
+          672
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ]
+          },
+          "obb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ],
+            "rotation": [
+              0,
+              -90.00012207031251,
+              0
+            ]
+          },
+          "location": [
+            -250,
+            225,
+            0
+          ],
+          "rotation": [
+            0,
+            -90.00012207031251,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          191
+        ]
+      }
+    ],
+    "curtain": [
+      {
+        "object_id": "SM_Curtain",
+        "bbox_2d": [
+          1122,
+          73,
+          1364,
+          497
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -286.70534936152023,
+              -3.2094228267669678,
+              200.57251746353654
+            ],
+            "extent": [
+              1.0004270430589486,
+              69.80915069580078,
+              83.06246194247147
+            ]
+          },
+          "obb": {
+            "center": [
+              -286.70534936152023,
+              -3.2094228267669678,
+              200.57251746353654
+            ],
+            "extent": [
+              1.0004270430589486,
+              69.80915069580078,
+              83.06246194247147
+            ],
+            "rotation": [
+              -5.1226397772552446e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -285.9389953613281,
+            -3.209399938583374,
+            283.635009765625
+          ],
+          "rotation": [
+            -5.1226397772552446e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          63,
+          63
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantA",
+        "bbox_2d": [
+          1832,
+          631,
+          1919,
+          746
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -225.31610870361328,
+              -255.28635025024414,
+              63.446800231933594
+            ],
+            "extent": [
+              43.553627014160156,
+              42.17253875732422,
+              63.6171989440918
+            ]
+          },
+          "obb": {
+            "center": [
+              -225.31610870361328,
+              -255.28635025024414,
+              63.446800231933594
+            ],
+            "extent": [
+              43.553627014160156,
+              42.17253875732422,
+              63.6171989440918
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -230,
+            -260,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          191
+        ]
+      },
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          159,
+          486,
+          320,
+          691
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker",
+        "bbox_2d": [
+          242,
+          555,
+          254,
+          557
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              10.000028610229492,
+              0
+            ]
+          },
+          "location": [
+            77.39859771728516,
+            361.70098876953125,
+            90.5
+          ],
+          "rotation": [
+            0,
+            10.000028610229492,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          534,
+          611,
+          544,
+          618
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ],
+    "shelf": [
+      {
+        "object_id": "SM_Shelf",
+        "bbox_2d": [
+          249,
+          558,
+          282,
+          560
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ]
+          },
+          "obb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            69.33550262451172,
+            363.83599853515625,
+            89
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          127
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser",
+        "bbox_2d": [
+          280,
+          556,
+          281,
+          557
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              -2.5481939315795907,
+              0
+            ]
+          },
+          "location": [
+            58.85190200805664,
+            363.6290588378906,
+            89.5
+          ],
+          "rotation": [
+            0,
+            -2.5481939315795907,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          351,
+          641,
+          433,
+          664
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          401,
+          618,
+          511,
+          628
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l027_r002/scene_annotations_split.json

@@ -0,0 +1,1414 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l027_r002",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l027_r002/lit.png",
+  "camera": {
+    "location": [
+      154,
+      -257,
+      100
+    ],
+    "rotation": [
+      0,
+      119.99999999999999,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        -0.4999999999999998,
+        0.8660254037844384,
+        0,
+        0
+      ],
+      [
+        -0.8660254037844384,
+        -0.4999999999999998,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        154,
+        -257,
+        100,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "door": [
+      {
+        "object_id": "SM_Door",
+        "bbox_2d": [
+          0,
+          103,
+          63,
+          731
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ]
+          },
+          "obb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            289.5849914550781,
+            222.52499389648438,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          255,
+          127
+        ]
+      }
+    ],
+    "background": [
+      {
+        "object_id": "SM_BackgroundBL",
+        "bbox_2d": [
+          103,
+          214,
+          395,
+          724
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.0003356723356
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ]
+          },
+          "obb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.00033567233564
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ],
+            "rotation": [
+              -2.99844009532535e-06,
+              1.001790042209905e-05,
+              0
+            ]
+          },
+          "location": [
+            220.20399475097656,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            -2.99844009532535e-06,
+            1.001790042209905e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundB",
+        "bbox_2d": [
+          396,
+          256,
+          901,
+          702
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundBR",
+        "bbox_2d": [
+          902,
+          317,
+          1044,
+          596
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ]
+          },
+          "obb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ],
+            "rotation": [
+              0,
+              1.0017900422099046e-05,
+              0
+            ]
+          },
+          "location": [
+            -217.3520050048828,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            1.0017900422099046e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          255,
+          0
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          145,
+          693,
+          544,
+          740
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "window": [
+      {
+        "object_id": "SM_Window",
+        "bbox_2d": [
+          1045,
+          116,
+          1919,
+          842
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ]
+          },
+          "obb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          0
+        ]
+      }
+    ],
+    "wall": [
+      {
+        "object_id": "SM_Wall",
+        "bbox_2d": [
+          64,
+          172,
+          102,
+          724
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          127
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          0,
+          0,
+          1919,
+          335
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          0,
+          706,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "whiteboard": [
+      {
+        "object_id": "SM_Whiteboard",
+        "bbox_2d": [
+          508,
+          354,
+          824,
+          554
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            368.8359680175781,
+            150
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          255
+        ]
+      }
+    ],
+    "downlight": [
+      {
+        "object_id": "SM_Downlight",
+        "bbox_2d": [
+          1432,
+          176,
+          1448,
+          183
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ]
+          },
+          "obb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ],
+            "rotation": [
+              5.008960215491242e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -243.08078002929688,
+            5,
+            260
+          ],
+          "rotation": [
+            5.008960215491242e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          255
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          467,
+          0,
+          1148,
+          201
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          689,
+          593,
+          1859,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "chair": [
+      {
+        "object_id": "SM_ChairA",
+        "bbox_2d": [
+          718,
+          516,
+          820,
+          596
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890417
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ]
+          },
+          "obb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890416
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ],
+            "rotation": [
+              -7.583033279093544e-22,
+              -159.99971008300778,
+              3.2329702662536874e-05
+            ]
+          },
+          "location": [
+            -16.805219650268555,
+            243.83599853515625,
+            -0.8154370188713074
+          ],
+          "rotation": [
+            -7.583033279093544e-22,
+            -159.99971008300778,
+            3.2329702662536874e-05
+          ],
+          "scale": [
+            0.9235389828681946,
+            0.9235389828681946,
+            1.1688100099563599
+          ]
+        },
+        "color": [
+          127,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_ChairB",
+        "bbox_2d": [
+          1073,
+          546,
+          1185,
+          619
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ]
+          },
+          "obb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ],
+            "rotation": [
+              0,
+              -90.00012207031251,
+              0
+            ]
+          },
+          "location": [
+            -250,
+            225,
+            0
+          ],
+          "rotation": [
+            0,
+            -90.00012207031251,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          191
+        ]
+      }
+    ],
+    "air conditioning": [
+      {
+        "object_id": "SM_Air_Conditioning",
+        "bbox_2d": [
+          64,
+          0,
+          173,
+          79
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ]
+          },
+          "obb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            232.05331420898438,
+            15.000215530395508,
+            260
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          127
+        ]
+      }
+    ],
+    "curtain": [
+      {
+        "object_id": "SM_Curtain",
+        "bbox_2d": [
+          1387,
+          132,
+          1681,
+          502
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -286.70534936152023,
+              -3.2094228267669678,
+              200.57251746353654
+            ],
+            "extent": [
+              1.0004270430589486,
+              69.80915069580078,
+              83.06246194247147
+            ]
+          },
+          "obb": {
+            "center": [
+              -286.70534936152023,
+              -3.2094228267669678,
+              200.57251746353654
+            ],
+            "extent": [
+              1.0004270430589486,
+              69.80915069580078,
+              83.06246194247147
+            ],
+            "rotation": [
+              -5.1226397772552446e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -285.9389953613281,
+            -3.209399938583374,
+            283.635009765625
+          ],
+          "rotation": [
+            -5.1226397772552446e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          63,
+          63
+        ]
+      }
+    ],
+    "projector": [
+      {
+        "object_id": "SM_Projector",
+        "bbox_2d": [
+          1073,
+          0,
+          1317,
+          57
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ]
+          },
+          "obb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            9.918209980241954e-05,
+            -101.14700317382812,
+            290
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          191
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          855,
+          608,
+          928,
+          616
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          1013,
+          625,
+          1020,
+          639
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          924,
+          497,
+          1028,
+          660
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          927,
+          603,
+          940,
+          609
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l035_r001/scene_annotations_split.json

@@ -0,0 +1,1596 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l035_r001",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l035_r001/lit.png",
+  "camera": {
+    "location": [
+      -208,
+      -183,
+      170
+    ],
+    "rotation": [
+      0,
+      59.99999999999999,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        0.5,
+        0.8660254037844385,
+        0,
+        0
+      ],
+      [
+        -0.8660254037844385,
+        0.5,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        -208,
+        -183,
+        170,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "door": [
+      {
+        "object_id": "SM_Door",
+        "bbox_2d": [
+          491,
+          377,
+          691,
+          834
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ]
+          },
+          "obb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            289.5849914550781,
+            222.52499389648438,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          255,
+          127
+        ]
+      }
+    ],
+    "background": [
+      {
+        "object_id": "SM_BackgroundBL",
+        "bbox_2d": [
+          755,
+          408,
+          894,
+          758
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.0003356723356
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ]
+          },
+          "obb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.00033567233564
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ],
+            "rotation": [
+              -2.99844009532535e-06,
+              1.001790042209905e-05,
+              0
+            ]
+          },
+          "location": [
+            220.20399475097656,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            -2.99844009532535e-06,
+            1.001790042209905e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundB",
+        "bbox_2d": [
+          895,
+          369,
+          1397,
+          847
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundBR",
+        "bbox_2d": [
+          1398,
+          341,
+          1696,
+          888
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ]
+          },
+          "obb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ],
+            "rotation": [
+              0,
+              1.0017900422099046e-05,
+              0
+            ]
+          },
+          "location": [
+            -217.3520050048828,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            1.0017900422099046e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          255,
+          0
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          0,
+          758,
+          1538,
+          983
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "window": [
+      {
+        "object_id": "SM_Window",
+        "bbox_2d": [
+          1697,
+          232,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ]
+          },
+          "obb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          0
