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": "l010_off0_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/Bakery/l010_off0_r000/lit.png",5 "camera": {6 "location": [7 -328,8 344,9 15110 ],11 "rotation": [12 0,13 0,14 015 ],16 "fov": 90,17 "c2w": [18 [19 1,20 0,21 0,22 023 ],24 [25 0,26 1,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 -328,38 344,39 151,40 141 ]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 0,58 72,59 1262,60 63961 ],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_02_491",116 "bbox_2d": [117 0,118 225,119 503,120 509121 ],122 "bbox_3d": {123 "aabb": {124 "center": [125 170.26333618164062,126 -45.951751708984375,127 133.2178497314453128 ],129 "extent": [130 239.49139404296875,131 39.54395294189453,132 133.66961669921875133 ]134 },135 "obb": {136 "center": [137 170.26333618164062,138 -45.951751708984375,139 133.2178497314453140 ],141 "extent": [142 239.49139404296875,143 39.54395294189453,144 133.66961669921875145 ],146 "rotation": [147 0,148 0,149 0150 ]151 },152 "location": [153 170.26333618164062,154 -45.951751708984375,155 2.2381439208984375156 ],157 "rotation": [158 0,159 0,160 0161 ],162 "scale": [163 1,164 1,165 1166 ]167 },168 "color": [169 255,170 0,171 191172 ]173 },174 {175 "object_id": "SM_wall_06_505",176 "bbox_2d": [177 0,178 0,179 533,180 511181 ],182 "bbox_3d": {183 "aabb": {184 "center": [185 1.37738037109375,186 5.184879779815674,187 196.00094604492188188 ],189 "extent": [190 426.0718994140625,191 4.455683708190918,192 200.5044403076172193 ]194 },195 "obb": {196 "center": [197 1.37738037109375,198 5.184879779815674,199 196.00094604492188200 ],201 "extent": [202 426.0718994140625,203 4.455683708190918,204 200.5044403076172205 ],206 "rotation": [207 0,208 0,209 0210 ]211 },212 "location": [213 1.37738037109375,214 5.184879302978516,215 -4.41204833984375216 ],217 "rotation": [218 0,219 0,220 0221 ],222 "scale": [223 1,224 1,225 1226 ]227 },228 "color": [229 63,230 0,231 191232 ]233 },234 {235 "object_id": "SM_wall_05_19",236 "bbox_2d": [237 514,238 246,239 1077,240 524241 ],242 "bbox_3d": {243 "aabb": {244 "center": [245 413.07183837890625,246 219.72203063964844,247 272.21002197265625248 ],249 "extent": [250 22.278289794921875,251 215.7262659626067,252 109.5366704119806253 ]254 },255 "obb": {256 "center": [257 413.07183837890625,258 219.72203063964844,259 272.21002197265625260 ],261 "extent": [262 22.278289794921875,263 215.7262659626067,264 109.5366704119806265 ],266 "rotation": [267 0,268 0,269 0270 ]271 },272 "location": [273 413.07183837890625,274 219.72203063964844,275 272.21002197265625276 ],277 "rotation": [278 0,279 0,280 0281 ],282 "scale": [283 1,284 1.0699734687805176,285 1.0926108360290527286 ]287 },288 "color": [289 63,290 191,291 15292 ]293 }294 ],295 "door frame": [296 {297 "object_id": "SM_doorframe_467",298 "bbox_2d": [299 1120,300 316,301 1166,302 483303 ],304 "bbox_3d": {305 "aabb": {306 "center": [307 187.48676300048828,308 450.7649061235361,309 140.74870859740804310 ],311 "extent": [312 94.6826400756836,313 4.9441698669024845,314 120.46647398356254315 ]316 },317 "obb": {318 "center": [319 187.48676300048828,320 450.7649061235361,321 140.74870859740804322 ],323 "extent": [324 94.6826400756836,325 4.9441698669024845,326 120.46647398356254327 ],328 "rotation": [329 0,330 0,331 0332 ]333 },334 "location": [335 187.4867706298828,336 450.764892578125,337 20.000030517578125338 ],339 "rotation": [340 0,341 0,342 0343 ],344 "scale": [345 1,346 0.8877120614051819,347 0.9204005002975464348 ]349 },350 "color": [351 63,352 63,353 0354 ]355 }356 ],357 "ground": [358 {359 "object_id": "SM_ground_9",360 "bbox_2d": [361 494,362 