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": "l047_off0_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/Bakery/l047_off0_r000/lit.png",5 "camera": {6 "location": [7 -213,8 73,9 20110 ],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 -213,38 73,39 201,40 141 ]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 "ceiling planks corner": [54 {55 "object_id": "SM_ceiling",56 "bbox_2d": [57 785,58 0,59 882,60 24261 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 0,66 10.70562744140625,67 407.093048095703168 ],69 "extent": [70 447.2875671386719,71 455.69342041015625,72 8.67544555664062573 ]74 },75 "obb": {76 "center": [77 0,78 10.70562744140625,79 407.093048095703180 ],81 "extent": [82 447.2875671386719,83 455.69342041015625,84 8.67544555664062585 ],86 "rotation": [87 0,88 0,89 090 ]91 },92 "location": [93 0,94 10,95 3.5836791992187596 ],97 "rotation": [98 0,99 0,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 255,110 255,111 255112 ]113 }114 ],115 "window": [116 {117 "object_id": "SM_wall_01_281",118 "bbox_2d": [119 0,120 0,121 1919,122 1030123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 0,128 0,129 199.22988891601562130 ],131 "extent": [132 448.35015869140625,133 456.7044982910156,134 200.50445556640625135 ]136 },137 "obb": {138 "center": [139 0,140 0,141 199.22988891601562142 ],143 "extent": [144 448.35015869140625,145 456.7044982910156,146 200.50445556640625147 ],148 "rotation": [149 0,150 0,151 0152 ]153 },154 "location": [155 0,156 0,157 0158 ],159 "rotation": [160 0,161 0,162 0163 ],164 "scale": [165 1,166 1,167 1168 ]169 },170 "color": [171 0,172 255,173 127174 ]175 },176 {177 "object_id": "SM_wall_02_491",178 "bbox_2d": [179 471,180 198,181 837,182 953183 ],184 "bbox_3d": {185 "aabb": {186 "center": [187 170.26333618164062,188 -45.951751708984375,189 133.2178497314453190 ],191 "extent": [192 239.49139404296875,193 39.54395294189453,194 133.66961669921875195 ]196 },197 "obb": {198 "center": [199 170.26333618164062,200 -45.951751708984375,201 133.2178497314453202 ],203 "extent": [204 239.49139404296875,205 39.54395294189453,206 133.66961669921875207 ],208 "rotation": [209 0,210 0,211 0212 ]213 },214 "location": [215 170.26333618164062,216 -45.951751708984375,217 2.2381439208984375218 ],219 "rotation": [220 0,221 0,222 0223 ],224 "scale": [225 1,226 1,227 1228 ]229 },230 "color": [231 255,232 0,233 191234 ]235 },236 {237 "object_id": "SM_wall_06_505",238 "bbox_2d": [239 628,240 0,241 864,242 757243 ],244 "bbox_3d": {245 "aabb": {246 "center": [247 1.37738037109375,248 5.184879779815674,249 196.00094604492188250 ],251 "extent": [252 426.0718994140625,253 4.455683708190918,254 200.5044403076172255 ]256 },257 "obb": {258 "center": [259 1.37738037109375,260 5.184879779815674,261 196.00094604492188262 ],263 "extent": [264 426.0718994140625,265 4.455683708190918,266 200.5044403076172267 ],268 "rotation": [269 0,270 0,271 0272 ]273 },274 "location": [275 1.37738037109375,276 5.184879302978516,277 -4.41204833984375278 ],279 "rotation": [280 0,281 0,282 0283 ],284 "scale": [285 1,286 1,287 1288 ]289 },290 "color": [291 63,292 0,293 191294 ]295 },296 {297 "object_id": "SM_wall_05_19",298 "bbox_2d": [299 859,300 268,301 1533,302 597303 ],304 "bbox_3d": {305 "aabb": {306 "center": [307 413.07183837890625,308 219.72203063964844,309 272.21002197265625310 ],311 "extent": [312 22.278289794921875,313 215.7262659626067,314 109.5366704119806315 ]316 },317 "obb": {318 "center": [319 413.07183837890625,320 219.72203063964844,321 272.21002197265625322 ],323 "extent": [324 22.278289794921875,325 215.7262659626067,326 109.5366704119806327 ],328 "rotation": [329 0,330 0,331 0332 ]333 },334 "location": [335 413.07183837890625,336 219.72203063964844,337 272.21002197265625338 ],339 "rotation": [340 0,341 