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": "l040_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/Bakery/l040_r000/lit.png",5 "camera": {6 "location": [7 10,8 52,9 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 10,38 52,39 151,40 141 ]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": [57 678,58 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 0,119 819,120 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": [177 795,178 0,179 861,180 758181 ],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": [237 853,238 5,239 1919,240 512241 ],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 "ground": [296 {297 "object_id": "SM_ground_9",298 "bbox_2d": [299 892,300 843,301 1562,302 1079303 ],304 "bbox_3d": {305 "aabb": {306 "center": [307 0,308 0.704864501953125,309 11.041000366210938310 ],311 "extent": [312 447.2875671386719,313 455.69342041015625,314 8.675445556640625315 ]316 },317 "obb": {318 "center": [319 0,320 0.704864501953125,321 11.041000366210938322 ],323 "extent": [324 447.2875671386719,325 455.69342041015625,326 8.675445556640625327 ],328 "rotation": [329 0,330 0,331 0332 ]333 },334 "location": [335 0,336 -0.000762939453125,337 11.041000366210938338 ],339 "rotation": [340 0,341 0,342 0343 ],344 "scale": [345 1,346 1,347 1348 ]349 },350 "color": [351 191,352 0,353 255354 ]355 }356 ]357 },358 "foreground": {359 "breadrack": [360 {361 "object_id": "SM_breadrack_02_296",362 "bbox_2d": [363 1564,364 809,365 1919,366 1079367 ],368 "bbox_3d": {369 "aabb": {370 "center": [371 65.93284606933594,372 187.62933349609375,373 93.91255950927734374 ],375 "extent": [376 79.36634826660156,377 52.91090774536133,378 74.07523345947266379 ]380 },381 "obb": {382 "center": [383 65.93284606933594,384 187.62933349609375,385 93.91255950927734386 ],387 "extent": [388 79.36634826660156,389 52.91090774536133,390 74.07523345947266391 ],392 "rotation": [393 0,394 0,395 0396 ]397 },398 "location": [399 65.93284606933594,400 187.62933349609375,401 20.00006103515625402 ],403 "rotation": [404 0,405 0,406 0407 ],408 "scale": [409 1,410 1,411 1412 ]413 },414 "color": [415 0,416 127,417 255418 ]419 },420 {421 "object_id": "SM_breadrack_03_299",422 "bbox_2d": [423 0,424 551,425 666,426 1079427 ],428 "bbox_3d": {429 "aabb": {430 "center": [431 69.35102081298828,432 -45.5966682434082,433 81.75312423706055434 ],435 "extent": [436 133.66964721679688,437 39.26552200317383,438 67.28050231933594439 ]440 },441 "obb": {442 "center": [443 69.35102081298828,444 -45.5966682434082,445 81.75312423706055446 ],447 "extent": [448 133.66964721679688,449 39.26552200317383,450 67.28050231933594451 ],452 "rotation": [453 0,454 0,455 0456 ]457 },458 "location": [459 69.35102081298828,460 -45.5966682434082,461 19.998779296875462 ],463 "rotation": [464 0,465 0,466 0467 ],468 "scale": [469 1,470 1,471 1472 ]473 },474 "color": [475 255,476 127,477 0478 ]479 }480 ],481 "cashier": [482 {483 "object_id": "SM_cashier_302",484 "bbox_2d": [485 996,486 631,487 1573,488 979489 ],490 "bbox_3d": {491 "aabb": {492 "center": [493 330.7001953125,494 148.85812377929688,495 68.8092041015625496 ],497 "extent": [498 