+        ]
+      }
+    ],
+    "wall": [
+      {
+        "object_id": "SM_Wall",
+        "bbox_2d": [
+          0,
+          299,
+          754,
+          972
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          127
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          0,
+          0,
+          1919,
+          418
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          770,
+          841,
+          1774,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "whiteboard": [
+      {
+        "object_id": "SM_Whiteboard",
+        "bbox_2d": [
+          972,
+          468,
+          1286,
+          683
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            368.8359680175781,
+            150
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          255
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          212,
+          0,
+          1276,
+          311
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          0,
+          735,
+          1156,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "chair": [
+      {
+        "object_id": "SM_ChairA",
+        "bbox_2d": [
+          1003,
+          649,
+          1133,
+          763
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890417
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ]
+          },
+          "obb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890416
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ],
+            "rotation": [
+              -7.583033279093544e-22,
+              -159.99971008300778,
+              3.2329702662536874e-05
+            ]
+          },
+          "location": [
+            -16.805219650268555,
+            243.83599853515625,
+            -0.8154370188713074
+          ],
+          "rotation": [
+            -7.583033279093544e-22,
+            -159.99971008300778,
+            3.2329702662536874e-05
+          ],
+          "scale": [
+            0.9235389828681946,
+            0.9235389828681946,
+            1.1688100099563599
+          ]
+        },
+        "color": [
+          127,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_ChairB",
+        "bbox_2d": [
+          1553,
+          753,
+          1768,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ]
+          },
+          "obb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ],
+            "rotation": [
+              0,
+              -90.00012207031251,
+              0
+            ]
+          },
+          "location": [
+            -250,
+            225,
+            0
+          ],
+          "rotation": [
+            0,
+            -90.00012207031251,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          191
+        ]
+      }
+    ],
+    "air conditioning": [
+      {
+        "object_id": "SM_Air_Conditioning",
+        "bbox_2d": [
+          0,
+          266,
+          589,
+          377
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ]
+          },
+          "obb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            232.05331420898438,
+            15.000215530395508,
+            260
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          127
+        ]
+      }
+    ],
+    "picture": [
+      {
+        "object_id": "SM_Picture2",
+        "bbox_2d": [
+          77,
+          451,
+          276,
+          666
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ],
+            "rotation": [
+              3.0000001061125654e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            4.825592041015625,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.0000001061125654e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          191
+        ]
+      }
+    ],
+    "projector": [
+      {
+        "object_id": "SM_Projector",
+        "bbox_2d": [
+          3,
+          0,
+          381,
+          305
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ]
+          },
+          "obb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            9.918209980241954e-05,
+            -101.14700317382812,
+            290
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          191
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker",
+        "bbox_2d": [
+          989,
+          662,
+          1009,
+          665
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              10.000028610229492,
+              0
+            ]
+          },
+          "location": [
+            77.39859771728516,
+            361.70098876953125,
+            90.5
+          ],
+          "rotation": [
+            0,
+            10.000028610229492,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          922,
+          818,
+          958,
+          833
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ],
+    "shelf": [
+      {
+        "object_id": "SM_Shelf",
+        "bbox_2d": [
+          981,
+          663,
+          1043,
+          670
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ]
+          },
+          "obb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            69.33550262451172,
+            363.83599853515625,
+            89
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          127
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser",
+        "bbox_2d": [
+          1013,
+          660,
+          1039,
+          667
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              -2.5481939315795907,
+              0
+            ]
+          },
+          "location": [
+            58.85190200805664,
+            363.6290588378906,
+            89.5
+          ],
+          "rotation": [
+            0,
+            -2.5481939315795907,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          505,
+          904,
+          576,
+          932
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "switch two": [
+      {
+        "object_id": "SM_switch_two",
+        "bbox_2d": [
+          429,
+          570,
+          445,
+          586
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ]
+          },
+          "obb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ],
+            "rotation": [
+              0,
+              90.0000228881836,
+              0
+            ]
+          },
+          "location": [
+            280,
+            115,
+            150
+          ],
+          "rotation": [
+            0,
+            90.0000228881836,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          0,
+          0
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          801,
+          819,
+          887,
+          842
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          284,
+          789,
+          429,
+          962
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l036_r001/scene_annotations_split.json

@@ -0,0 +1,1534 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l036_r001",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l036_r001/lit.png",
+  "camera": {
+    "location": [
+      -54,
+      -270,
+      170
+    ],
+    "rotation": [
+      0,
+      59.99999999999999,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        0.5,
+        0.8660254037844385,
+        0,
+        0
+      ],
+      [
+        -0.8660254037844385,
+        0.5,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        -54,
+        -270,
+        170,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "door": [
+      {
+        "object_id": "SM_Door",
+        "bbox_2d": [
+          810,
+          377,
+          948,
+          824
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ]
+          },
+          "obb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            289.5849914550781,
+            222.52499389648438,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          255,
+          127
+        ]
+      }
+    ],
+    "background": [
+      {
+        "object_id": "SM_BackgroundBL",
+        "bbox_2d": [
+          992,
+          408,
+          1153,
+          775
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.0003356723356
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ]
+          },
+          "obb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.00033567233564
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ],
+            "rotation": [
+              -2.99844009532535e-06,
+              1.001790042209905e-05,
+              0
+            ]
+          },
+          "location": [
+            220.20399475097656,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            -2.99844009532535e-06,
+            1.001790042209905e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundB",
+        "bbox_2d": [
+          1154,
+          368,
+          1740,
+          843
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundBR",
+        "bbox_2d": [
+          1741,
+          353,
+          1919,
+          872
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ]
+          },
+          "obb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ],
+            "rotation": [
+              0,
+              1.0017900422099046e-05,
+              0
+            ]
+          },
+          "location": [
+            -217.3520050048828,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            1.0017900422099046e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          255,
+          0
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          221,
+          762,
+          1887,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "wall": [
+      {
+        "object_id": "SM_Wall",
+        "bbox_2d": [
+          0,
+          189,
+          991,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          127
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          0,
+          0,
+          1919,
+          418
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          283,
+          772,
+          1866,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "whiteboard": [
+      {
+        "object_id": "SM_Whiteboard",
+        "bbox_2d": [
+          1241,
+          468,
+          1606,
+          684
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            368.8359680175781,
+            150
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          255
+        ]
+      }
+    ],
+    "picture": [
+      {
+        "object_id": "SM_Picture",
+        "bbox_2d": [
+          54,
+          408,
+          336,
+          728
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ],
+            "rotation": [
+              3.4150900773965982e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            -135.17440795898438,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.4150900773965982e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_Picture2",
+        "bbox_2d": [
+          524,
+          451,
+          665,
+          667
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ],
+            "rotation": [
+              3.0000001061125654e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            4.825592041015625,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.0000001061125654e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          191
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          785,
+          0,
+          1840,
+          310
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          667,
+          735,
+          1714,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "chair": [
+      {
+        "object_id": "SM_ChairA",
+        "bbox_2d": [
+          1360,
+          649,
+          1500,
+          761
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890417
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ]
+          },
+          "obb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890416
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ],
+            "rotation": [
+              -7.583033279093544e-22,
+              -159.99971008300778,
+              3.2329702662536874e-05
+            ]
+          },
+          "location": [
+            -16.805219650268555,
+            243.83599853515625,
+            -0.8154370188713074
+          ],
+          "rotation": [
+            -7.583033279093544e-22,
+            -159.99971008300778,
+            3.2329702662536874e-05
+          ],
+          "scale": [
+            0.9235389828681946,
+            0.9235389828681946,
+            1.1688100099563599
+          ]
+        },
+        "color": [
+          127,
+          0,
+          127
+        ]
+      }
+    ],
+    "air conditioning": [
+      {
+        "object_id": "SM_Air_Conditioning",
+        "bbox_2d": [
+          278,
+          202,
+          917,
+          377
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ]
+          },
+          "obb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            232.05331420898438,
+            15.000215530395508,
+            260
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          127
+        ]
+      }
+    ],
+    "projector": [
+      {
+        "object_id": "SM_Projector",
+        "bbox_2d": [
+          1008,
+          0,
+          1324,
+          303
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ]
+          },
+          "obb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            9.918209980241954e-05,
+            -101.14700317382812,
+            290
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          191
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker",
+        "bbox_2d": [
+          1264,
+          662,
+          1288,
+          666
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              10.000028610229492,
+              0
+            ]
+          },
+          "location": [
+            77.39859771728516,
+            361.70098876953125,
+            90.5
+          ],
+          "rotation": [
+            0,
+            10.000028610229492,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          1449,
+          820,
+          1469,
+          834
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ],
+    "shelf": [
+      {
+        "object_id": "SM_Shelf",
+        "bbox_2d": [
+          1257,
+          663,
+          1324,
+          670
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ]
+          },
+          "obb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            69.33550262451172,
+            363.83599853515625,
+            89
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          127
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser",
+        "bbox_2d": [
+          1294,
+          660,
+          1321,
+          668
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              -2.5481939315795907,
+              0
+            ]
+          },
+          "location": [
+            58.85190200805664,
+            363.6290588378906,
+            89.5
+          ],
+          "rotation": [
+            0,
+            -2.5481939315795907,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          1201,
+          907,
+          1268,
+          935
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "switch two": [
+      {
+        "object_id": "SM_switch_two",
+        "bbox_2d": [
+          769,
+          570,
+          780,
+          586
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ]
+          },
+          "obb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ],
+            "rotation": [
+              0,
+              90.0000228881836,
+              0
+            ]
+          },
+          "location": [
+            280,
+            115,
+            150
+          ],
+          "rotation": [
+            0,
+            90.0000228881836,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          0,
+          0
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          1313,
+          820,
+          1422,
+          844
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          1046,
+          790,
+          1157,
+          966
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l039_r001/scene_annotations_split.json

@@ -0,0 +1,1718 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l039_r001",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l039_r001/lit.png",
+  "camera": {
+    "location": [
+      -182,
+      -284,
+      170
+    ],
+    "rotation": [
+      0,
+      59.99999999999999,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        0.5,
