TaxonomyProject/SimulationMetadata
PercepTax — Simulation Metadata Supporting metadata for the PercepTax benchmark. This repository holds the object taxonomy, object lists / placement rules, and per-scene 3D annotations used to render and annotate the simulated split of PercepTax. It is a collection of JSON/CSV/PNG files (not a load_dataset-style tabular dataset). Contents taxonomy/ # the physical-property taxonomy ├── taxonomy.json # full taxonomy… See the full description on the dataset page: https://huggingface.co/datasets/TaxonomyProject/SimulationMetadata.
12.3k
1{2 "scene_name": "Bakery",3 "view_id": "l004_r002",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/Bakery/l004_r002/lit.png",5 "camera": {6 "location": [7 -281,8 177,9 10110 ],11 "rotation": [12 0,13 119.99999999999999,14 015 ],16 "fov": 90,17 "c2w": [18 [19 -0.4999999999999998,20 0.8660254037844384,21 0,22 023 ],24 [25 -0.8660254037844384,26 -0.4999999999999998,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 -281,38 177,39 101,40 141 ]42 ],43 "width": 1920,44 "height": 1080,45 "fxfycxcy": [46 960.0000000000001,47 960.0000000000002,48 960.0,49 540.050 ]51 },52 "background": {53 "window": [54 {55 "object_id": "SM_wall_01_281",56 "bbox_2d": [57 922,58 86,59 946,60 54761 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 0,66 0,67 199.2298889160156268 ],69 "extent": [70 448.35015869140625,71 456.7044982910156,72 200.5044555664062573 ]74 },75 "obb": {76 "center": [77 0,78 0,79 199.2298889160156280 ],81 "extent": [82 448.35015869140625,83 456.7044982910156,84 200.5044555664062585 ],86 "rotation": [87 0,88 0,89 090 ]91 },92 "location": [93 0,94 0,95 096 ],97 "rotation": [98 0,99 0,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 0,110 255,111 127112 ]113 },114 {115 "object_id": "SM_wall_03_494",116 "bbox_2d": [117 947,118 0,119 1092,120 547121 ],122 "bbox_3d": {123 "aabb": {124 "center": [125 -425.3244323730469,126 398.8101043701172,127 182.9049072265625128 ],129 "extent": [130 1.115631103515625,131 36.75914001464844,132 167.0870361328125133 ]134 },135 "obb": {136 "center": [137 -425.3244323730469,138 398.8101043701172,139 182.9049072265625140 ],141 "extent": [142 1.115631103515625,143 36.75914001464844,144 167.0870361328125145 ],146 "rotation": [147 0,148 0,149 0150 ]151 },152 "location": [153 -425.32440185546875,154 398.8100891113281,155 19.9970703125156 ],157 "rotation": [158 0,159 0,160 0161 ],162 "scale": [163 1,164 1,165 1166 ]167 },168 "color": [169 255,170 255,171 191172 ]173 },174 {175 "object_id": "SM_wall_4",176 "bbox_2d": [177 1087,178 0,179 1339,180 488181 ],182 "bbox_3d": {183 "aabb": {184 "center": [185 -425.32440185546875,186 326.5200958251953,187 182.9049072265625188 ],189 "extent": [190 1.115631103515625,191 36.75914001464844,192 167.0870361328125193 ]194 },195 "obb": {196 "center": [197 -425.32440185546875,198 326.5200958251953,199 182.9049072265625200 ],201 "extent": [202 1.115631103515625,203 36.75914001464844,204 167.0870361328125205 ],206 "rotation": [207 0,208 0,209 0210 ]211 },212 "location": [213 -425.3243713378906,214 326.52008056640625,215 19.9970703125216 ],217 "rotation": [218 0,219 0,220 0221 ],222 "scale": [223 1,224 1,225 1226 ]227 },228 "color": [229 255,230 127,231 191232 ]233 },234 {235 "object_id": "SM_wall_5",236 "bbox_2d": [237 1340,238 0,239 1902,240 484241 ],242 "bbox_3d": {243 "aabb": {244 "center": [245 -425.3255920410156,246 253.73936462402344,247 182.9049072265625248 ],249 "extent": [250 1.115631103515625,251 36.75914001464844,252 167.0870361328125253 ]254 },255 "obb": {256 "center": [257 -425.3255920410156,258 253.73936462402344,259 182.9049072265625260 ],261 "extent": [262 1.115631103515625,263 36.75914001464844,264 167.0870361328125265 ],266 "rotation": [267 0,268 0,269 0270 ]271 },272 "location": [273 -425.3255615234375,274 253.73934936523438,275 19.9970703125276 ],277 "rotation": [278 0,279 0,280 0281 ],282 "scale": [283 1,284 1,285 1286 ]287 },288 "color": [289 255,290 63,291 191292 ]293 },294 {295 "object_id": "SM_wall_6",296 "bbox_2d": [297 1885,298 261,299 1919,300 458301 ],302 "bbox_3d": {303 "aabb": {304 "center": [305 -425.3255615234375,306 181.4493865966797,307 182.9049072265625308 ],309 "extent": [310 1.115631103515625,311 36.75914001464844,312 167.0870361328125313 ]314 },315 "obb": {316 "center": [317 -425.3255615234375,318 181.4493865966797,319 182.9049072265625320 ],321 "extent": [322 1.115631103515625,323 36.75914001464844,324 167.0870361328125325 ],326 "rotation": [327 0,328 0,329 0330 ]331 },332 "location": [333 -425.3255310058594,334 181.44937133789062,335 19.9970703125336 ],337 "rotation": [338 0,339 0,340 0341 ],342 "scale": [343 1,344 1,345 1346 ]347 },348 "color": [349 127,350 0,351 191352 ]353 },354 {355 "object_id": "SM_wall_04_502",356 "bbox_2d": [357 951,358 0,359 1045,360 79361 ],362 "bbox_3d": {363 "aabb": {364 "center": [365 -420.3979949951172,366 221.62672424316406,367 319.83814239501953368 ],369 "extent": [370 5.5696258544921875,371 214.7704619409833,372 77.97386932373047373 ]374 },375 "obb": {376 "center": [377 -420.3979949951172,378 221.62672424316406,379 319.83814239501953380 ],381 "extent": [382 5.5696258544921875,383 214.7704619409833,384 77.97386932373047385 ],386 "rotation": [387 0,388 0,389 0390 ]391 },392 "location": [393 -420.39801025390625,394 221.62672424316406,395 319.838134765625396 ],397 "rotation": [398 0,399 0,400 0401 ],402 "scale": [403 1,404 1.0094610452651978,405 1406 ]407 },408 "color": [409 127,410 63,411 191412 ]413 }414 ],415 "ground": [416 {417 "object_id": "SM_ground_9",418 "bbox_2d": [419 91,420 904,421 1094,422 1079423 ],424 "bbox_3d": {425 "aabb": {426 "center": [427 0,428 0.704864501953125,429 11.041000366210938430 ],431 "extent": [432 447.2875671386719,433 455.69342041015625,434 8.675445556640625435 ]436 },437 "obb": {438 "center": [439 0,440 0.704864501953125,441 11.041000366210938442 ],443 "extent": [444 447.2875671386719,445 455.69342041015625,446 8.675445556640625447 ],448 "rotation": [449 0,450 0,451 0452 ]453 },454 "location": [455 0,456 -0.000762939453125,457 11.041000366210938458 ],459 "rotation": [460 0,461 0,462 0463 ],464 "scale": [465 1,466 1,467 1468 ]469 },470 "color": [471 191,472 0,473 255474 ]475 }476 ]477 },478 "foreground": {479 "breadrack": [480 {481 "object_id": "SM_breadrack_06_287",482 "bbox_2d": [483 879,484 0,485 1919,486 1079487 ],488 "bbox_3d": {489 "aabb": {490 "center": [491 -392.65228271484375,492 265.97955322265625,493 122.33769989013672494 ],495 "extent": [496 30.63262939453125,497 83.54350280761719,498 103.0369873046875499 ]500 },501 "obb": {502 "center": [503 -392.65228271484375,504 265.97955322265625,505 122.33769989013672506 ],507 "extent": [508 30.63262939453125,509 83.54350280761719,510 103.0369873046875511 ],512 "rotation": [513 0,514 0,515 0516 ]517 },518 "location": [519 -392.65228271484375,520 265.97955322265625,521 20522 ],523 "rotation": [524 0,525 0,526 0527 ],528 "scale": [529 1,530 1,531 1532 ]533 },534 "color": [535 255,536 0,537 127538 ]539 },540 {541 "object_id": "SM_breadrack_2",542 "bbox_2d": [543 0,544 0,545 1030,546 1079547 ],548 "bbox_3d": {549 "aabb": {550 "center": [551 -244.97552490234375,552 397.81231689453125,553 138.38698959350586554 ],555 "extent": [556 167.6439971923828,557 33.974395751953125,558 119.4671630859375559 ]560 },561 "obb": {562 "center": [563 -244.97552490234375,564 397.81231689453125,565 138.38698959350586566 ],567 "extent": [568 167.6439971923828,569 33.974395751953125,570 119.4671630859375571 ],572 "rotation": [573 0,574 0,575 0576 ]577 },578 "location": [579 -244.97552490234375,580 397.81231689453125,581 22.278316497802734582 ],583 "rotation": [584 0,585 0,586 0587 ],588 "scale": [589 1,590 1,591 1592 ]593 },594 "color": [595 127,596 191,597 255598 ]599 }600 ],601 "cake": [602 {603 "object_id": "SM_cake_06_2",604 "bbox_2d": [605 435,606 464,607 622,608 586609 ],610 "bbox_3d": {611 "aabb": {612 "center": [613 -304.43153942119534,614 398.78975872958335,615 104.16471135395511616 ],617 "extent": [618 20.487935000067637,619 20.29443025619389,620 13.511637291531315621 ]622 },623 "obb": {624 "center": [625 -304.43153942119534,626 398.78975872958335,627 104.16471135395511628 ],629 "extent": [630 20.487935000067637,631 20.29443025619389,632 13.511637291531315633 ],634 "rotation": [635 0,636 -172.73318481445312,637 0638 ]639 },640 "location": [641 -304.3399353027344,642 398.72808837890625,643 90.57572937011719644 ],645 "rotation": [646 0,647 -172.73318481445312,648 0649 ],650 "scale": [651 0.7049999833106995,652 0.7049999833106995,653 0.7049999833106995654 ]655 },656 "color": [657 191,658 255,659 255660 ]661 },662 {663 "object_id": "SM_cake_7",664 "bbox_2d": [665 438,666 302,667 620,668 398669 ],670 "bbox_3d": {671 "aabb": {672 "center": [673 -304.3502414800435,674 398.8380353178401,675 137.9016001886302676 ],677 "extent": [678 25.777893685790843,679 25.76922263213993,680 10.2199616730814681 ]682 },683 "obb": {684 "center": [685 -304.3502414800435,686 398.8380353178401,687 137.9016001886302688 ],689 "extent": [690 25.777893685790843,691 25.76922263213993,692 10.2199616730814693 ],694 "rotation": [695 0,696 136.5714416503906,697 0698 ]699 },700 "location": [701 -304.3399353027344,702 398.72808837890625,703 127.60429382324219704 ],705 "rotation": [706 0,707 136.5714416503906,708 0709 ],710 "scale": [711 0.7049999833106995,712 0.7049999833106995,713 0.7049999833106995714 ]715 },716 "color": [717 191,718 255,719 127720 ]721 },722 {723 "object_id": "SM_cake_04_12",724 "bbox_2d": [725 2,726 501,727 266,728 598729 ],730 "bbox_3d": {731 "aabb": {732 "center": [733 -240.6344814300537,734 397.53611561534285,735 99.70329765520228736 ],737 "extent": [738 17.78750228881836,739 17.833866337998415,740 8.336812059499152741 ]742 },743 "obb": {744 "center": [745 -240.6344814300537,746 397.53611561534285,747 99.70329765520228748 ],749 "extent": [750 17.78750228881836,751 17.833866337998415,752 8.336812059499152753 ],754 "rotation": [755 0,756 0,757 0758 ]759 },760 "location": [761 -239.4365692138672,762 397.79632568359375,763 91.36648559570312764 ],765 "rotation": [766 0,767 0,768 0769 ],770 "scale": [771 1,772 1.0000001192092896,773 1.0000001192092896774 ]775 },776 "color": [777 191,778 255,779 63780 ]781 },782 {783 "object_id": "SM_cake_01_19",784 "bbox_2d": [785 751,786 363,787 884,788 415789 ],790 "bbox_3d": {791 "aabb": {792 "center": [793 -368.81641387939453,794 397.7604274749756,795 135.18089246749878796 ],797 "extent": [798 16.72939682006836,799 16.76603889465332,800 6.529984951019287801 ]802 },803 "obb": {804 "center": [805 -368.81641387939453,806 397.7604274749756,807 135.18089246749878808 ],809 "extent": [810 16.72939682006836,811 16.76603889465332,812 6.529984951019287813 ],814 "rotation": [815 0,816 0,817 0818 ]819 },820 "location": [821 -368.8301086425781,822 398.0688171386719,823 128.70338439941406824 ],825 "rotation": [826 0,827 0,828 0829 ],830 "scale": [831 1,832 1,833 1834 ]835 },836 "color": [837 191,838 127,839 0840 ]841 },842 {843 "object_id": "SM_cake_5",844 "bbox_2d": [845 538,846 0,847 596,848 15849 ],850 "bbox_3d": {851 "aabb": {852 "center": [853 -304.4232234954834,854 397.5361156463623,855 209.5438117980957856 ],857 "extent": [858 17.78750228881836,859 17.833864212036133,860 8.336811065673828861 ]862 },863 "obb": {864 "center": [865 -304.4232234954834,866 397.5361156463623,867 209.5438117980957868 ],869 "extent": [870 17.78750228881836,871 17.833864212036133,872 8.336811065673828873 ],874 "rotation": [875 0,876 0,877 0878 ]879 },880 "location": [881 -303.2253112792969,882 397.79632568359375,883 201.20700073242188884 ],885 "rotation": [886 0,887 0,888 0889 ],890 "scale": [891 1,892 1,893 1894 ]895 },896 "color": [897 31,898 127,899 63900 ]901 },902 {903 "object_id": "SM_cake_2",904 "bbox_2d": [905 10,906 67,907 248,908 152909 ],910 "bbox_3d": {911 "aabb": {912 "center": [913 -239.44640350341797,914 397.7604274749756,915 171.24565076828003916 ],917 "extent": [918 16.72939682006836,919 16.76603889465332,920 6.529984951019287921 ]922 },923 "obb": {924 "center": [925 -239.44640350341797,926 397.7604274749756,927 171.24565076828003928 ],929 "extent": [930 16.72939682006836,931 16.76603889465332,932 6.529984951019287933 ],934 "rotation": [935 0,936 0,937 0938 ]939 },940 "location": [941 -239.46009826660156,942 398.0688171386719,943 164.7681427001953944 ],945 "rotation": [946 0,947 0,948 0949 ],950 "scale": [951 1,952 1,953 1954 ]955 },956 "color": [957 31,958 127,959 191960 ]961 },962 {963 "object_id": "SM_cake_6",964 "bbox_2d": [965 