741,363 1046,364 1079365 ],366 "bbox_3d": {367 "aabb": {368 "center": [369 0,370 0.704864501953125,371 11.041000366210938372 ],373 "extent": [374 447.2875671386719,375 455.69342041015625,376 8.675445556640625377 ]378 },379 "obb": {380 "center": [381 0,382 0.704864501953125,383 11.041000366210938384 ],385 "extent": [386 447.2875671386719,387 455.69342041015625,388 8.675445556640625389 ],390 "rotation": [391 0,392 0,393 0394 ]395 },396 "location": [397 0,398 -0.000762939453125,399 11.041000366210938400 ],401 "rotation": [402 0,403 0,404 0405 ],406 "scale": [407 1,408 1,409 1410 ]411 },412 "color": [413 191,414 0,415 255416 ]417 }418 ]419 },420 "foreground": {421 "breadrack": [422 {423 "object_id": "SM_breadrack_01_290",424 "bbox_2d": [425 0,426 477,427 632,428 1079429 ],430 "bbox_3d": {431 "aabb": {432 "center": [433 -118.70851135253906,434 188.5910186767578,435 89.99793243408203436 ],437 "extent": [438 100.25221252441406,439 50.126121520996094,440 70.04141235351562441 ]442 },443 "obb": {444 "center": [445 -118.70851135253906,446 188.5910186767578,447 89.99793243408203448 ],449 "extent": [450 100.25221252441406,451 50.126121520996094,452 70.04141235351562453 ],454 "rotation": [455 0,456 0,457 0458 ]459 },460 "location": [461 -118.70851135253906,462 188.5910186767578,463 25.59441375732422464 ],465 "rotation": [466 0,467 0,468 0469 ],470 "scale": [471 1,472 1,473 1474 ]475 },476 "color": [477 255,478 255,479 127480 ]481 },482 {483 "object_id": "SM_breadrack_04_293",484 "bbox_2d": [485 1019,486 439,487 1262,488 896489 ],490 "bbox_3d": {491 "aabb": {492 "center": [493 5.943952560424805,494 400.90496826171875,495 105.9197006225586496 ],497 "extent": [498 83.54350280761719,499 33.417388916015625,500 85.13441467285156501 ]502 },503 "obb": {504 "center": [505 5.943952560424805,506 400.90496826171875,507 105.9197006225586508 ],509 "extent": [510 83.54350280761719,511 33.417388916015625,512 85.13441467285156513 ],514 "rotation": [515 0,516 0,517 0518 ]519 },520 "location": [521 5.943952560424805,522 400.90496826171875,523 20524 ],525 "rotation": [526 0,527 0,528 0529 ],530 "scale": [531 1,532 1,533 1534 ]535 },536 "color": [537 0,538 127,539 0540 ]541 },542 {543 "object_id": "SM_breadrack_02_296",544 "bbox_2d": [545 577,546 500,547 747,548 933549 ],550 "bbox_3d": {551 "aabb": {552 "center": [553 65.93284606933594,554 187.62933349609375,555 93.91255950927734556 ],557 "extent": [558 79.36634826660156,559 52.91090774536133,560 74.07523345947266561 ]562 },563 "obb": {564 "center": [565 65.93284606933594,566 187.62933349609375,567 93.91255950927734568 ],569 "extent": [570 79.36634826660156,571 52.91090774536133,572 74.07523345947266573 ],574 "rotation": [575 0,576 0,577 0578 ]579 },580 "location": [581 65.93284606933594,582 187.62933349609375,583 20.00006103515625584 ],585 "rotation": [586 0,587 0,588 0589 ],590 "scale": [591 1,592 1,593 1594 ]595 },596 "color": [597 0,598 127,599 255600 ]601 },602 {603 "object_id": "SM_breadrack_2",604 "bbox_2d": [605 1036,606 0,607 1919,608 1079609 ],610 "bbox_3d": {611 "aabb": {612 "center": [613 -244.97552490234375,614 397.81231689453125,615 138.38698959350586616 ],617 "extent": [618 167.6439971923828,619 33.974395751953125,620 119.4671630859375621 ]622 },623 "obb": {624 "center": [625 -244.97552490234375,626 397.81231689453125,627 138.38698959350586628 ],629 "extent": [630 167.6439971923828,631 33.974395751953125,632 119.4671630859375633 ],634 "rotation": [635 0,636 0,637 0638 ]639 },640 "location": [641 -244.97552490234375,642 397.81231689453125,643 22.278316497802734644 ],645 "rotation": [646 0,647 0,648 0649 ],650 "scale": [651 1,652 1,653 1654 ]655 },656 "color": [657 