+        0.8660254037844385,
+        0,
+        0
+      ],
+      [
+        -0.8660254037844385,
+        0.5,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        -182,
+        -284,
+        170,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "door": [
+      {
+        "object_id": "SM_Door",
+        "bbox_2d": [
+          665,
+          398,
+          814,
+          777
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ]
+          },
+          "obb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            289.5849914550781,
+            222.52499389648438,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          255,
+          127
+        ]
+      }
+    ],
+    "background": [
+      {
+        "object_id": "SM_BackgroundBL",
+        "bbox_2d": [
+          863,
+          421,
+          997,
+          731
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.0003356723356
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ]
+          },
+          "obb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.00033567233564
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ],
+            "rotation": [
+              -2.99844009532535e-06,
+              1.001790042209905e-05,
+              0
+            ]
+          },
+          "location": [
+            220.20399475097656,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            -2.99844009532535e-06,
+            1.001790042209905e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundB",
+        "bbox_2d": [
+          998,
+          391,
+          1463,
+          807
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundBR",
+        "bbox_2d": [
+          1464,
+          370,
+          1726,
+          827
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ]
+          },
+          "obb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ],
+            "rotation": [
+              0,
+              1.0017900422099046e-05,
+              0
+            ]
+          },
+          "location": [
+            -217.3520050048828,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            1.0017900422099046e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          255,
+          0
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          0,
+          739,
+          1593,
+          1019
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "window": [
+      {
+        "object_id": "SM_Window",
+        "bbox_2d": [
+          1727,
+          297,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ]
+          },
+          "obb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          0
+        ]
+      }
+    ],
+    "wall": [
+      {
+        "object_id": "SM_Wall",
+        "bbox_2d": [
+          0,
+          286,
+          862,
+          996
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          127
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          0,
+          0,
+          1919,
+          430
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          0,
+          748,
+          1869,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "whiteboard": [
+      {
+        "object_id": "SM_Whiteboard",
+        "bbox_2d": [
+          1070,
+          477,
+          1361,
+          666
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            368.8359680175781,
+            150
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          255
+        ]
+      }
+    ],
+    "downlight": [
+      {
+        "object_id": "SM_Downlight",
+        "bbox_2d": [
+          1802,
+          140,
+          1842,
+          156
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ]
+          },
+          "obb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ],
+            "rotation": [
+              5.008960215491242e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -243.08078002929688,
+            5,
+            260
+          ],
+          "rotation": [
+            5.008960215491242e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          255
+        ]
+      }
+    ],
+    "picture": [
+      {
+        "object_id": "SM_Picture",
+        "bbox_2d": [
+          0,
+          441,
+          201,
+          681
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ],
+            "rotation": [
+              3.4150900773965982e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            -135.17440795898438,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.4150900773965982e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_Picture2",
+        "bbox_2d": [
+          377,
+          466,
+          514,
+          645
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ],
+            "rotation": [
+              3.0000001061125654e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            4.825592041015625,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.0000001061125654e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          191
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          156,
+          0,
+          1381,
+          340
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          173,
+          709,
+          1271,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "chair": [
+      {
+        "object_id": "SM_ChairA",
+        "bbox_2d": [
+          1124,
+          635,
+          1238,
+          729
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890417
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ]
+          },
+          "obb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890416
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ],
+            "rotation": [
+              -7.583033279093544e-22,
+              -159.99971008300778,
+              3.2329702662536874e-05
+            ]
+          },
+          "location": [
+            -16.805219650268555,
+            243.83599853515625,
+            -0.8154370188713074
+          ],
+          "rotation": [
+            -7.583033279093544e-22,
+            -159.99971008300778,
+            3.2329702662536874e-05
+          ],
+          "scale": [
+            0.9235389828681946,
+            0.9235389828681946,
+            1.1688100099563599
+          ]
+        },
+        "color": [
+          127,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_ChairB",
+        "bbox_2d": [
+          1612,
+          715,
+          1794,
+          954
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ]
+          },
+          "obb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ],
+            "rotation": [
+              0,
+              -90.00012207031251,
+              0
+            ]
+          },
+          "location": [
+            -250,
+            225,
+            0
+          ],
+          "rotation": [
+            0,
+            -90.00012207031251,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          191
+        ]
+      }
+    ],
+    "air conditioning": [
+      {
+        "object_id": "SM_Air_Conditioning",
+        "bbox_2d": [
+          138,
+          280,
+          754,
+          397
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ]
+          },
+          "obb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            232.05331420898438,
+            15.000215530395508,
+            260
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          127
+        ]
+      }
+    ],
+    "projector": [
+      {
+        "object_id": "SM_Projector",
+        "bbox_2d": [
+          585,
+          62,
+          823,
+          369
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ]
+          },
+          "obb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            9.918209980241954e-05,
+            -101.14700317382812,
+            290
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          191
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker",
+        "bbox_2d": [
+          1087,
+          649,
+          1106,
+          652
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              10.000028610229492,
+              0
+            ]
+          },
+          "location": [
+            77.39859771728516,
+            361.70098876953125,
+            90.5
+          ],
+          "rotation": [
+            0,
+            10.000028610229492,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          1105,
+          768,
+          1130,
+          778
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ],
+    "shelf": [
+      {
+        "object_id": "SM_Shelf",
+        "bbox_2d": [
+          1080,
+          650,
+          1136,
+          655
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ]
+          },
+          "obb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            69.33550262451172,
+            363.83599853515625,
+            89
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          127
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser",
+        "bbox_2d": [
+          1110,
+          647,
+          1133,
+          653
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              -2.5481939315795907,
+              0
+            ]
+          },
+          "location": [
+            58.85190200805664,
+            363.6290588378906,
+            89.5
+          ],
+          "rotation": [
+            0,
+            -2.5481939315795907,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          832,
+          821,
+          882,
+          839
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "switch two": [
+      {
+        "object_id": "SM_switch_two",
+        "bbox_2d": [
+          620,
+          566,
+          632,
+          580
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ]
+          },
+          "obb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ],
+            "rotation": [
+              0,
+              90.0000228881836,
+              0
+            ]
+          },
+          "location": [
+            280,
+            115,
+            150
+          ],
+          "rotation": [
+            0,
+            90.0000228881836,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          0,
+          0
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          1002,
+          768,
+          1079,
+          784
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          695,
+          728,
+          785,
+          857
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l040_r000/scene_annotations_split.json

@@ -0,0 +1,1474 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l040_r000",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l040_r000/lit.png",
+  "camera": {
+    "location": [
+      -237,
+      59,
+      170
+    ],
+    "rotation": [
+      0,
+      0,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        1,
+        0,
+        0,
+        0
+      ],
+      [
+        0,
+        1,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        -237,
+        59,
+        170,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "door": [
+      {
+        "object_id": "SM_Door",
+        "bbox_2d": [
+          1124,
+          374,
+          1400,
+          840
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ]
+          },
+          "obb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            289.5849914550781,
+            222.52499389648438,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          255,
+          127
+        ]
+      }
+    ],
+    "background": [
+      {
+        "object_id": "SM_BackgroundBL",
+        "bbox_2d": [
+          1517,
+          322,
+          1698,
+          932
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.0003356723356
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ]
+          },
+          "obb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.00033567233564
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ],
+            "rotation": [
+              -2.99844009532535e-06,
+              1.001790042209905e-05,
+              0
+            ]
+          },
+          "location": [
+            220.20399475097656,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            -2.99844009532535e-06,
+            1.001790042209905e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundB",
+        "bbox_2d": [
+          1699,
+          262,
+          1919,
+          964
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          127
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          259,
+          839,
+          1775,
+          982
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "wall": [
+      {
+        "object_id": "SM_Wall",
+        "bbox_2d": [
+          256,
+          374,
+          1517,
+          838
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          127
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          0,
+          0,
+          1919,
+          373
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          1473,
+          854,
+          1777,
+          1022
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "whiteboard": [
+      {
+        "object_id": "SM_Whiteboard",
+        "bbox_2d": [
+          1837,
+          416,
+          1919,
+          783
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            368.8359680175781,
+            150
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          255
+        ]
+      }
+    ],
+    "picture": [
+      {
+        "object_id": "SM_Picture",
+        "bbox_2d": [
+          534,
+          475,
+          663,
+          632
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ],
+            "rotation": [
+              3.4150900773965982e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            -135.17440795898438,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.4150900773965982e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_Picture2",
+        "bbox_2d": [
+          795,
+          475,
+          922,
+          632
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ],
+            "rotation": [
+              3.0000001061125654e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            4.825592041015625,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.0000001061125654e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          191
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          0,
+          0,
+          1596,
+          229
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          0,
+          833,
+          1820,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "chair": [
+      {
+        "object_id": "SM_ChairA",
+        "bbox_2d": [
+          1662,
+          779,
+          1919,
+          1065
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890417
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ]
+          },
+          "obb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890416
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ],
+            "rotation": [
+              -7.583033279093544e-22,
+              -159.99971008300778,
+              3.2329702662536874e-05
+            ]
+          },
+          "location": [
+            -16.805219650268555,
+            243.83599853515625,
+            -0.8154370188713074
+          ],
+          "rotation": [
+            -7.583033279093544e-22,
+            -159.99971008300778,
+            3.2329702662536874e-05
+          ],
+          "scale": [
+            0.9235389828681946,
+            0.9235389828681946,
+            1.1688100099563599
+          ]
+        },
+        "color": [
+          127,
+          0,
+          127
+        ]
+      }
+    ],
+    "air conditioning": [
+      {
+        "object_id": "SM_Air_Conditioning",
+        "bbox_2d": [
+          555,
+          352,
+          1180,
+          361
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ]
+          },
+          "obb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            232.05331420898438,
+            15.000215530395508,
+            260
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          127
+        ]
+      }
+    ],
+    "projector": [
+      {
+        "object_id": "SM_Projector",
+        "bbox_2d": [
+          156,
+          36,
+          443,
+          357
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ]
+          },
+          "obb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            9.918209980241954e-05,
+            -101.14700317382812,