753,966 208,967 886,968 250969 ],970 "bbox_3d": {971 "aabb": {972 "center": [973 -369.4086055755615,974 398.17628479003906,975 171.29775476455688976 ],977 "extent": [978 17.188379287719727,979 17.18549346923828,980 7.439938068389893981 ]982 },983 "obb": {984 "center": [985 -369.4086055755615,986 398.17628479003906,987 171.29775476455688988 ],989 "extent": [990 17.188379287719727,991 17.18549346923828,992 7.439938068389893993 ],994 "rotation": [995 0,996 0,997 0998 ]999 },1000 "location": [1001 -369.3227844238281,1002 398.4527893066406,1003 164.195281982421881004 ],1005 "rotation": [1006 0,1007 0,1008 01009 ],1010 "scale": [1011 1,1012 1,1013 11014 ]1015 },1016 "color": [1017 31,1018 63,1019 01020 ]1021 },1022 {1023 "object_id": "SM_cake_9",1024 "bbox_2d": [1025 750,1026 521,1027 888,1028 5801029 ],1030 "bbox_3d": {1031 "aabb": {1032 "center": [1033 -369.4086055755615,1034 398.17625427246094,1035 98.115320682525631036 ],1037 "extent": [1038 17.188379287719727,1039 17.18549346923828,1040 7.4399380683898931041 ]1042 },1043 "obb": {1044 "center": [1045 -369.4086055755615,1046 398.17625427246094,1047 98.115320682525631048 ],1049 "extent": [1050 17.188379287719727,1051 17.18549346923828,1052 7.4399380683898931053 ],1054 "rotation": [1055 0,1056 0,1057 01058 ]1059 },1060 "location": [1061 -369.3227844238281,1062 398.4527587890625,1063 91.012847900390621064 ],1065 "rotation": [1066 0,1067 0,1068 01069 ],1070 "scale": [1071 1,1072 1,1073 11074 ]1075 },1076 "color": [1077 31,1078 63,1079 1271080 ]1081 },1082 {1083 "object_id": "SM_cake_18",1084 "bbox_2d": [1085 435,1086 664,1087 620,1088 7611089 ],1090 "bbox_3d": {1091 "aabb": {1092 "center": [1093 -303.9225215911865,1094 397.5361156463623,1095 66.526226043701171096 ],1097 "extent": [1098 17.78750228881836,1099 17.833864212036133,1100 8.3368110656738281101 ]1102 },1103 "obb": {1104 "center": [1105 -303.9225215911865,1106 397.5361156463623,1107 66.526226043701171108 ],1109 "extent": [1110 17.78750228881836,1111 17.833864212036133,1112 8.3368110656738281113 ],1114 "rotation": [1115 0,1116 0,1117 01118 ]1119 },1120 "location": [1121 -302.724609375,1122 397.79632568359375,1123 58.1894149780273441124 ],1125 "rotation": [1126 0,1127 0,1128 01129 ],1130 "scale": [1131 1,1132 1,1133 11134 ]1135 },1136 "color": [1137 255,1138 223,1139 1911140 ]1141 },1142 {1143 "object_id": "SM_cake_502",1144 "bbox_2d": [1145 53,1146 310,1147 220,1148 3711149 ],1150 "bbox_3d": {1151 "aabb": {1152 "center": [1153 -240.29885864257812,1154 397.20394706726074,1155 134.7113504409791156 ],1157 "extent": [1158 11.427842140197754,1159 11.42784309387207,1160 6.2533864974975591161 ]1162 },1163 "obb": {1164 "center": [1165 -240.29885864257812,1166 397.20394706726074,1167 134.7113504409791168 ],1169 "extent": [1170 11.427842140197754,1171 11.42784309387207,1172 6.2533864974975591173 ],1174 "rotation": [1175 0,1176 0,1177 01178 ]1179 },1180 "location": [1181 -240.29885864257812,1182 397.2039489746094,1183 128.416030883789061184 ],1185 "rotation": [1186 0,1187 0,1188 01189 ],1190 "scale": [1191 1,1192 1,1193 11194 ]1195 },1196 "color": [1197 159,1198 223,1199 631200 ]