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": "l025_off0_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/Bakery/l025_off0_r000/lit.png",5 "camera": {6 "location": [7 241,8 71,9 17610 ],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 [37 241,38 71,39 176,40 141 ]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": [57 161,58 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 "object_id": "SM_wall_02_491",116 "bbox_2d": [117 0,118 0,119 518,120 1079121 ],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": [177 575,178 0,179 641,180 1079181 ],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": [237 638,238 0,239 1919,240 609241 ],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 },296 "foreground": {297 "cashier": [298 {299 "object_id": "SM_cashier_302",300 "bbox_2d": [301 1519,302 984,303 1907,304 1079305 ],306 "bbox_3d": {307 "aabb": {308 "center": [309 330.7001953125,310 148.85812377929688,311 68.8092041015625312 ],313 "extent": [314 39.265533447265625,315 83.54351806640625,316 50.12611389160156317 ]318 },319 "obb": {320 "center": [321 330.7001953125,322 148.85812377929688,323 68.8092041015625324 ],325 "extent": [326 39.265533447265625,327 83.54351806640625,328 50.12611389160156329 ],330 "rotation": [331 0,332 0,333 0334 ]335 },336 "location": [337 330.7001953125,338 148.85812377929688,339 20340 ],341 "rotation": [342 0,343 0,344 0345 ],346 "scale": [347 1,348 1,349 1350 ]351 },352 "color": [353 255,354 127,355 255356 ]357 }358 ],359 "grill": [360 {361 "object_id": "SM_grill2",362 "bbox_2d": [363 161,364 595,365 325,366 1079367 ],368 "bbox_3d": {369 "aabb": {370 "center": [371 385.2553100585887,372 -75.62591934204102,373 108.73949432373047374 ],375 "extent": [376 28.420366367019028,377 35.869838411538495,378 90.03331756591797379 ]380 },381 "obb": {382 "center": [383 385.2553100585887,384 -75.62591934204102,385 108.73949432373047386 ],387 "extent": [388 28.420366367019028,389 35.869838411538495,390 90.03331756591797391 ],392 "rotation": [393 0,394 90.00007629394531,395 0396 ]397 },398 "location": [399 385.25531005859375,400 -75.62592315673828,401 20402 ],403 "rotation": [404 0,405 90.00007629394531,406 0407 ],408 "scale": [409 1,410 1,411 1412 ]413 },414 "color": [415 127,416 0,417 255418 ]419 }420 ],421 "cash register": [422 {423 "object_id": "SM_cash_register_318",424 "bbox_2d": [425 851,426 878,427 1468,428 1079429 ],430 "bbox_3d": {431 "aabb": {432 "center": [433 347.53276852910653,434 89.550582188795,435 129.63134792869084436 ],437 "extent": [438 24.934106523168452,439 32.800457754910184,440 11.22339287083048441 ]442 },443 "obb": {444 "center": [445 347.53276852910653,446 89.550582188795,447 129.63134792869084448 ],449 "extent": [450 24.934106523168452,451 32.800457754910184,452 11.22339287083048453 ],454 "rotation": [455 0,456 -80.00000762939452,457 0458 ]459 },460 "location": [461 344.2492980957031,462 84.56668090820312,463 119.345947265625464 ],465 "rotation": [466 0,467 -80.00000762939452,468 0469 ],470 "scale": [471 1,472 1.0000001192092896,473 1.0000001192092896474 ]475 },476 "color": [477 127,478 255,479 0480 ]481 }482 ],483 "tv": [484 {485 "object_id": "SM_Tv_429",486 "bbox_2d": [487 1837,488 0,489 1919,490 523491 ],492 "bbox_3d": {493 "aabb": {494 "center": [495 425.55378977194977,496 322.1690518719887,497 228.195045660914498 ],499 "extent": [500 7.263521995059989,501 84.92335535917897,502 49.21144127865614503 ]504 },505 "obb": {506 "center": [507 425.55378977194977,508 322.1690518719887,509 228.195045660914510 ],511 "extent": [512 7.263521995059989,513 84.92335535917897,514 49.21144127865614515 ],516 "rotation": [517 -1.6921501159667967,518 180,519 2.9971604931233747e-07520 ]521 },522 "location": [523 425.9980163574219,524 322.15155029296875,525 180.00645446777344526 ],527 "rotation": [528 -1.6921501159667967,529 180,530 2.9971604931233747e-07531 ],532 "scale": [533 1,534 1,535 1536 ]537 },538 "color": [539 63,540 127,541 0542 ]543 },544 {545 "object_id": "SM_Tv2_1",546 "bbox_2d": [547 861,548 0,549 1777,550 523551 ],552 "bbox_3d": {553 "aabb": {554 "center": [555 425.5537898722134,556 137.5165252685547,557 228.19504566174675558 ],559 "extent": [560 7.263521880267774,561 84.92335510253906,562 49.21144082552911563 ]564 },565 "obb": {566 "center": [567 425.5537898722134,568 137.5165252685547,569 228.19504566174675570 ],571 "extent": [572 7.263521880267774,573 84.92335510253906,574 49.21144082552911575 ],576 "rotation": [577 -1.692149996757507,578 180,579 -2.2079159874887454e-32580 ]581 },582 "location": [583 425.9980163574219,584 137.4990234375,585 180.00645446777344586 ],587 "rotation": [588 -1.692149996757507,589 180,590 -2.2079159874887454e-32591 ],592 "scale": [593 1,594 1,595 1596 ]597 },598 "color": [599 63,600 255,601 15602 ]603 }604 ],605 "juice": [606 {607 "object_id": "SM_juice_85",608 "bbox_2d": [609 1407,610 835,611 1518,612 1079613 ],614 "bbox_3d": {615 "aabb": {616 "center": [617 354.68528437754867,618 130.4972787856906,619 126.44494915008545620 ],621 "extent": [622 6.185843010880831,623 6.120839035339856,624 14.232349395751953625 ]626 },627 "obb": {628 "center": [629 354.68528437754867,630 130.4972787856906,631 126.44494915008545632 ],633 "extent": [634 6.185843010880831,635 6.120839035339856,636 14.232349395751953637 ],638 "rotation": [639 0,640 -37.64905166625977,641 0642 ]643 },644 "location": [645 354.90472412109375,646 130.78172302246094,647 112.25183868408203648 ],649 "rotation": [650 0,651 -37.64905166625977,652 0653 ],654 "scale": [655 1,656 1,657 1658 ]659 },660 "color": [661 223,662 191,663 191664 ]665 },666 {667 "object_id": "SM_juice_73",668 "bbox_2d": [669 1538,670 1023,671 1654,672 1079673 ],674 "bbox_3d": {675 "aabb": {676 "center": [677 335.82770390572045,678 136.78787121765347,679 115.3197468500913680 ],681 "extent": [682 16.272085792144082,683 9.971059246901795,684 5.1734539693125186685 ]686 },687 "obb": {688 "center": [689 335.82770390572045,690 136.78787121765347,691 115.3197468500913692 ],693 "extent": [694 16.272085792144082,695 9.971059246901795,696 5.1734539693125186697 ],698 "rotation": [699 6.830188794707314e-06,700 -69.61061096191408,701 -89.99990844726564702 ]703 },704 "location": [705 350.3283996582031,706 142.11044311523438,707 115.56327819824219708 ],709 "rotation": [710 6.830188794707314e-06,711 -69.61061096191408,712 -89.99990844726564713 ],714 "scale": [715 1,716 1,717 1718 ]719 },720 "color": [721 223,722 191,723 95724 ]725 },726 {727 "object_id": "SM_juice_74",728 "bbox_2d": [729 1824,730 1040,731 1919,732 1079733 ],734 "bbox_3d": {735 "aabb": {736 "center": [737 322.0977046553553,738 150.85445080972738,739 124.25936709783312740 ],741 "extent": [742 11.294894070527164,743 12.223850684098295,744 3.7030556031063213745 ]746 },747 "obb": {748 "center": [749 322.0977046553553,750 150.85445080972738,751 124.25936709783312752 ],753 "extent": [754 11.294894070527164,755 12.223850684098295,756 3.7030556031063213757 ],758 "rotation": [759 0,760 -38.626636505126974,761 -89.99993133544923762 ]763 },764 "location": [765 329.1089172363281,766 159.62887573242188,767 124.25935363769531768 ],769 "rotation": [770 0,771 -38.626636505126974,772 -89.99993133544923773 ],774 "scale": [775 1,776 1,777 1778 ]779 },780 "color": [781 223,782 31,783 0784 ]785 }786 ],787 "cakebox": [788 {789 "object_id": "SM_cakebox18_92",790 "bbox_2d": [791 1624,792 1000,793 1815,794 1079795 ],796 "bbox_3d": {797 "aabb": {798 "center": [799 345.94985918071563,800 153.47357158984127,801 116.76506996154785802 ],803 "extent": [804 9.075483014736449,805 9.11305765817562,806 4.594900131225586807 ]808 },809 "obb": {810 "center": [811 345.94985918071563,812 153.47357158984127,813 116.76506996154785814 ],815 "extent": [816 9.075483014736449,817 9.11305765817562,818 4.594900131225586819 ],820 "rotation": [821 0,822 23.155082702636726,823 0824 ]825 },826 "location": [827 345.9498596191406,828 153.47357177734375,829 112.25184631347656830 ],831 "rotation": [832 0,833 23.155082702636726,834 0835 ],836 "scale": [837 1,838 1,839 1840 ]841 },842 "color": [843 223,844 191,845 159846 ]847 }848 ]849 }850}