+            290
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          191
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker",
+        "bbox_2d": [
+          1862,
+          774,
+          1906,
+          788
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              10.000028610229492,
+              0
+            ]
+          },
+          "location": [
+            77.39859771728516,
+            361.70098876953125,
+            90.5
+          ],
+          "rotation": [
+            0,
+            10.000028610229492,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          1108,
+          1002,
+          1187,
+          1020
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ],
+    "shelf": [
+      {
+        "object_id": "SM_Shelf",
+        "bbox_2d": [
+          1842,
+          775,
+          1913,
+          791
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ]
+          },
+          "obb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            69.33550262451172,
+            363.83599853515625,
+            89
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          127
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser",
+        "bbox_2d": [
+          1912,
+          783,
+          1919,
+          793
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              -2.5481939315795907,
+              0
+            ]
+          },
+          "location": [
+            58.85190200805664,
+            363.6290588378906,
+            89.5
+          ],
+          "rotation": [
+            0,
+            -2.5481939315795907,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          617,
+          901,
+          652,
+          940
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "switch two": [
+      {
+        "object_id": "SM_switch_two",
+        "bbox_2d": [
+          1056,
+          569,
+          1071,
+          584
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ]
+          },
+          "obb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ],
+            "rotation": [
+              0,
+              90.0000228881836,
+              0
+            ]
+          },
+          "location": [
+            280,
+            115,
+            150
+          ],
+          "rotation": [
+            0,
+            90.0000228881836,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          0,
+          0
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          975,
+          929,
+          1118,
+          993
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          501,
+          751,
+          606,
+          900
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l045_r003/scene_annotations_split.json

@@ -0,0 +1,1286 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l045_r003",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l045_r003/lit.png",
+  "camera": {
+    "location": [
+      222,
+      18,
+      170
+    ],
+    "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
+      ],
+      [
+        222,
+        18,
+        170,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "background": [
+      {
+        "object_id": "SM_BackgroundB",
+        "bbox_2d": [
+          0,
+          294,
+          81,
+          762
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundBR",
+        "bbox_2d": [
+          82,
+          311,
+          304,
+          930
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ]
+          },
+          "obb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ],
+            "rotation": [
+              0,
+              1.0017900422099046e-05,
+              0
+            ]
+          },
+          "location": [
+            -217.3520050048828,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            1.0017900422099046e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          255,
+          0
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          133,
+          850,
+          304,
+          940
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "window": [
+      {
+        "object_id": "SM_Window",
+        "bbox_2d": [
+          304,
+          368,
+          1610,
+          863
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ]
+          },
+          "obb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          0
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          0,
+          0,
+          1919,
+          367
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "cabinet": [
+      {
+        "object_id": "SM_CabinetA",
+        "bbox_2d": [
+          1863,
+          763,
+          1919,
+          993
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              -348.23598861694336,
+              42.5
+            ],
+            "extent": [
+              146.00003051757812,
+              23.500003814697266,
+              42.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              -348.23598861694336,
+              42.5
+            ],
+            "extent": [
+              146.00003051757812,
+              23.500003814697266,
+              42.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            -371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          255
+        ]
+      },
+      {
+        "object_id": "SM_CabinetB",
+        "bbox_2d": [
+          1608,
+          304,
+          1919,
+          966
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -212.07400512695312,
+              -345.7359867095947,
+              130.00018310546875
+            ],
+            "extent": [
+              67.4999771118164,
+              26.0000057220459,
+              130.00018310546875
+            ]
+          },
+          "obb": {
+            "center": [
+              -212.07400512695312,
+              -345.7359867095947,
+              130.00018310546875
+            ],
+            "extent": [
+              67.4999771118164,
+              26.0000057220459,
+              130.00018310546875
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -212.07400512695312,
+            -371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          0,
+          127
+        ]
+      }
+    ],
+    "downlight": [
+      {
+        "object_id": "SM_Downlight",
+        "bbox_2d": [
+          980,
+          353,
+          993,
+          357
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ]
+          },
+          "obb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ],
+            "rotation": [
+              5.008960215491242e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -243.08078002929688,
+            5,
+            260
+          ],
+          "rotation": [
+            5.008960215491242e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          255
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          137,
+          0,
+          1809,
+          213
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          0,
+          848,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "chair": [
+      {
+        "object_id": "SM_ChairA",
+        "bbox_2d": [
+          0,
+          745,
+          200,
+          1006
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890417
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ]
+          },
+          "obb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890416
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ],
+            "rotation": [
+              -7.583033279093544e-22,
+              -159.99971008300778,
+              3.2329702662536874e-05
+            ]
+          },
+          "location": [
+            -16.805219650268555,
+            243.83599853515625,
+            -0.8154370188713074
+          ],
+          "rotation": [
+            -7.583033279093544e-22,
+            -159.99971008300778,
+            3.2329702662536874e-05
+          ],
+          "scale": [
+            0.9235389828681946,
+            0.9235389828681946,
+            1.1688100099563599
+          ]
+        },
+        "color": [
+          127,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_ChairB",
+        "bbox_2d": [
+          453,
+          682,
+          608,
+          844
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ]
+          },
+          "obb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ],
+            "rotation": [
+              0,
+              -90.00012207031251,
+              0
+            ]
+          },
+          "location": [
+            -250,
+            225,
+            0
+          ],
+          "rotation": [
+            0,
+            -90.00012207031251,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          191
+        ]
+      }
+    ],
+    "curtain": [
+      {
+        "object_id": "SM_Curtain",
+        "bbox_2d": [
+          868,
+          368,
+          1131,
+          638
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -286.70534936152023,
+              -3.2094228267669678,
+              200.57251746353654
+            ],
+            "extent": [
+              1.0004270430589486,
+              69.80915069580078,
+              83.06246194247147
+            ]
+          },
+          "obb": {
+            "center": [
+              -286.70534936152023,
+              -3.2094228267669678,
+              200.57251746353654
+            ],
+            "extent": [
+              1.0004270430589486,
+              69.80915069580078,
+              83.06246194247147
+            ],
+            "rotation": [
+              -5.1226397772552446e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -285.9389953613281,
+            -3.209399938583374,
+            283.635009765625
+          ],
+          "rotation": [
+            -5.1226397772552446e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          63,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Curtain5",
+        "bbox_2d": [
+          1441,
+          368,
+          1609,
+          553
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -286.7053491837275,
+              -303.20943450927734,
+              245.5725174618962
+            ],
+            "extent": [
+              1.0004268652662631,
+              69.80915069580078,
+              83.06246194033012
+            ]
+          },
+          "obb": {
+            "center": [
+              -286.7053491837275,
+              -303.20943450927734,
+              245.5725174618962
+            ],
+            "extent": [
+              1.0004268652662631,
+              69.80915069580078,
+              83.06246194033012
+            ],
+            "rotation": [
+              -4.999999873689375e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -285.9389953613281,
+            -303.20941162109375,
+            328.635009765625
+          ],
+          "rotation": [
+            -4.999999873689375e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          63,
+          191
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantA",
+        "bbox_2d": [
+          1449,
+          630,
+          1657,
+          856
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -225.31610870361328,
+              -255.28635025024414,
+              63.446800231933594
+            ],
+            "extent": [
+              43.553627014160156,
+              42.17253875732422,
+              63.6171989440918
+            ]
+          },
+          "obb": {
+            "center": [
+              -225.31610870361328,
+              -255.28635025024414,
+              63.446800231933594
+            ],
+            "extent": [
+              43.553627014160156,
+              42.17253875732422,
+              63.6171989440918
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -230,
+            -260,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          191
+        ]
+      },
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          1259,
+          840,
+          1413,
+          1060
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ],
+    "projector": [
+      {
+        "object_id": "SM_Projector",
+        "bbox_2d": [
+          1346,
+          1,
+          1626,
+          346
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ]
+          },
+          "obb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            9.918209980241954e-05,
+            -101.14700317382812,
+            290
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          191
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          641,
+          919,
+          773,
+          978
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          1116,
+          949,
+          1180,
+          998
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          637,
+          894,
+          693,
+          906
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l048_r005/scene_annotations_split.json

@@ -0,0 +1,1414 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l048_r005",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l048_r005/lit.png",
+  "camera": {
+    "location": [
+      -182,
+      230,
+      170
+    ],
+    "rotation": [
+      0,
+      -59.999999999999986,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        0.5000000000000002,
+        -0.8660254037844384,
+        0,
+        0
+      ],
+      [
+        0.8660254037844384,
+        0.5000000000000002,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        -182,
+        230,
+        170,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "background": [
+      {
+        "object_id": "SM_BackgroundA",
+        "bbox_2d": [
+          489,
+          378,
+          945,
+          692
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.4258699417114258,
+              -361.33600664138794,
+              172.50015258789062
+            ],
+            "extent": [
+              146.0001220703125,
+              0.40011221170425415,
+              87.50019836425781
+            ]
+          },
+          "obb": {
+            "center": [
+              1.4258699417114258,
+              -361.33600664138794,
+              172.50015258789062
+            ],
+            "extent": [
+              146.0001220703125,
+              0.40011221170425415,
+              87.50019836425781
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.4258699417114258,
+            -361.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          255
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          1166,
+          770,
+          1801,
+          981
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "window": [
+      {
+        "object_id": "SM_Window",
+        "bbox_2d": [
+          0,
+          267,
+          153,
+          1060
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ]
+          },
+          "obb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          0
+        ]
+      }
+    ],
+    "wall": [
+      {
+        "object_id": "SM_Wall",
+        "bbox_2d": [
+          1131,
+          286,
+          1919,
+          961
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          127
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          0,
+          0,
+          1919,
+          417
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          115,
+          781,
+          1798,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "projection screen": [
+      {
+        "object_id": "SM_Projection_Screen",
+        "bbox_2d": [
+          501,
+          385,
+          942,
+          681
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.4258166270214474,
+              -354.6729736328125,
+              173.4909820556659
+            ],
+            "extent": [
+              137.78615051265047,
+              5.51713228225708,
+              81.9183695848694
+            ]
+          },
+          "obb": {
+            "center": [
+              1.4258166270214474,
+              -354.6729736328125,
+              173.4909820556659
+            ],
+            "extent": [
+              137.78615051265047,
+              5.51713228225708,
+              81.9183695848694
+            ],
+            "rotation": [
+              -1.7075500409191593e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.425879955291748,
+            -354.6730041503906,
+            250.43499755859375
+          ],
+          "rotation": [
+            -1.7075500409191593e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          0