127,658 191,659 255660 ]661 }662 ],663 "cashier": [664 {665 "object_id": "SM_cashier_302",666 "bbox_2d": [667 620,668 584,669 805,670 740671 ],672 "bbox_3d": {673 "aabb": {674 "center": [675 330.7001953125,676 148.85812377929688,677 68.8092041015625678 ],679 "extent": [680 39.265533447265625,681 83.54351806640625,682 50.12611389160156683 ]684 },685 "obb": {686 "center": [687 330.7001953125,688 148.85812377929688,689 68.8092041015625690 ],691 "extent": [692 39.265533447265625,693 83.54351806640625,694 50.12611389160156695 ],696 "rotation": [697 0,698 0,699 0700 ]701 },702 "location": [703 330.7001953125,704 148.85812377929688,705 20706 ],707 "rotation": [708 0,709 0,710 0711 ],712 "scale": [713 1,714 1,715 1716 ]717 },718 "color": [719 255,720 127,721 255722 ]723 }724 ],725 "cash register": [726 {727 "object_id": "SM_cash_register_318",728 "bbox_2d": [729 620,730 559,731 650,732 586733 ],734 "bbox_3d": {735 "aabb": {736 "center": [737 347.53276852910653,738 89.550582188795,739 129.63134792869084740 ],741 "extent": [742 24.934106523168452,743 32.800457754910184,744 11.22339287083048745 ]746 },747 "obb": {748 "center": [749 347.53276852910653,750 89.550582188795,751 129.63134792869084752 ],753 "extent": [754 24.934106523168452,755 32.800457754910184,756 11.22339287083048757 ],758 "rotation": [759 0,760 -80.00000762939452,761 0762 ]763 },764 "location": [765 344.2492980957031,766 84.56668090820312,767 119.345947265625768 ],769 "rotation": [770 0,771 -80.00000762939452,772 0773 ],774 "scale": [775 1,776 1.0000001192092896,777 1.0000001192092896778 ]779 },780 "color": [781 127,782 255,783 0784 ]785 }786 ],787 "steel": [788 {789 "object_id": "SM_steel_02_346",790 "bbox_2d": [791 349,792 467,793 469,794 507795 ],796 "bbox_3d": {797 "aabb": {798 "center": [799 230.1611499786377,800 25.21088981628418,801 106.01264953613281802 ],803 "extent": [804 20.196971893310547,805 23.852373123168952,806 86.09856414794922807 ]808 },809 "obb": {810 "center": [811 230.1611499786377,812 25.21088981628418,813 106.01264953613281814 ],815 "extent": [816 20.196971893310547,817 23.852373123168952,818 86.09856414794922819 ],820 "rotation": [821 0,822 -90.00000000000001,823 0824 ]825 },826 "location": [827 230.16116333007812,828 25.21090316772461,829 20830 ],831 "rotation": [832 0,833 -90.00000000000001,834 0835 ],836 "scale": [837 1,838 1,839 1840 ]841 },842 "color": [843 0,844 255,845 63846 ]847 }848 ],849 "air conditioner": [850 {851 "object_id": "SM_Airconditioner_423",852 "bbox_2d": [853 600,854 252,855 757,856 303857 ],858 "bbox_3d": {859 "aabb": {860 "center": [861 405.5927734375,862 130.36524963378906,863 351.4246520996094864 ],865 "extent": [866 16.555665969848633,867 56.32305908203128,868 16.092304229736328869 ]870 },871 "obb": {872 "center": [873 405.5927734375,874 130.36524963378906,875 351.4246520996094876 ],877 "extent": [878 16.555665969848633,879 56.32305908203128,880 16.092304229736328881 ],882 "rotation": [883 0,884 90.00000000000001,885 0886 ]887 },888 "location": [889 405.5927734375,890 130.36524963378906,891 351.4246520996094892 ],893 "rotation": [894 0,895 90.00000000000001,896 0897 ],898 "scale": [899 1,900 1,901 1902 ]903 },904 "color": [905 63,906 255,907 255908 ]909 }910 ],911 "chargingplug": [912 {913 "object_id": "SM_chargingplug_426",914 "bbox_2d": [915 758,916 246,917 783,918 312919 ],920 "bbox_3d": {921 "aabb": {922 "center": [923 422.2535355091095,924 192.8204551025953,925 352.4071478751205926 ],927 "extent": [928 2.1209771633148193,929 13.289188546586672,930 28.518881051606968931 ]932 },933 "obb": {934 "center": [935 422.2535355091095,936 192.8204551025953,937 352.4071478751205938 ],939 "extent": [940 