39.265533447265625,499 83.54351806640625,500 50.12611389160156501 ]502 },503 "obb": {504 "center": [505 330.7001953125,506 148.85812377929688,507 68.8092041015625508 ],509 "extent": [510 39.265533447265625,511 83.54351806640625,512 50.12611389160156513 ],514 "rotation": [515 0,516 0,517 0518 ]519 },520 "location": [521 330.7001953125,522 148.85812377929688,523 20524 ],525 "rotation": [526 0,527 0,528 0529 ],530 "scale": [531 1,532 1,533 1534 ]535 },536 "color": [537 255,538 127,539 255540 ]541 }542 ],543 "cash register": [544 {545 "object_id": "SM_cash_register_318",546 "bbox_2d": [547 975,548 569,549 1154,550 637551 ],552 "bbox_3d": {553 "aabb": {554 "center": [555 347.53276852910653,556 89.550582188795,557 129.63134792869084558 ],559 "extent": [560 24.934106523168452,561 32.800457754910184,562 11.22339287083048563 ]564 },565 "obb": {566 "center": [567 347.53276852910653,568 89.550582188795,569 129.63134792869084570 ],571 "extent": [572 24.934106523168452,573 32.800457754910184,574 11.22339287083048575 ],576 "rotation": [577 0,578 -80.00000762939452,579 0580 ]581 },582 "location": [583 344.2492980957031,584 84.56668090820312,585 119.345947265625586 ],587 "rotation": [588 0,589 -80.00000762939452,590 0591 ],592 "scale": [593 1,594 1.0000001192092896,595 1.0000001192092896596 ]597 },598 "color": [599 127,600 255,601 0602 ]603 }604 ],605 "fireextinguisher": [606 {607 "object_id": "SM_fireextinguisher_324",608 "bbox_2d": [609 821,610 743,611 876,612 858613 ],614 "bbox_3d": {615 "aabb": {616 "center": [617 331.0877685546875,618 13.703109741210938,619 55.87240219116211620 ],621 "extent": [622 15.99792177943084,623 14.843982007062664,624 37.336402893066406625 ]626 },627 "obb": {628 "center": [629 331.0877685546875,630 13.703109741210938,631 55.87240219116211632 ],633 "extent": [634 15.99792177943084,635 14.843982007062664,636 37.336402893066406637 ],638 "rotation": [639 0,640 -30.000061035156264,641 0642 ]643 },644 "location": [645 331.0877685546875,646 13.703109741210938,647 55.872406005859375648 ],649 "rotation": [650 0,651 -30.000061035156264,652 0653 ],654 "scale": [655 1,656 1,657 1658 ]659 },660 "color": [661 127,662 0,663 127664 ]665 }666 ],667 "steel": [668 {669 "object_id": "SM_steel_02_346",670 "bbox_2d": [671 718,672 343,673 947,674 1079675 ],676 "bbox_3d": {677 "aabb": {678 "center": [679 230.1611499786377,680 25.21088981628418,681 106.01264953613281682 ],683 "extent": [684 20.196971893310547,685 23.852373123168952,686 86.09856414794922687 ]688 },689 "obb": {690 "center": [691 230.1611499786377,692 25.21088981628418,693 106.01264953613281694 ],695 "extent": [696 20.196971893310547,697 23.852373123168952,698 86.09856414794922699 ],700 "rotation": [701 0,702 -90.00000000000001,703 0704 ]705 },706 "location": [707 230.16116333007812,708 25.21090316772461,709 20710 ],711 "rotation": [712 0,713 -90.00000000000001,714 0715 ],716 "scale": [717 1,718 1,719 1720 ]721 },722 "color": [723 0,724 255,725 63726 ]727 }728 ],729 "trash can": [730 {731 "object_id": "SM_trashcan_4",732 "bbox_2d": [733 861,734 753,735 948,736 858737 ],738 "bbox_3d": {739 "aabb": {740 "center": [741 