+        ]
+      }
+    ],
+    "cabinet": [
+      {
+        "object_id": "SM_CabinetA",
+        "bbox_2d": [
+          489,
+          661,
+          969,
+          865
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              -348.23598861694336,
+              42.5
+            ],
+            "extent": [
+              146.00003051757812,
+              23.500003814697266,
+              42.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              -348.23598861694336,
+              42.5
+            ],
+            "extent": [
+              146.00003051757812,
+              23.500003814697266,
+              42.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            -371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          255
+        ]
+      },
+      {
+        "object_id": "SM_CabinetB",
+        "bbox_2d": [
+          154,
+          339,
+          488,
+          897
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -212.07400512695312,
+              -345.7359867095947,
+              130.00018310546875
+            ],
+            "extent": [
+              67.4999771118164,
+              26.0000057220459,
+              130.00018310546875
+            ]
+          },
+          "obb": {
+            "center": [
+              -212.07400512695312,
+              -345.7359867095947,
+              130.00018310546875
+            ],
+            "extent": [
+              67.4999771118164,
+              26.0000057220459,
+              130.00018310546875
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -212.07400512695312,
+            -371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          0,
+          127
+        ]
+      }
+    ],
+    "downlight": [
+      {
+        "object_id": "SM_Downlight",
+        "bbox_2d": [
+          0,
+          8,
+          21,
+          29
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ]
+          },
+          "obb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ],
+            "rotation": [
+              5.008960215491242e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -243.08078002929688,
+            5,
+            260
+          ],
+          "rotation": [
+            5.008960215491242e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          255
+        ]
+      }
+    ],
+    "picture": [
+      {
+        "object_id": "SM_Picture",
+        "bbox_2d": [
+          1291,
+          475,
+          1397,
+          632
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ],
+            "rotation": [
+              3.4150900773965982e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            -135.17440795898438,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.4150900773965982e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_Picture2",
+        "bbox_2d": [
+          1527,
+          455,
+          1700,
+          660
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ],
+            "rotation": [
+              3.0000001061125654e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            4.825592041015625,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.0000001061125654e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          191
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          564,
+          0,
+          1623,
+          312
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          691,
+          734,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "air conditioning": [
+      {
+        "object_id": "SM_Air_Conditioning",
+        "bbox_2d": [
+          1272,
+          249,
+          1919,
+          378
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ]
+          },
+          "obb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            232.05331420898438,
+            15.000215530395508,
+            260
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          127
+        ]
+      }
+    ],
+    "curtain": [
+      {
+        "object_id": "SM_Curtain5",
+        "bbox_2d": [
+          98,
+          295,
+          153,
+          558
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -286.7053491837275,
+              -303.20943450927734,
+              245.5725174618962
+            ],
+            "extent": [
+              1.0004268652662631,
+              69.80915069580078,
+              83.06246194033012
+            ]
+          },
+          "obb": {
+            "center": [
+              -286.7053491837275,
+              -303.20943450927734,
+              245.5725174618962
+            ],
+            "extent": [
+              1.0004268652662631,
+              69.80915069580078,
+              83.06246194033012
+            ],
+            "rotation": [
+              -4.999999873689375e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -285.9389953613281,
+            -303.20941162109375,
+            328.635009765625
+          ],
+          "rotation": [
+            -4.999999873689375e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          63,
+          191
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantA",
+        "bbox_2d": [
+          147,
+          647,
+          405,
+          953
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -225.31610870361328,
+              -255.28635025024414,
+              63.446800231933594
+            ],
+            "extent": [
+              43.553627014160156,
+              42.17253875732422,
+              63.6171989440918
+            ]
+          },
+          "obb": {
+            "center": [
+              -225.31610870361328,
+              -255.28635025024414,
+              63.446800231933594
+            ],
+            "extent": [
+              43.553627014160156,
+              42.17253875732422,
+              63.6171989440918
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -230,
+            -260,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          191
+        ]
+      },
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          1043,
+          700,
+          1115,
+          812
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ],
+    "projector": [
+      {
+        "object_id": "SM_Projector",
+        "bbox_2d": [
+          866,
+          228,
+          1015,
+          423
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ]
+          },
+          "obb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            9.918209980241954e-05,
+            -101.14700317382812,
+            290
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          191
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          1234,
+          947,
+          1341,
+          1013
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          1052,
+          822,
+          1094,
+          848
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          1235,
+          1019,
+          1290,
+          1069
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l051_r005/scene_annotations_split.json

@@ -0,0 +1,1352 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l051_r005",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l051_r005/lit.png",
+  "camera": {
+    "location": [
+      -74,
+      295,
+      170
+    ],
+    "rotation": [
+      0,
+      -59.999999999999986,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        0.5000000000000002,
+        -0.8660254037844384,
+        0,
+        0
+      ],
+      [
+        0.8660254037844384,
+        0.5000000000000002,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        -74,
+        295,
+        170,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "background": [
+      {
+        "object_id": "SM_BackgroundA",
+        "bbox_2d": [
+          259,
+          378,
+          766,
+          692
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.4258699417114258,
+              -361.33600664138794,
+              172.50015258789062
+            ],
+            "extent": [
+              146.0001220703125,
+              0.40011221170425415,
+              87.50019836425781
+            ]
+          },
+          "obb": {
+            "center": [
+              1.4258699417114258,
+              -361.33600664138794,
+              172.50015258789062
+            ],
+            "extent": [
+              146.0001220703125,
+              0.40011221170425415,
+              87.50019836425781
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.4258699417114258,
+            -361.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          255
+        ]
+      }
+    ],
+    "door": [
+      {
+        "object_id": "SM_Door",
+        "bbox_2d": [
+          1697,
+          209,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ]
+          },
+          "obb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            289.5849914550781,
+            222.52499389648438,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          255,
+          127
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          980,
+          767,
+          1696,
+          1073
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "wall": [
+      {
+        "object_id": "SM_Wall",
+        "bbox_2d": [
+          960,
+          258,
+          1696,
+          1047
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          127
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          0,
+          0,
+          1919,
+          418
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          34,
+          777,
+          1737,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "projection screen": [
+      {
+        "object_id": "SM_Projection_Screen",
+        "bbox_2d": [
+          275,
+          385,
+          760,
+          680
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.4258166270214474,
+              -354.6729736328125,
+              173.4909820556659
+            ],
+            "extent": [
+              137.78615051265047,
+              5.51713228225708,
+              81.9183695848694
+            ]
+          },
+          "obb": {
+            "center": [
+              1.4258166270214474,
+              -354.6729736328125,
+              173.4909820556659
+            ],
+            "extent": [
+              137.78615051265047,
+              5.51713228225708,
+              81.9183695848694
+            ],
+            "rotation": [
+              -1.7075500409191593e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.425879955291748,
+            -354.6730041503906,
+            250.43499755859375
+          ],
+          "rotation": [
+            -1.7075500409191593e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          0
+        ]
+      }
+    ],
+    "cabinet": [
+      {
+        "object_id": "SM_CabinetA",
+        "bbox_2d": [
+          250,
+          660,
+          783,
+          858
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              -348.23598861694336,
+              42.5
+            ],
+            "extent": [
+              146.00003051757812,
+              23.500003814697266,
+              42.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              -348.23598861694336,
+              42.5
+            ],
+            "extent": [
+              146.00003051757812,
+              23.500003814697266,
+              42.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            -371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          255
+        ]
+      },
+      {
+        "object_id": "SM_CabinetB",
+        "bbox_2d": [
+          0,
+          349,
+          258,
+          896
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -212.07400512695312,
+              -345.7359867095947,
+              130.00018310546875
+            ],
+            "extent": [
+              67.4999771118164,
+              26.0000057220459,
+              130.00018310546875
+            ]
+          },
+          "obb": {
+            "center": [
+              -212.07400512695312,
+              -345.7359867095947,
+              130.00018310546875
+            ],
+            "extent": [
+              67.4999771118164,
+              26.0000057220459,
+              130.00018310546875
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -212.07400512695312,
+            -371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          0,
+          127
+        ]
+      }
+    ],
+    "picture": [
+      {
+        "object_id": "SM_Picture",
+        "bbox_2d": [
+          1080,
+          476,
+          1163,
+          631
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ],
+            "rotation": [
+              3.4150900773965982e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            -135.17440795898438,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.4150900773965982e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_Picture2",
+        "bbox_2d": [
+          1259,
+          456,
+          1393,
+          659
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ],
+            "rotation": [
+              3.0000001061125654e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            4.825592041015625,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.0000001061125654e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          191
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          172,
+          0,
+          1197,
+          313
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          331,
+          734,
+          1375,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "air conditioning": [
+      {
+        "object_id": "SM_Air_Conditioning",
+        "bbox_2d": [
+          1038,
+          209,
+          1697,
+          379
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ]
+          },
+          "obb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            232.05331420898438,
+            15.000215530395508,
+            260
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          127
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantA",
+        "bbox_2d": [
+          0,
+          679,
+          121,
+          846
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -225.31610870361328,
+              -255.28635025024414,
+              63.446800231933594
+            ],
+            "extent": [
+              43.553627014160156,
+              42.17253875732422,
+              63.6171989440918
+            ]
+          },
+          "obb": {
+            "center": [
+              -225.31610870361328,
+              -255.28635025024414,
+              63.446800231933594
+            ],
+            "extent": [
+              43.553627014160156,
+              42.17253875732422,
+              63.6171989440918
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -230,
+            -260,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          191
+        ]
+      },
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          707,
+          699,
+          773,
+          810
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ],
+    "projector": [
+      {
+        "object_id": "SM_Projector",
+        "bbox_2d": [
+          551,
+          230,
+          692,
+          424
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ]
+          },
+          "obb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            9.918209980241954e-05,
+            -101.14700317382812,
+            290
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          191
+        ]
+      }
+    ],
+    "switch two": [
+      {
+        "object_id": "SM_switch_two",
+        "bbox_2d": [
+          1570,
+          585,
+          1597,
+          610
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ]
+          },
+          "obb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ],
+            "rotation": [
+              0,
+              90.0000228881836,
+              0
+            ]
+          },
+          "location": [
+            280,
+            115,
+            150
+          ],
+          "rotation": [
+            0,
+            90.0000228881836,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          0,
+          0
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          650,
+          943,
+          796,
+          1007
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          665,
+          820,
+          716,
+          845
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          608,