2.1209771633148193,941 13.289188546586672,942 28.518881051606968943 ],944 "rotation": [945 0,946 0,947 0948 ]949 },950 "location": [951 424.2372131347656,952 201.2949981689453,953 376.2519836425781954 ],955 "rotation": [956 0,957 0,958 0959 ],960 "scale": [961 1,962 0.9999999403953552,963 0.9999999403953552964 ]965 },966 "color": [967 63,968 255,969 127970 ]971 }972 ],973 "tv": [974 {975 "object_id": "SM_Tv_429",976 "bbox_2d": [977 823,978 391,979 1040,980 503981 ],982 "bbox_3d": {983 "aabb": {984 "center": [985 425.55378977194977,986 322.1690518719887,987 228.195045660914988 ],989 "extent": [990 7.263521995059989,991 84.92335535917897,992 49.21144127865614993 ]994 },995 "obb": {996 "center": [997 425.55378977194977,998 322.1690518719887,999 228.1950456609141000 ],1001 "extent": [1002 7.263521995059989,1003 84.92335535917897,1004 49.211441278656141005 ],1006 "rotation": [1007 -1.6921501159667967,1008 180,1009 2.9971604931233747e-071010 ]1011 },1012 "location": [1013 425.9980163574219,1014 322.15155029296875,1015 180.006454467773441016 ],1017 "rotation": [1018 -1.6921501159667967,1019 180,1020 2.9971604931233747e-071021 ],1022 "scale": [1023 1,1024 1,1025 11026 ]1027 },1028 "color": [1029 63,1030 127,1031 01032 ]1033 },1034 {1035 "object_id": "SM_Tv2_1",1036 "bbox_2d": [1037 586,1038 391,1039 804,1040 5031041 ],1042 "bbox_3d": {1043 "aabb": {1044 "center": [1045 425.5537898722134,1046 137.5165252685547,1047 228.195045661746751048 ],1049 "extent": [1050 7.263521880267774,1051 84.92335510253906,1052 49.211440825529111053 ]1054 },1055 "obb": {1056 "center": [1057 425.5537898722134,1058 137.5165252685547,1059 228.195045661746751060 ],1061 "extent": [1062 7.263521880267774,1063 84.92335510253906,1064 49.211440825529111065 ],1066 "rotation": [1067 -1.692149996757507,1068 180,1069 -2.2079159874887454e-321070 ]1071 },1072 "location": [1073 425.9980163574219,1074 137.4990234375,1075 180.006454467773441076 ],1077 "rotation": [1078 -1.692149996757507,1079 180,1080 -2.2079159874887454e-321081 ],1082 "scale": [1083 1,1084 1,1085 11086 ]1087 },1088 "color": [1089 63,1090 255,1091 151092 ]1093 }1094 ],1095 "carpet": [1096 {1097 "object_id": "SM_carpet_01_432",1098 "bbox_2d": [1099 827,1100 737,1101 1029,1102 8391103 ],1104 "bbox_3d": {1105 "aabb": {1106 "center": [1107 201.3136291879569,1108 356.7218922404906,1109 21.6465183496475221110 ],1111 "extent": [1112 115.90200498270377,1113 77.0701993194902,1114 1.65538442134857181115 ]1116 },1117 "obb": {1118 "center": [1119 201.3136291879569,1120 356.7218922404906,1121 21.6465183496475221122 ],1123 "extent": [1124 115.90200498270377,1125 77.0701993194902,1126 1.65538442134857181127 ],1128 "rotation": [1129 0,1130 -85.97870635986327,1131 01132 ]1133 },1134 "location": [1135 201.3136444091797,1136 356.7218933105469,1137 201138 ],1139 "rotation": [1140 0,1141 -85.97870635986327,1142 01143 ],1144 "scale": [1145 1,1146 1,1147 11148 ]1149 },1150 "color": [1151 63,1152 127,1153 2551154 ]1155 }1156 ],1157 "light": [1158 {1159 "object_id": "SM_light_01_460",1160 "bbox_2d": [1161 408,1162 0,1163 948,1164 2131165 ],1166 "bbox_3d": {1167 "aabb": {1168 "center": [1169 19.728729248046875,1170 229.50070190429688,1171 367.639953613281251172 ],1173 "extent": [1174 259.12567138671875,1175 108.60655212402344,1176 16.7087116241455081177 ]1178 },1179 "obb": {1180 "center": [1181 19.728729248046875,1182 229.50070190429688,1183 367.639953613281251184 ],1185 "extent": [1186 259.12567138671875,1187 108.60655212402344,1188 16.7087116241455081189 ],1190 "rotation": [1191 0,1192 0,1193 01194 ]1195 },1196 "location": [1197 19.728729248046875,1198 229.50070190429688,1199 367.639953613281251200 ],