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": "l024_r004",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/Bakery/l024_r004/lit.png",5 "camera": {6 "location": [7 255,8 -56,9 12610 ],11 "rotation": [12 0,13 -120.00000000000007,14 015 ],16 "fov": 90,17 "c2w": [18 [19 -0.5000000000000007,20 -0.8660254037844379,21 0,22 023 ],24 [25 0.8660254037844379,26 -0.5000000000000007,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 255,38 -56,39 126,40 141 ]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": [57 697,58 0,59 1919,60 107961 ],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 "ground": [116 {117 "object_id": "SM_ground_9",118 "bbox_2d": [119 1467,120 961,121 1919,122 1079123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 0,128 0.704864501953125,129 11.041000366210938130 ],131 "extent": [132 447.2875671386719,133 455.69342041015625,134 8.675445556640625135 ]136 },137 "obb": {138 "center": [139 0,140 0.704864501953125,141 11.041000366210938142 ],143 "extent": [144 447.2875671386719,145 455.69342041015625,146 8.675445556640625147 ],148 "rotation": [149 0,150 0,151 0152 ]153 },154 "location": [155 0,156 -0.000762939453125,157 11.041000366210938158 ],159 "rotation": [160 0,161 0,162 0163 ],164 "scale": [165 1,166 1,167 1168 ]169 },170 "color": [171 191,172 0,173 255174 ]175 }176 ]177 },178 "foreground": {179 "steel": [180 {181 "object_id": "SM_steel_01_349",182 "bbox_2d": [183 1368,184 281,185 1541,186 893187 ],188 "bbox_3d": {189 "aabb": {190 "center": [191 240.58107749462158,192 -385.25631504767193,193 105.9680404663086194 ],195 "extent": [196 22.462900420585342,197 45.113007901773415,198 86.05392456054688199 ]200 },201 "obb": {202 "center": [203 240.58107749462158,204 -385.25631504767193,205 105.9680404663086206 ],207 "extent": [208 22.462900420585342,209 45.113007901773415,210 86.05392456054688211 ],212 "rotation": [213 0,214 -87.00657653808594,215 0216 ]217 },218 "location": [219 240.58099365234375,220 -385.254638671875,221 19.999984741210938222 ],223 "rotation": [224 0,225 -87.00657653808594,226 0227 ],228 "scale": [229 1,230 1,231 1232 ]233 },234 "color": [235 0,236 127,237 63238 ]239 }240 ],241 "fireextinguisher": [242 {243 "object_id": "SM_fireextinguisher3",244 "bbox_2d": [245 1293,246 852,247 1500,248 1079249 ],250 "bbox_3d": {251 "aabb": {252 "center": [253 245.4195556640625,254 -162.7714385986328,255 55.871395111083984256 ],257 "extent": [258 15.709892233551386,259 16.09848102098374,260 37.336402893066406261 ]262 },263 "obb": {264 "center": [265 245.4195556640625,266 -162.7714385986328,267 55.871395111083984268 ],269 "extent": [270 15.709892233551386,271 16.09848102098374,272 37.336402893066406273 ],274 "rotation": [275 0,276 -50.00006484985351,277 0278 ]279 },280 "location": [281 245.4195556640625,282 -162.7714385986328,283 55.87139892578125284 ],285 "rotation": [286 0,287 -50.00006484985351,288 0289 ],290 "scale": [291 1,292 1,293 1294 ]295 },296 "color": [297 255,298 255,299 63300 ]301 }302 ],303 "exit door": [304 {305 "object_id": "SM_exitdoor_379",306 "bbox_2d": [307 1242,308 0,309 1352,310 1007311 ],312 "bbox_3d": {313 "aabb": {314 "center": [315 213.24381917873689,316 -226.70896911621094,317 134.8391164401255318 ],319 "extent": [320 11.549467334564724,321 64.80331382804889,322 129.2236785888672323 ]324 },325 "obb": {326 "center": [327 213.24381917873689,328 -226.70896911621094,329 134.8391164401255330 ],331 "extent": [332 11.549467334564724,333 64.80331382804889,334 129.2236785888672335 ],336 "rotation": [337 0,338 0,339 0340 ]341 },342 "location": [343 214.8571014404297,344 -226.70896911621094,345 4.860979080200195346 ],347 "rotation": [348 0,349 0,350 