+          1013,
+          624,
+          1062
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_0_l057_r004/scene_annotations_split.json

@@ -0,0 +1,1536 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_0_l057_r004",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_0_l057_r004/lit.png",
+  "camera": {
+    "location": [
+      226,
+      235,
+      170
+    ],
+    "rotation": [
+      0,
+      -119.99999999999997,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        -0.49999999999999933,
+        -0.8660254037844387,
+        0,
+        0
+      ],
+      [
+        0.8660254037844387,
+        -0.49999999999999933,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        226,
+        235,
+        170,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "background": [
+      {
+        "object_id": "SM_BackgroundA",
+        "bbox_2d": [
+          929,
+          385,
+          1346,
+          685
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.4258699417114258,
+              -361.33600664138794,
+              172.50015258789062
+            ],
+            "extent": [
+              146.0001220703125,
+              0.40011221170425415,
+              87.50019836425781
+            ]
+          },
+          "obb": {
+            "center": [
+              1.4258699417114258,
+              -361.33600664138794,
+              172.50015258789062
+            ],
+            "extent": [
+              146.0001220703125,
+              0.40011221170425415,
+              87.50019836425781
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.4258699417114258,
+            -361.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          255
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          1651,
+          892,
+          1722,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "window": [
+      {
+        "object_id": "SM_Window",
+        "bbox_2d": [
+          0,
+          316,
+          750,
+          938
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ]
+          },
+          "obb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          0
+        ]
+      }
+    ],
+    "wall": [
+      {
+        "object_id": "SM_Wall",
+        "bbox_2d": [
+          1652,
+          0,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          127
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          0,
+          0,
+          1904,
+          421
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          784,
+          829,
+          1690,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "projection screen": [
+      {
+        "object_id": "SM_Projection_Screen",
+        "bbox_2d": [
+          930,
+          392,
+          1341,
+          675
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.4258166270214474,
+              -354.6729736328125,
+              173.4909820556659
+            ],
+            "extent": [
+              137.78615051265047,
+              5.51713228225708,
+              81.9183695848694
+            ]
+          },
+          "obb": {
+            "center": [
+              1.4258166270214474,
+              -354.6729736328125,
+              173.4909820556659
+            ],
+            "extent": [
+              137.78615051265047,
+              5.51713228225708,
+              81.9183695848694
+            ],
+            "rotation": [
+              -1.7075500409191593e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.425879955291748,
+            -354.6730041503906,
+            250.43499755859375
+          ],
+          "rotation": [
+            -1.7075500409191593e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          0
+        ]
+      }
+    ],
+    "cabinet": [
+      {
+        "object_id": "SM_CabinetA",
+        "bbox_2d": [
+          903,
+          656,
+          1346,
+          849
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              -348.23598861694336,
+              42.5
+            ],
+            "extent": [
+              146.00003051757812,
+              23.500003814697266,
+              42.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              -348.23598861694336,
+              42.5
+            ],
+            "extent": [
+              146.00003051757812,
+              23.500003814697266,
+              42.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            -371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          255
+        ]
+      },
+      {
+        "object_id": "SM_CabinetB",
+        "bbox_2d": [
+          751,
+          417,
+          928,
+          747
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -212.07400512695312,
+              -345.7359867095947,
+              130.00018310546875
+            ],
+            "extent": [
+              67.4999771118164,
+              26.0000057220459,
+              130.00018310546875
+            ]
+          },
+          "obb": {
+            "center": [
+              -212.07400512695312,
+              -345.7359867095947,
+              130.00018310546875
+            ],
+            "extent": [
+              67.4999771118164,
+              26.0000057220459,
+              130.00018310546875
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -212.07400512695312,
+            -371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          0,
+          127
+        ]
+      }
+    ],
+    "downlight": [
+      {
+        "object_id": "SM_Downlight",
+        "bbox_2d": [
+          306,
+          339,
+          324,
+          344
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ]
+          },
+          "obb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ],
+            "rotation": [
+              5.008960215491242e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -243.08078002929688,
+            5,
+            260
+          ],
+          "rotation": [
+            5.008960215491242e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          255
+        ]
+      }
+    ],
+    "picture": [
+      {
+        "object_id": "SM_Picture",
+        "bbox_2d": [
+          1690,
+          413,
+          1751,
+          721
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ],
+            "rotation": [
+              3.4150900773965982e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            -135.17440795898438,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.4150900773965982e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_Picture2",
+        "bbox_2d": [
+          1795,
+          307,
+          1919,
+          873
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ],
+            "rotation": [
+              3.0000001061125654e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            4.825592041015625,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.0000001061125654e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          191
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          247,
+          0,
+          1250,
+          322
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          0,
+          724,
+          1130,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "air conditioning": [
+      {
+        "object_id": "SM_Air_Conditioning",
+        "bbox_2d": [
+          1495,
+          0,
+          1618,
+          275
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ]
+          },
+          "obb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            232.05331420898438,
+            15.000215530395508,
+            260
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          127
+        ]
+      }
+    ],
+    "cover": [
+      {
+        "object_id": "SM_CoverA",
+        "bbox_2d": [
+          1398,
+          294,
+          1398,
+          294
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              0.0001953129976755008,
+              9.063829793376499e-07,
+              290.00018310546875
+            ],
+            "extent": [
+              302.4259948730469,
+              391.7356872558594,
+              19.99981689453125
+            ]
+          },
+          "obb": {
+            "center": [
+              0.0001953129976755008,
+              9.063829793376499e-07,
+              290.00018310546875
+            ],
+            "extent": [
+              302.4259948730469,
+              391.7356872558594,
+              19.99981689453125
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0.0001953129976755008,
+            9.063829793376499e-07,
+            300
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          127,
+          0
+        ]
+      }
+    ],
+    "curtain": [
+      {
+        "object_id": "SM_Curtain",
+        "bbox_2d": [
+          108,
+          324,
+          428,
+          664
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -286.70534936152023,
+              -3.2094228267669678,
+              200.57251746353654
+            ],
+            "extent": [
+              1.0004270430589486,
+              69.80915069580078,
+              83.06246194247147
+            ]
+          },
+          "obb": {
+            "center": [
+              -286.70534936152023,
+              -3.2094228267669678,
+              200.57251746353654
+            ],
+            "extent": [
+              1.0004270430589486,
+              69.80915069580078,
+              83.06246194247147
+            ],
+            "rotation": [
+              -5.1226397772552446e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -285.9389953613281,
+            -3.209399938583374,
+            283.635009765625
+          ],
+          "rotation": [
+            -5.1226397772552446e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          63,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Curtain5",
+        "bbox_2d": [
+          663,
+          409,
+          751,
+          550
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -286.7053491837275,
+              -303.20943450927734,
+              245.5725174618962
+            ],
+            "extent": [
+              1.0004268652662631,
+              69.80915069580078,
+              83.06246194033012
+            ]
+          },
+          "obb": {
+            "center": [
+              -286.7053491837275,
+              -303.20943450927734,
+              245.5725174618962
+            ],
+            "extent": [
+              1.0004268652662631,
+              69.80915069580078,
+              83.06246194033012
+            ],
+            "rotation": [
+              -4.999999873689375e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -285.9389953613281,
+            -303.20941162109375,
+            328.635009765625
+          ],
+          "rotation": [
+            -4.999999873689375e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          63,
+          191
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantA",
+        "bbox_2d": [
+          724,
+          605,
+          802,
+          736
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -225.31610870361328,
+              -255.28635025024414,
+              63.446800231933594
+            ],
+            "extent": [
+              43.553627014160156,
+              42.17253875732422,
+              63.6171989440918
+            ]
+          },
+          "obb": {
+            "center": [
+              -225.31610870361328,
+              -255.28635025024414,
+              63.446800231933594
+            ],
+            "extent": [
+              43.553627014160156,
+              42.17253875732422,
+              63.6171989440918
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -230,
+            -260,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          191
+        ]
+      },
+      {
+        "object_id": "SM_PlantB_gx9b",
+        "bbox_2d": [
+          855,
+          703,
+          928,
+          817
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              33.762055393895295,
+              -56.67164415360543,
+              90.27007882603638
+            ],
+            "extent": [
+              13.356286937020414,
+              14.617314757674219,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              3.909118175506592,
+              0
+            ]
+          },
+          "location": [
+            32.82634203395568,
+            -55.27385620760074,
+            70.01951425084107
+          ],
+          "rotation": [
+            0,
+            3.909118175506592,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ],
+    "projector": [
+      {
+        "object_id": "SM_Projector",
+        "bbox_2d": [
+          821,
+          249,
+          963,
+          430
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ]
+          },
+          "obb": {
+            "center": [
+              -0.11751747134258039,
+              -102.05823516845703,
+              254.1554946899414
+            ],
+            "extent": [
+              23.81262969970703,
+              22.335399627685547,
+              35.844505310058594
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            9.918209980241954e-05,
+            -101.14700317382812,
+            290
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          191
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_mkes",
+        "bbox_2d": [
+          408,
+          896,
+          542,
+          934
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -10.353223582147454,
+              79.27091214643767,
+              71.99350267734539
+            ],
+            "extent": [
+              17.883123392544544,
+              17.860584424365467,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              -134.6993103027344,
+              0
+            ]
+          },
+          "location": [
+            -10.353210851078657,
+            79.2709277235051,
+            71.27359360542309
+          ],
+          "rotation": [
+            0,
+            -134.6993103027344,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser_un30",
+        "bbox_2d": [
+          763,
+          810,
+          812,
+          827
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              7.542492044008638,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              7.542492044008637,
+              -23.91110225907935,
+              73.17251439624614
+            ],
+            "extent": [
+              8.917276913229594,
+              6.717189699104502,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              157.8875732421875,
+              0
+            ]
+          },
+          "location": [
+            7.542491864515111,
+            -23.91110270084371,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            157.8875732421875,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker_en4c",
+        "bbox_2d": [
+          310,
+          902,
+          381,
+          925
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.10691452003712,
+              97.91143749676881,
+              72.27251422405243
+            ],
+            "extent": [
+              2.9138928277475387,
+              8.003227640983638,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              -75.93734741210938,
+              0
+            ]
+          },
+          "location": [
+            -38.10691452026367,
+            97.91143798828125,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            -75.93734741210938,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_1_l000_r001/scene_annotations_split.json

@@ -0,0 +1,1534 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_1_l000_r001",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_1_l000_r001/lit.png",
+  "camera": {
+    "location": [
+      -91,
+      -245,
+      100
+    ],
+    "rotation": [
+      0,
+      59.99999999999999,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        0.5,
+        0.8660254037844385,
+        0,
+        0
+      ],
+      [
+        -0.8660254037844385,
+        0.5,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        -91,
+        -245,
+        100,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "door": [
+      {
+        "object_id": "SM_Door",
+        "bbox_2d": [
+          728,
+          248,
+          883,
+          647
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ]
+          },
+          "obb": {
+            "center": [
+              289.584997177124,
+              222.5250015258789,