397.53597989340074,742 28.86361506498783,743 41.572715759277344744 ],745 "extent": [746 19.87358163878173,747 19.820483007019522,748 21.400728225708008749 ]750 },751 "obb": {752 "center": [753 397.53597989340074,754 28.86361506498783,755 41.572715759277344756 ],757 "extent": [758 19.87358163878173,759 19.820483007019522,760 21.400728225708008761 ],762 "rotation": [763 0,764 -10.000030517578125,765 0766 ]767 },768 "location": [769 397.5359802246094,770 28.863616943359375,771 41.572715759277344772 ],773 "rotation": [774 0,775 -10.000030517578125,776 0777 ],778 "scale": [779 1,780 1,781 1782 ]783 },784 "color": [785 255,786 63,787 255788 ]789 }790 ],791 "air conditioner": [792 {793 "object_id": "SM_Airconditioner_423",794 "bbox_2d": [795 1011,796 0,797 1298,798 110799 ],800 "bbox_3d": {801 "aabb": {802 "center": [803 405.5927734375,804 130.36524963378906,805 351.4246520996094806 ],807 "extent": [808 16.555665969848633,809 56.32305908203128,810 16.092304229736328811 ]812 },813 "obb": {814 "center": [815 405.5927734375,816 130.36524963378906,817 351.4246520996094818 ],819 "extent": [820 16.555665969848633,821 56.32305908203128,822 16.092304229736328823 ],824 "rotation": [825 0,826 90.00000000000001,827 0828 ]829 },830 "location": [831 405.5927734375,832 130.36524963378906,833 351.4246520996094834 ],835 "rotation": [836 0,837 90.00000000000001,838 0839 ],840 "scale": [841 1,842 1,843 1844 ]845 },846 "color": [847 63,848 255,849 255850 ]851 }852 ],853 "chargingplug": [854 {855 "object_id": "SM_chargingplug_426",856 "bbox_2d": [857 1274,858 6,859 1317,860 111861 ],862 "bbox_3d": {863 "aabb": {864 "center": [865 422.2535355091095,866 192.8204551025953,867 352.4071478751205868 ],869 "extent": [870 2.1209771633148193,871 13.289188546586672,872 28.518881051606968873 ]874 },875 "obb": {876 "center": [877 422.2535355091095,878 192.8204551025953,879 352.4071478751205880 ],881 "extent": [882 2.1209771633148193,883 13.289188546586672,884 28.518881051606968885 ],886 "rotation": [887 0,888 0,889 0890 ]891 },892 "location": [893 424.2372131347656,894 201.2949981689453,895 376.2519836425781896 ],897 "rotation": [898 0,899 0,900 0901 ],902 "scale": [903 1,904 0.9999999403953552,905 0.9999999403953552906 ]907 },908 "color": [909 63,910 255,911 127912 ]913 }914 ],915 "tv": [916 {917 "object_id": "SM_Tv_429",918 "bbox_2d": [919 1391,920 244,921 1793,922 474923 ],924 "bbox_3d": {925 "aabb": {926 "center": [927 425.55378977194977,928 322.1690518719887,929 228.195045660914930 ],931 "extent": [932 7.263521995059989,933 84.92335535917897,934 49.21144127865614935 ]936 },937 "obb": {938 "center": [939 425.55378977194977,940 322.1690518719887,941 228.195045660914942 ],943 "extent": [944 7.263521995059989,945 84.92335535917897,946 49.21144127865614947 ],948 "rotation": [949 -1.6921501159667967,950 180,951 2.9971604931233747e-07952 ]953 },954 "location": [955 425.9980163574219,956 322.15155029296875,957 180.00645446777344958 ],959 "rotation": [960 -1.6921501159667967,961 180,962 2.9971604931233747e-07963 ],964 "scale": [965 1,966 1,967 1968 ]969 },970 "color": [971 63,972 127,973 0974 ]975 },976 {977 "object_id": "SM_Tv2_1",978 "bbox_2d": [979 961,980 244,981 1359,982 474983 ],984 "bbox_3d": {985 "aabb": {986 "center": [987 425.5537898722134,988 137.5165252685547,989 228.19504566174675990 ],991 "extent": [992 7.263521880267774,993 84.92335510253906,994 49.21144082552911995 ]996 },997 "obb": {998 "center": [999 425.5537898722134,1000 137.5165252685547,1001 228.195045661746751002 ],1003 "extent": [1004 7.263521880267774,1005 84.92335510253906,1006 49.211440825529111007 ],1008 "rotation": [1009 -1.692149996757507,1010 180,1011 -2.2079159874887454e-321012 ]1013 },1014 "location": [1015 425.9980163574219,1016 137.4990234375,1017 180.006454467773441018 ],1019 "rotation": [1020 -1.692149996757507,1021 180,1022 -2.2079159874887454e-321023 ],1024 "scale": [1025 1,1026 1,1027 11028 ]1029 },1030 "color": [1031 63,1032 255,1033 151034 ]1035 }1036 ],1037 "signage": [1038 {1039 "object_id": "SM_sign_01_485",1040 "bbox_2d": [1041 895,1042 0,1043 1919,1044 2181045 ],1046 "bbox_3d": {1047 "aabb": {1048 "center": [1049 290.1590118408203,1050 217.80007934570312,1051 378.59111022949221052 ],1053 "extent": [1054 6.6835174560546875,1055 184.19940185546875,1056 131.751281738281251057 ]1058 },1059 "obb": {1060 "center": [1061 290.1590118408203,1062 217.80007934570312,1063 378.59111022949221064 ],1065 "extent": [1066 6.6835174560546875,1067 184.19940185546875,1068 131.751281738281251069 ],1070 "rotation": [1071 0,1072 0,1073 01074 ]1075 },1076 "location": [1077 290.15899658203125,1078 217.80007934570312,1079 300.59362792968751080 ],1081 "rotation": [1082 0,1083 0,1084 01085 ],1086 "scale": [1087 1,1088 1,1089 11090 ]1091 },1092 "color": [1093 0,1094 255,1095 1911096 ]1097 },1098 {1099 "object_id": "SM_sign_02_527",1100 "bbox_2d": [1101 263,1102 0,1103 388,1104 251105 ],1106 "bbox_3d": {1107 "aabb": {1108 "center": [1109 77.47122955322266,1110 -41.80059051513672,1111 245.196746826171881112 ],1113 "extent": [1114 91.57255554199219,1115 5.599132537841797,1116 20.0652160644531251117 ]1118 },1119 "obb": {1120 "center": [1121 77.47122955322266,1122 -41.80059051513672,1123 245.196746826171881124 ],1125 "extent": [1126 91.57255554199219,1127 5.599132537841797,1128 20.0652160644531251129 ],1130 "rotation": [1131 0,1132 0,1133 01134 ]1135 },1136 "location": [1137 77.47122955322266,1138 -41.80059051513672,1139 245.196746826171881140 ],1141 "rotation": [1142 0,1143 0,1144 01145 ],1146 "scale": [1147 1,1148 1,1149 11150 ]1151 },1152 "color": [1153 0,1154 191,1155 631156 ]1157 }1158 ],1159 "milk": [1160 {1161 "object_id": "SM_milk_02_116",1162 "bbox_2d": [1163 760,1164 576,1165 810,1166 7201167 ],1168 "bbox_3d": {1169 "aabb": {1170 "center": [1171 220.1466841697693,1172 13.78728199005127,1173 127.555706024169921174 ],1175 "extent": [1176 4.856032371520996,1177 5.173428535461426,1178 15.554806709289551179 ]1180 },1181 "obb": {1182 "center": [1183 220.1466841697693,1184 13.78728199005127,1185 127.555706024169921186 ],1187 "extent": [1188 4.856032371520996,1189 5.173428535461426,1190 15.554806709289551191 ],1192 "rotation": [1193 0,1194 0,1195 01196 ]1197 },1198 "location": [1199 220.20960998535156,1200 14.030838012695312,