0351 ],352 "scale": [353 1.0691914558410645,354 1.1697558164596558,355 1.153782844543457356 ]357 },358 "color": [359 0,360 63,361 127362 ]363 }364 ],365 "cloth": [366 {367 "object_id": "SM_cloth_04_401",368 "bbox_2d": [369 556,370 0,371 1140,372 928373 ],374 "bbox_3d": {375 "aabb": {376 "center": [377 227.90157450417288,378 -86.9060227913615,379 166.86850968002932380 ],381 "extent": [382 19.668366057138968,383 18.666357423016933,384 68.1800020572997385 ]386 },387 "obb": {388 "center": [389 227.90157450417288,390 -86.9060227913615,391 166.86850968002932392 ],393 "extent": [394 19.668366057138968,395 18.666357423016933,396 68.1800020572997397 ],398 "rotation": [399 3.0749850273132338,400 -0.7657648324966433,401 -0.04101435840129854402 ]403 },404 "location": [405 224.62954711914062,406 -86.90595245361328,407 227.77149963378906408 ],409 "rotation": [410 3.0749850273132338,411 -0.7657648324966433,412 -0.04101435840129854413 ],414 "scale": [415 1,416 1,417 1418 ]419 },420 "color": [421 255,422 63,423 63424 ]425 },426 {427 "object_id": "SM_cloth_5",428 "bbox_2d": [429 909,430 0,431 1298,432 1079433 ],434 "bbox_3d": {435 "aabb": {436 "center": [437 227.53141768328933,438 -119.40682621360112,439 140.4956999521605440 ],441 "extent": [442 18.47999161274703,443 15.880772346645657,444 95.30916389242543445 ]446 },447 "obb": {448 "center": [449 227.53141768328933,450 -119.40682621360112,451 140.4956999521605452 ],453 "extent": [454 18.47999161274703,455 15.880772346645657,456 95.30916389242543457 ],458 "rotation": [459 3.074985027313233,460 -0.7657650113105776,461 -0.041014000773429884462 ]463 },464 "location": [465 224.62899780273438,466 -119.4305648803711,467 227.77149963378906468 ],469 "rotation": [470 3.074985027313233,471 -0.7657650113105776,472 -0.041014000773429884473 ],474 "scale": [475 1,476 1,477 1478 ]479 },480 "color": [481 127,482 63,483 63484 ]485 },486 {487 "object_id": "SM_cloth_6",488 "bbox_2d": [489 1203,490 0,491 1397,492 874493 ],494 "bbox_3d": {495 "aabb": {496 "center": [497 228.01023610238462,498 -149.97324215797198,499 139.8963253703865500 ],501 "extent": [502 21.795398950061013,503 16.623589526621004,504 93.2516195136919505 ]506 },507 "obb": {508 "center": [509 228.01023610238462,510 -149.97324215797198,511 139.8963253703865512 ],513 "extent": [514 21.795398950061013,515 16.623589526621004,516 93.2516195136919517 ],518 "rotation": [519 3.074985027313233,520 -0.7657650113105776,521 -0.041014000773429884522 ]523 },524 "location": [525 224.62899780273438,526 -149.990966796875,527 227.77149963378906528 ],529 "rotation": [530 3.074985027313233,531 -0.7657650113105776,532 -0.041014000773429884533 ],534 "scale": [535 1,536 1,537 1538 ]539 },540 "color": [541 63,542 0,543 0544 ]545 },546 {547 "object_id": "SM_cloth_7",548 "bbox_2d": [549 0,550 0,551 720,552 1079553 ],554 "bbox_3d": {555 "aabb": {556 "center": [557 229.85744770990738,558 -59.86229680933562,559 146.9493074694817560 ],561 "extent": [562 26.10779229225838,563 15.846243208221889,564 91.06945080399765565 ]566 },567 "obb": {568 "center": [569 229.85744770990738,570 -59.86229680933562,571 146.9493074694817572 ],573 "extent": [574 26.10779229225838,575 15.846243208221889,576 91.06945080399765577 ],578 "rotation": [579 3.074985027313233,580 -0.7657650113105776,581 -0.041014000773429884582 ]583 },584 "location": [585 224.62954711914062,586 -59.72605895996094,587 227.77149963378906588 ],589 "rotation": [590 3.074985027313233,591 -0.7657650113105776,592 -0.041014000773429884593 ],594 "scale": [595 1,596 1,597 1598 ]599 },600 "color": [601 63,602 0,603 255604 ]605 }606 ],607 "ladder": [608 {609 "object_id": "SM_ladder2",610 "bbox_2d": [611 