+              130.01109313964844
+            ],
+            "extent": [
+              8.073522567749023,
+              74.9992446899414,
+              129.98924255371094
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            289.5849914550781,
+            222.52499389648438,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          255,
+          127
+        ]
+      }
+    ],
+    "background": [
+      {
+        "object_id": "SM_BackgroundBL",
+        "bbox_2d": [
+          932,
+          304,
+          1089,
+          618
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.0003356723356
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ]
+          },
+          "obb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.00033567233564
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ],
+            "rotation": [
+              -2.99844009532535e-06,
+              1.001790042209905e-05,
+              0
+            ]
+          },
+          "location": [
+            220.20399475097656,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            -2.99844009532535e-06,
+            1.001790042209905e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundB",
+        "bbox_2d": [
+          1090,
+          233,
+          1659,
+          675
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundBR",
+        "bbox_2d": [
+          1660,
+          194,
+          1919,
+          646
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ]
+          },
+          "obb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ],
+            "rotation": [
+              0,
+              1.0017900422099046e-05,
+              0
+            ]
+          },
+          "location": [
+            -217.3520050048828,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            1.0017900422099046e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          255,
+          0
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          0,
+          819,
+          249,
+          890
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "wall": [
+      {
+        "object_id": "SM_Wall",
+        "bbox_2d": [
+          0,
+          0,
+          931,
+          862
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426239013671875,
+              0,
+              150.00003051757812
+            ],
+            "extent": [
+              290.9999694824219,
+              391.7356872558594,
+              150.00003051757812
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          127
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          60,
+          0,
+          1919,
+          323
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          0,
+          735,
+          1860,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "whiteboard": [
+      {
+        "object_id": "SM_Whiteboard",
+        "bbox_2d": [
+          1174,
+          340,
+          1529,
+          557
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            368.8359680175781,
+            150
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          255
+        ]
+      }
+    ],
+    "picture": [
+      {
+        "object_id": "SM_Picture",
+        "bbox_2d": [
+          0,
+          167,
+          191,
+          477
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              -135.17440795898438,
+              162.4700010716914
+            ],
+            "extent": [
+              2.5000151592158204,
+              34.20951843261719,
+              42.329494625330454
+            ],
+            "rotation": [
+              3.4150900773965982e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            -135.17440795898438,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.4150900773965982e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_Picture2",
+        "bbox_2d": [
+          406,
+          269,
+          564,
+          494
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ]
+          },
+          "obb": {
+            "center": [
+              279.9259898662567,
+              4.825592041015625,
+              162.47000108980316
+            ],
+            "extent": [
+              2.500014852551942,
+              34.20951843261719,
+              42.32949460721866
+            ],
+            "rotation": [
+              3.0000001061125654e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            282.4259948730469,
+            4.825592041015625,
+            162.47000122070312
+          ],
+          "rotation": [
+            3.0000001061125654e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          191
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          867,
+          0,
+          1632,
+          173
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          130,
+          597,
+          1494,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "chair": [
+      {
+        "object_id": "SM_ChairA",
+        "bbox_2d": [
+          1317,
+          512,
+          1408,
+          604
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890417
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ]
+          },
+          "obb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890416
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ],
+            "rotation": [
+              -7.583033279093544e-22,
+              -159.99971008300778,
+              3.2329702662536874e-05
+            ]
+          },
+          "location": [
+            -16.805219650268555,
+            243.83599853515625,
+            -0.8154370188713074
+          ],
+          "rotation": [
+            -7.583033279093544e-22,
+            -159.99971008300778,
+            3.2329702662536874e-05
+          ],
+          "scale": [
+            0.9235389828681946,
+            0.9235389828681946,
+            1.1688100099563599
+          ]
+        },
+        "color": [
+          127,
+          0,
+          127
+        ]
+      }
+    ],
+    "air conditioning": [
+      {
+        "object_id": "SM_Air_Conditioning",
+        "bbox_2d": [
+          210,
+          0,
+          833,
+          247
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ]
+          },
+          "obb": {
+            "center": [
+              232.05331230163574,
+              15.000246047973633,
+              259.26740723848343
+            ],
+            "extent": [
+              8.791104316711426,
+              150.00003051757812,
+              0.7326838374137878
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            232.05331420898438,
+            15.000215530395508,
+            260
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          127
+        ]
+      }
+    ],
+    "cover": [
+      {
+        "object_id": "SM_CoverA",
+        "bbox_2d": [
+          1811,
+          72,
+          1870,
+          108
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              0.0001953129976755008,
+              9.063829793376499e-07,
+              290.00018310546875
+            ],
+            "extent": [
+              302.4259948730469,
+              391.7356872558594,
+              19.99981689453125
+            ]
+          },
+          "obb": {
+            "center": [
+              0.0001953129976755008,
+              9.063829793376499e-07,
+              290.00018310546875
+            ],
+            "extent": [
+              302.4259948730469,
+              391.7356872558594,
+              19.99981689453125
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0.0001953129976755008,
+            9.063829793376499e-07,
+            300
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          127,
+          0
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker",
+        "bbox_2d": [
+          1196,
+          553,
+          1219,
+          555
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              10.000028610229492,
+              0
+            ]
+          },
+          "location": [
+            77.39859771728516,
+            361.70098876953125,
+            90.5
+          ],
+          "rotation": [
+            0,
+            10.000028610229492,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Marker_e5ms",
+        "bbox_2d": [
+          1194,
+          664,
+          1255,
+          677
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.12739958310539,
+              -41.14946318197642,
+              72.27251422405243
+            ],
+            "extent": [
+              4.911451543869497,
+              7.405810472936061,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.12739958310539,
+              -41.14946318197642,
+              72.27251422405243
+            ],
+            "extent": [
+              4.911451543869497,
+              7.405810472936061,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              120.4059829711914,
+              0
+            ]
+          },
+          "location": [
+            -38.12739944458008,
+            -41.14946365356445,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            120.4059829711914,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ],
+    "shelf": [
+      {
+        "object_id": "SM_Shelf",
+        "bbox_2d": [
+          1188,
+          555,
+          1251,
+          558
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ]
+          },
+          "obb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            69.33550262451172,
+            363.83599853515625,
+            89
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          127
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser",
+        "bbox_2d": [
+          1224,
+          551,
+          1250,
+          555
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              -2.5481939315795907,
+              0
+            ]
+          },
+          "location": [
+            58.85190200805664,
+            363.6290588378906,
+            89.5
+          ],
+          "rotation": [
+            0,
+            -2.5481939315795907,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Eraser_iqxl",
+        "bbox_2d": [
+          1069,
+          658,
+          1149,
+          686
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -19.45057086735572,
+              -60.4766198125276,
+              73.17251439624614
+            ],
+            "extent": [
+              8.875038143604645,
+              6.433598776561983,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              -19.45057086735572,
+              -60.4766198125276,
+              73.17251439624614
+            ],
+            "extent": [
+              8.875038143604645,
+              6.433598776561983,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              -160.56848144531253,
+              0
+            ]
+          },
+          "location": [
+            -19.450570708721557,
+            -60.476620262204015,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            -160.56848144531253,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "switch two": [
+      {
+        "object_id": "SM_switch_two",
+        "bbox_2d": [
+          681,
+          434,
+          694,
+          451
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ]
+          },
+          "obb": {
+            "center": [
+              279.2911481856325,
+              115.00024385745701,
+              149.9890899658203
+            ],
+            "extent": [
+              0.7088495981024039,
+              4.300000473900937,
+              4.300000190734863
+            ],
+            "rotation": [
+              0,
+              90.0000228881836,
+              0
+            ]
+          },
+          "location": [
+            280,
+            115,
+            150
+          ],
+          "rotation": [
+            0,
+            90.0000228881836,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          0,
+          0
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_vd8x",
+        "bbox_2d": [
+          1124,
+          651,
+          1227,
+          668
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -21.15745839025221,
+              -22.02476816350432,
+              71.99350270714771
+            ],
+            "extent": [
+              16.448450541143366,
+              17.712499429625034,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -21.15745839025221,
+              -22.02476816350432,
+              71.99350270714771
+            ],
+            "extent": [
+              16.448450541143366,
+              17.712499429625034,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              152.11692810058594,
+              0
+            ]
+          },
+          "location": [
+            -21.157439796160748,
+            -22.024775843667403,
+            71.27359363522541
+          ],
+          "rotation": [
+            0,
+            152.11692810058594,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantB_wv8l",
+        "bbox_2d": [
+          1251,
+          504,
+          1350,
+          639
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -37.50538139599711,
+              48.093501365554914,
+              90.27007864805486
+            ],
+            "extent": [
+              18.451231863078,
+              18.125045381082018,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              -37.50538139599711,
+              48.093501365554914,
+              90.27007864805486
+            ],
+            "extent": [
+              18.451231863078,
+              18.125045381082018,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              -54.78842163085936,
+              0
+            ]
+          },
+          "location": [
+            -36.79721562876205,
+            49.61923786970033,
+            70.01951407285955
+          ],
+          "rotation": [
+            0,
+            -54.78842163085936,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ]
+  }
+}

scenes/annotations/ConferenceRoomVol1_1/combo0_1_l007_r002/scene_annotations_split.json

@@ -0,0 +1,1348 @@
+{
+  "scene_name": "ConferenceRoomVol1_1",
+  "view_id": "combo0_1_l007_r002",
+  "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_1/combo0_1_l007_r002/lit.png",
+  "camera": {
+    "location": [
+      75,
+      -226,
+      100
+    ],
+    "rotation": [
+      0,
+      119.99999999999999,
+      0
+    ],
+    "fov": 90,
+    "c2w": [
+      [
+        -0.4999999999999998,
+        0.8660254037844384,
+        0,
+        0
+      ],
+      [
+        -0.8660254037844384,
+        -0.4999999999999998,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        75,
+        -226,
+        100,
+        1
+      ]
+    ],
+    "width": 1920,
+    "height": 1080,
+    "fxfycxcy": [
+      960.0000000000001,
+      960.0000000000002,
+      960.0,
+      540.0
+    ]
+  },
+  "background": {
+    "background": [
+      {
+        "object_id": "SM_BackgroundBL",
+        "bbox_2d": [
+          0,
+          182,
+          207,
+          717
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.0003356723356
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ]
+          },
+          "obb": {
+            "center": [
+              220.6057321258496,
+              366.0860253082789,
+              130.00033567233564
+            ],
+            "extent": [
+              61.8200303741379,
+              5.650050481795915,
+              130.0000642703618
+            ],
+            "rotation": [
+              -2.99844009532535e-06,
+              1.001790042209905e-05,
+              0
+            ]
+          },
+          "location": [
+            220.20399475097656,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            -2.99844009532535e-06,
+            1.001790042209905e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundB",
+        "bbox_2d": [
+          208,
+          216,
+          814,
+          685
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              370.5859885215759,
+              130.00021362304688
+            ],
+            "extent": [
+              167.3599395751953,
+              1.1500039100646973,
+              130.00021362304688
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          255,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_BackgroundBR",
+        "bbox_2d": [
+          815,
+          294,
+          978,
+          623
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ]
+          },
+          "obb": {
+            "center": [
+              -217.75371834196508,
+              366.08603422770534,
+              130.00033569335938
+            ],
+            "extent": [
+              61.820012126809985,
+              5.650117715832039,
+              130.00006103515625
+            ],
+            "rotation": [
+              0,
+              1.0017900422099046e-05,
+              0
+            ]
+          },
+          "location": [
+            -217.3520050048828,
+            371.7359924316406,
+            0
+          ],
+          "rotation": [
+            0,
+            1.0017900422099046e-05,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          191,
+          255,
+          0
+        ]
+      }
+    ],
+    "baseboard": [
+      {
+        "object_id": "SM_Baseboard",
+        "bbox_2d": [
+          197,
+          745,
+          198,
+          746
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ]
+          },
+          "obb": {
+            "center": [
+              1.626556396484375,
+              -0.800201416015625,
+              3.999999523162842
+            ],
+            "extent": [
+              281.200439453125,
+              370.935546875,
+              4.000194549560547
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          0
+        ]
+      }
+    ],
+    "window": [
+      {
+        "object_id": "SM_Window",
+        "bbox_2d": [
+          979,
+          21,
+          1919,
+          909
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ]
+          },
+          "obb": {
+            "center": [
+              -290.9998779296875,
+              -6.103515625e-05,
+              149.56552124023438
+            ],
+            "extent": [
+              11.925933837890625,
+              391.7356872558594,
+              150.43450927734375
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          0
+        ]
+      }
+    ],
+    "ceiling": [
+      {
+        "object_id": "SM_Ceiling",
+        "bbox_2d": [
+          0,
+          0,
+          1785,
+          315
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ]
+          },
+          "obb": {
+            "center": [
+              1.42608642578125,
+              0,
+              276.0003662109375
+            ],
+            "extent": [
+              280.9999694824219,
+              371.7356872558594,
+              16.000015258789062
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          0
+        ]
+      }
+    ],
+    "floor": [
+      {
+        "object_id": "SM_Floor",
+        "bbox_2d": [
+          0,
+          747,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ]
+          },
+          "obb": {
+            "center": [
+              11.426055908203125,
+              -3.0517578125e-05,
+              0
+            ],
+            "extent": [
+              290.99993896484375,
+              371.7356872558594,
+              2.2762245240797244e-14
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          0
+        ]
+      }
+    ]
+  },
+  "foreground": {
+    "whiteboard": [
+      {
+        "object_id": "SM_Whiteboard",
+        "bbox_2d": [
+          347,
+          329,
+          725,
+          558
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ]
+          },
+          "obb": {
+            "center": [
+              1.426069974899292,
+              368.235967874527,
+              150
+            ],
+            "extent": [
+              100,
+              0.6000003814697266,
+              60
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            1.426069974899292,
+            368.8359680175781,
+            150
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          0,
+          127,
+          255
+        ]
+      }
+    ],
+    "downlight": [
+      {
+        "object_id": "SM_Downlight",
+        "bbox_2d": [
+          1377,
+          108,
+          1397,
+          118
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ]
+          },
+          "obb": {
+            "center": [
+              -243.08077998558545,
+              5,
+              259.50000005960464
+            ],
+            "extent": [
+              3.500000043711424,
+              3.5,
+              0.5000006040031622
+            ],
+            "rotation": [
+              5.008960215491242e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -243.08078002929688,
+            5,
+            260
+          ],
+          "rotation": [
+            5.008960215491242e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          255
+        ]
+      }
+    ],
+    "light": [
+      {
+        "object_id": "SM_Ceiling_Light",
+        "bbox_2d": [
+          219,
+          0,
+          1041,
+          153
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ]
+          },
+          "obb": {
+            "center": [
+              1.425872802734375,
+              14.999984741210938,
+              289.5000305175781
+            ],
+            "extent": [
+              130.2046661376953,
+              184.45401000976562,
+              0.5
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          255
+        ]
+      }
+    ],
+    "table": [
+      {
+        "object_id": "SM_Table",
+        "bbox_2d": [
+          310,
+          600,
+          1919,
+          1079
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ]
+          },
+          "obb": {
+            "center": [
+              6.866455078125e-05,
+              15.000076293945312,
+              35.63624954223633
+            ],
+            "extent": [
+              86.55204772949219,
+              205.9636993408203,
+              35.63626480102539
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            0,
+            15,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          255
+        ]
+      }
+    ],
+    "chair": [
+      {
+        "object_id": "SM_ChairA",
+        "bbox_2d": [
+          565,
+          512,
+          692,
+          605
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890417
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ]
+          },
+          "obb": {
+            "center": [
+              -16.809508499895117,
+              243.8478024681101,
+              56.49450428890416
+            ],
+            "extent": [
+              41.769079566028196,
+              42.297435696472746,
+              57.30998234797566
+            ],
+            "rotation": [
+              -7.583033279093544e-22,
+              -159.99971008300778,
+              3.2329702662536874e-05
+            ]
+          },
+          "location": [
+            -16.805219650268555,
+            243.83599853515625,
+            -0.8154370188713074
+          ],
+          "rotation": [
+            -7.583033279093544e-22,
+            -159.99971008300778,
+            3.2329702662536874e-05
+          ],
+          "scale": [
+            0.9235389828681946,
+            0.9235389828681946,
+            1.1688100099563599
+          ]
+        },
+        "color": [
+          127,
+          0,
+          127
+        ]
+      },
+      {
+        "object_id": "SM_ChairB",
+        "bbox_2d": [
+          1041,
+          547,
+          1099,
+          641
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ]
+          },
+          "obb": {
+            "center": [
+              -249.9999771118164,
+              224.99999999995123,
+              48.06242370605469
+            ],
+            "extent": [
+              29.050199835425587,
+              30.59184541564079,
+              48.062225341796875
+            ],
+            "rotation": [
+              0,
+              -90.00012207031251,
+              0
+            ]
+          },
+          "location": [
+            -250,
+            225,
+            0
+          ],
+          "rotation": [
+            0,
+            -90.00012207031251,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          255,
+          191
+        ]
+      }
+    ],
+    "curtain": [
+      {
+        "object_id": "SM_Curtain",
+        "bbox_2d": [
+          1334,
+          45,
+          1672,
+          497
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -286.70534936152023,
+              -3.2094228267669678,
+              200.57251746353654
+            ],
+            "extent": [
+              1.0004270430589486,
+              69.80915069580078,
+              83.06246194247147
+            ]
+          },
+          "obb": {
+            "center": [
+              -286.70534936152023,
+              -3.2094228267669678,
+              200.57251746353654
+            ],
+            "extent": [
+              1.0004270430589486,
+              69.80915069580078,
+              83.06246194247147
+            ],
+            "rotation": [
+              -5.1226397772552446e-06,
+              0,
+              0
+            ]
+          },
+          "location": [
+            -285.9389953613281,
+            -3.209399938583374,
+            283.635009765625
+          ],
+          "rotation": [
+            -5.1226397772552446e-06,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          63,
+          63
+        ]
+      }
+    ],
+    "marker": [
+      {
+        "object_id": "SM_Marker",
+        "bbox_2d": [
+          383,
+          556,
+          417,
+          558
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              77.39859820757857,
+              361.70098873493515,
+              90.49999988079071
+            ],
+            "extent": [
+              8.052110020541093,
+              2.3739971390881465,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              10.000028610229492,
+              0
+            ]
+          },
+          "location": [
+            77.39859771728516,
+            361.70098876953125,
+            90.5
+          ],
+          "rotation": [
+            0,
+            10.000028610229492,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Marker_e5ms",
+        "bbox_2d": [
+          980,
+          654,
+          988,
+          662
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -38.12739958310539,
+              -41.14946318197642,
+              72.27251422405243
+            ],
+            "extent": [
+              4.911451543869497,
+              7.405810472936061,
+              1.000000238418579
+            ]
+          },
+          "obb": {
+            "center": [
+              -38.12739958310539,
+              -41.14946318197642,
+              72.27251422405243
+            ],
+            "extent": [
+              4.911451543869497,
+              7.405810472936061,
+              1.000000238418579
+            ],
+            "rotation": [
+              0,
+              120.4059829711914,
+              0
+            ]
+          },
+          "location": [
+            -38.12739944458008,
+            -41.14946365356445,
+            72.27251434326172
+          ],
+          "rotation": [
+            0,
+            120.4059829711914,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          127,
+          0,
+          31
+        ]
+      }
+    ],
+    "shelf": [
+      {
+        "object_id": "SM_Shelf",
+        "bbox_2d": [
+          374,
+          558,
+          459,
+          561
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ]
+          },
+          "obb": {
+            "center": [
+              69.33550262451172,
+              363.63599824905396,
+              89.25
+            ],
+            "extent": [
+              20,
+              5.199999809265137,
+              0.75
+            ],
+            "rotation": [
+              0,
+              0,
+              0
+            ]
+          },
+          "location": [
+            69.33550262451172,
+            363.83599853515625,
+            89
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          127
+        ]
+      }
+    ],
+    "eraser": [
+      {
+        "object_id": "SM_Eraser",
+        "bbox_2d": [
+          423,
+          552,
+          456,
+          558
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              58.851901986856596,
+              363.629058361525,
+              91.3999993801117
+            ],
+            "extent": [
+              8.169928280392249,
+              4.351722424432637,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              -2.5481939315795907,
+              0
+            ]
+          },
+          "location": [
+            58.85190200805664,
+            363.6290588378906,
+            89.5
+          ],
+          "rotation": [
+            0,
+            -2.5481939315795907,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          63,
+          191,
+          63
+        ]
+      },
+      {
+        "object_id": "SM_Eraser_iqxl",
+        "bbox_2d": [
+          913,
+          662,
+          996,
+          687
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -19.45057086735572,
+              -60.4766198125276,
+              73.17251439624614
+            ],
+            "extent": [
+              8.875038143604645,
+              6.433598776561983,
+              1.9000000953674316
+            ]
+          },
+          "obb": {
+            "center": [
+              -19.45057086735572,
+              -60.4766198125276,
+              73.17251439624614
+            ],
+            "extent": [
+              8.875038143604645,
+              6.433598776561983,
+              1.9000000953674316
+            ],
+            "rotation": [
+              0,
+              -160.56848144531253,
+              0
+            ]
+          },
+          "location": [
+            -19.450570708721557,
+            -60.476620262204015,
+            71.27251501613445
+          ],
+          "rotation": [
+            0,
+            -160.56848144531253,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          63,
+          31
+        ]
+      }
+    ],
+    "notebook": [
+      {
+        "object_id": "SM_Notebook_vd8x",
+        "bbox_2d": [
+          807,
+          652,
+          950,
+          671
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -21.15745839025221,
+              -22.02476816350432,
+              71.99350270714771
+            ],
+            "extent": [
+              16.448450541143366,
+              17.712499429625034,
+              0.7209883332252502
+            ]
+          },
+          "obb": {
+            "center": [
+              -21.15745839025221,
+              -22.02476816350432,
+              71.99350270714771
+            ],
+            "extent": [
+              16.448450541143366,
+              17.712499429625034,
+              0.7209883332252502
+            ],
+            "rotation": [
+              0,
+              152.11692810058594,
+              0
+            ]
+          },
+          "location": [
+            -21.157439796160748,
+            -22.024775843667403,
+            71.27359363522541
+          ],
+          "rotation": [
+            0,
+            152.11692810058594,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          127,
+          31
+        ]
+      }
+    ],
+    "plant": [
+      {
+        "object_id": "SM_PlantB_wv8l",
+        "bbox_2d": [
+          782,
+          506,
+          874,
+          635
+        ],
+        "bbox_3d": {
+          "aabb": {
+            "center": [
+              -37.50538139599711,
+              48.093501365554914,
+              90.27007864805486
+            ],
+            "extent": [
+              18.451231863078,
+              18.125045381082018,
+              20.250564575195312
+            ]
+          },
+          "obb": {
+            "center": [
+              -37.50538139599711,
+              48.093501365554914,
+              90.27007864805486
+            ],
+            "extent": [
+              18.451231863078,
+              18.125045381082018,
+              20.250564575195312
+            ],
+            "rotation": [
+              0,
+              -54.78842163085936,
+              0
+            ]
+          },
+          "location": [
+            -36.79721562876205,
+            49.61923786970033,
+            70.01951407285955
+          ],
+          "rotation": [
+            0,
+            -54.78842163085936,
+            0
+          ],
+          "scale": [
+            1,
+            1,
+            1
+          ]
+        },
+        "color": [
+          255,
+          191,
+          31
+        ]
+      }
+    ]
+  }
+}