1349,612 0,613 1482,614 1043615 ],616 "bbox_3d": {617 "aabb": {618 "center": [619 231.2604099797911,620 -296.61433036763526,621 163.7025774325777622 ],623 "extent": [624 17.375431804216475,625 44.58013502962143,626 144.20106613466515627 ]628 },629 "obb": {630 "center": [631 231.2604099797911,632 -296.61433036763526,633 163.70257743257773634 ],635 "extent": [636 17.375431804216475,637 44.58013502962143,638 144.20106613466515639 ],640 "rotation": [641 0,642 -89.99986267089847,643 -2.1566863059997567644 ]645 },646 "location": [647 237.65826416015625,648 -292.5789794921875,649 20.000015258789062650 ],651 "rotation": [652 0,653 -89.99986267089847,654 -2.1566863059997567655 ],656 "scale": [657 1,658 1,659 1660 ]661 },662 "color": [663 63,664 0,665 63666 ]667 }668 ],669 "stack of food": [670 {671 "object_id": "SM_stack_of_food_515",672 "bbox_2d": [673 1535,674 564,675 1919,676 984677 ],678 "bbox_3d": {679 "aabb": {680 "center": [681 339.9145812988281,682 -390.86053466796875,683 69.61038208007812684 ],685 "extent": [686 81.03489445663894,687 44.01318928684174,688 50.09919738769531689 ]690 },691 "obb": {692 "center": [693 339.9145812988281,694 -390.86053466796875,695 69.61038208007812696 ],697 "extent": [698 81.03489445663894,699 44.01318928684174,700 50.09919738769531701 ],702 "rotation": [703 0,704 -178.55352783203125,705 0706 ]707 },708 "location": [709 339.9145812988281,710 -390.86053466796875,711 69.61038208007812712 ],713 "rotation": [714 0,715 -178.55352783203125,716 0717 ],718 "scale": [719 1,720 1,721 1722 ]723 },724 "color": [725 63,726 63,727 191728 ]729 }730 ],731 "signboard": [732 {733 "object_id": "SM_signboard2_31",734 "bbox_2d": [735 1472,736 734,737 1646,738 1005739 ],740 "bbox_3d": {741 "aabb": {742 "center": [743 262.8511073776462,744 -330.8132155256824,745 48.56344223022461746 ],747 "extent": [748 19.27591159772119,749 13.624070188210283,750 28.949970245361328751 ]752 },753 "obb": {754 "center": [755 262.8511073776462,756 -330.8132155256824,757 48.56344223022461758 ],759 "extent": [760 19.27591159772119,761 13.624070188210283,762 28.949970245361328763 ],764 "rotation": [765 0,766 79.14710235595702,767 0768 ]769 },770 "location": [771 262.7721862792969,772 -330.9164123535156,773 19.716445922851562774 ],775 "rotation": [776 0,777 79.14710235595702,778 0779 ],780 "scale": [781 1,782 1,783 1784 ]785 },786 "color": [787 223,788 0,789 159790 ]791 }792 ],793 "box": [794 {795 "object_id": "SM_box_43",796 "bbox_2d": [797 1463,798 510,799 1519,800 594801 ],802 "bbox_3d": {803 "aabb": {804 "center": [805 240.32976474556892,806 -367.8424491802709,807 122.55247592926025808 ],809 "extent": [810 18.93478630149049,811 25.459768463482703,812 11.81294059753418813 ]814 },815 "obb": {816 "center": [817 240.32976474556892,818 -367.8424491802709,819 122.55247592926025820 ],821 "extent": [822 18.93478630149049,823 25.459768463482703,824 11.81294059753418825 ],826 "rotation": [827 0,828 2.2834024429321294,829 0830 ]831 },832 "location": [833 240.33767700195312,834 -367.8815612792969,835 122.33842468261719836 ],837 "rotation": [838 0,839 2.2834024429321294,840 0841 ],842 "scale": [843 1,844 1,845 1846 ]847 },848 "color": [849 223,850 255,851 255852 ]853 },854 {855 "object_id": "SM_box_6",856 "bbox_2d": [857 1455,858 327,859 1574,860 448861 ],862 "bbox_3d": {863 "aabb": {864 "center": [865 246.42706955738444,866 -361.824444653957,867 167.08557510375977868 ],869 "extent": [870 24.66407208146822,871 19.44531247945639,872 15.337709426879883873 ]874 },875 "obb": {876 "center": [877 246.42706955738444,878 -361.824444653957,879 167.08557510375977880 ],881 "extent": [882 24.66407208146822,883 19.44531247945639,884 15.337709426879883885 ],886 "rotation": [887 0,888 -95.33768463134767,889 0890 ]891 },892 "location": [893 243.49993896484375,894 -361.4602355957031,895 168.20767211914062896 ],897 "rotation": [898 0,899 -95.33768463134767,900 0901 ],902 "scale": [903 1,904 1,905 1906 ]907 },908 "color": [909 223,910 255,911 63912 ]913 },914 {915 "object_id": "SM_box_7",916 "bbox_2d": [917 1530,918 513,919 1582,920 590921 ],922 "bbox_3d": {923 "aabb": {924 "center": [925 248.09199986537016,926 -409.36643362929885,927 122.55247592926025928 ],929 "extent": [930 26.172604531169043,931 19.960798555106408,932 11.81294059753418933 ]934 },935 "obb": {936 "center": [937 248.09199986537016,938 -409.36643362929885,939 122.55247592926025940 ],941 "extent": [942 26.172604531169043,943 19.960798555106408,944 11.81294059753418945 ],946 "rotation": [947 0,948 -85.2266616821289,949 0950 ]951 },952 "location": [953 248.0532684326172,954 -409.37603759765625,955 122.33842468261719956 ],957 "rotation": [958 0,959 -85.2266616821289,960 0961 ],962 "scale": [963 1,964 1,965 1966 ]967 },968 "color": [969 223,970 255,971 191972 ]973 },974 {975 "object_id": "SM_box_8",976 "bbox_2d": [977 1468,978 639,979 1541,980 737981 ],982 "bbox_3d": {983 "aabb": {984 "center": [985 241.6813935187545,986 -389.51370196413825,987 82.10145664215088988 ],989 "extent": [990 20.01864858443227,991 26.212090252226005,992 11.81294059753418993 ]994 },995 "obb": {996 "center": [997 241.6813935187545,998 -389.51370196413825,999 82.101456642150881000 ],1001 "extent": [1002 20.01864858443227,1003 26.212090252226005,1004 11.812940597534181005 ],1006 "rotation": [1007 0,1008 -4.9164652824401855,1009 01010 ]1011 },1012 "location": [1013 241.68434143066406,1014 -389.5534973144531,1015 81.887405395507811016 ],1017 "rotation": [1018 0,1019 -4.9164652824401855,1020 01021 ],1022 "scale": [1023 1,1024 1,1025 11026 ]1027 },1028 "color": [1029 223,1030 255,1031 311032 ]1033 }1034 ],1035 "plastic crate": [1036 {1037 "object_id": "SM_plasticcrate4_77",1038 "bbox_2d": [1039 1447,1040 115,1041 1601,1042 3331043 ],1044 "bbox_3d": {1045 "aabb": {1046 "center": [1047 249.4811553955078,1048 -379.31488037109375,1049 211.68790626525881050 ],1051 "extent": [1052 29.497469142844622,1053 40.76260445415164,1054 20.952798843383791055 ]1056 },1057 "obb": {1058 "center": [1059 249.4811553955078,1060 -379.31488037109375,1061 211.68790626525881062 ],1063 "extent": [1064 29.497469142844622,1065 40.76260445415164,1066 20.952798843383791067 ],1068 "rotation": [1069 0,1070 -82.82160949707031,1071 01072 ]1073 },1074 "location": [1075 249.4811553955078,1076 -379.31488037109375,1077 193.000946044921881078 ],1079 "rotation": [1080 0,1081 -82.82160949707031,1082 01083 ],1084 "scale": [1085 1,1086 1,1087 11088 ]1089 },1090 "color": [1091 223,1092 191,1093 01094 ]1095 },1096 {1097 "object_id": "SM_plasticcrate5_80",1098 "bbox_2d": [1099 1677,1100 648,1101 1919,1102 9081103 ],1104 "bbox_3d": {1105 "aabb": {1106 "center": [1107 324.94683837890625,1108 -317.0653076171875,1109 79.139352798461911110 ],1111 "extent": [1112 39.48403193435337,1113 27.36589089627398,1114 20.952798843383791115 ]1116 },1117 "obb": {1118 "center": [1119 324.94683837890625,1120 -317.0653076171875,1121 79.139352798461911122 ],1123 "extent": [1124 39.48403193435337,1125 27.36589089627398,1126 20.952798843383791127 ],1128 "rotation": [1129 0,1130 3.7277727127075204,1131 01132 ]1133 },1134 "location": [1135 324.94683837890625,1136 -317.0653076171875,1137 60.4523925781251138 ],1139 "rotation": [1140 0,1141 3.7277727127075204,1142 01143 ],1144 "scale": [1145 1,1146 1,1147 11148 ]1149 },1150 "color": [1151 223,1152 191,1153 2551154 ]1155 }1156 ]1157 }1158}