0,342 0343 ],344 "scale": [345 1,346 1.0699734687805176,347 1.0926108360290527348 ]349 },350 "color": [351 63,352 191,353 15354 ]355 }356 ],357 "door frame": [358 {359 "object_id": "SM_doorframe_467",360 "bbox_2d": [361 1683,362 385,363 1919,364 748365 ],366 "bbox_3d": {367 "aabb": {368 "center": [369 187.48676300048828,370 450.7649061235361,371 140.74870859740804372 ],373 "extent": [374 94.6826400756836,375 4.9441698669024845,376 120.46647398356254377 ]378 },379 "obb": {380 "center": [381 187.48676300048828,382 450.7649061235361,383 140.74870859740804384 ],385 "extent": [386 94.6826400756836,387 4.9441698669024845,388 120.46647398356254389 ],390 "rotation": [391 0,392 0,393 0394 ]395 },396 "location": [397 187.4867706298828,398 450.764892578125,399 20.000030517578125400 ],401 "rotation": [402 0,403 0,404 0405 ],406 "scale": [407 1,408 0.8877120614051819,409 0.9204005002975464410 ]411 },412 "color": [413 63,414 63,415 0416 ]417 }418 ],419 "ground": [420 {421 "object_id": "SM_ground_9",422 "bbox_2d": [423 733,424 812,425 1165,426 1079427 ],428 "bbox_3d": {429 "aabb": {430 "center": [431 0,432 0.704864501953125,433 11.041000366210938434 ],435 "extent": [436 447.2875671386719,437 455.69342041015625,438 8.675445556640625439 ]440 },441 "obb": {442 "center": [443 0,444 0.704864501953125,445 11.041000366210938446 ],447 "extent": [448 447.2875671386719,449 455.69342041015625,450 8.675445556640625451 ],452 "rotation": [453 0,454 0,455 0456 ]457 },458 "location": [459 0,460 -0.000762939453125,461 11.041000366210938462 ],463 "rotation": [464 0,465 0,466 0467 ],468 "scale": [469 1,470 1,471 1472 ]473 },474 "color": [475 191,476 0,477 255478 ]479 }480 ]481 },482 "foreground": {483 "breadrack": [484 {485 "object_id": "SM_breadrack_01_290",486 "bbox_2d": [487 1305,488 744,489 1919,490 1079491 ],492 "bbox_3d": {493 "aabb": {494 "center": [495 -118.70851135253906,496 188.5910186767578,497 89.99793243408203498 ],499 "extent": [500 100.25221252441406,501 50.126121520996094,502 70.04141235351562503 ]504 },505 "obb": {506 "center": [507 -118.70851135253906,508 188.5910186767578,509 89.99793243408203510 ],511 "extent": [512 100.25221252441406,513 50.126121520996094,514 70.04141235351562515 ],516 "rotation": [517 0,518 0,519 0520 ]521 },522 "location": [523 -118.70851135253906,524 188.5910186767578,525 25.59441375732422526 ],527 "rotation": [528 0,529 0,530 0531 ],532 "scale": [533 1,534 1,535 1536 ]537 },538 "color": [539 255,540 255,541 127542 ]543 },544 {545 "object_id": "SM_breadrack_02_296",546 "bbox_2d": [547 1128,548 648,549 1423,550 1079551 ],552 "bbox_3d": {553 "aabb": {554 "center": [555 65.93284606933594,556 187.62933349609375,557 93.91255950927734558 ],559 "extent": [560 79.36634826660156,561 52.91090774536133,562 74.07523345947266563 ]564 },565 "obb": {566 "center": [567 65.93284606933594,568 187.62933349609375,569 93.91255950927734570 ],571 "extent": [572 79.36634826660156,573 52.91090774536133,574 74.07523345947266575 ],576 "rotation": [577 0,578 0,579 0580 ]581 },582 "location": [583 65.93284606933594,584 187.62933349609375,585 20.00006103515625586 ],587 "rotation": [588 0,589 0,590 0591 ],592 "scale": [593 1,594 1,595 1596 ]597 },598 "color": [599 0,600 127,601 255602 ]603 },604 {605 "object_id": "SM_breadrack_03_299",606 "bbox_2d": [607 615,608 663,609 775,610 1052611 ],612 "bbox_3d": {613 "aabb": {614 "center": [615 69.35102081298828,616 -45.5966682434082,617 81.75312423706055618 ],619 "extent": [620 133.66964721679688,621 39.26552200317383,622 67.28050231933594623 ]624 },625 "obb": {626 "center": [627 69.35102081298828,628 -45.5966682434082,629 81.75312423706055630 ],631 "extent": [632 133.66964721679688,633 39.26552200317383,634 67.28050231933594635 ],636 "rotation": [637 0,638 0,639 0640 ]641 },642 "location": [643 69.35102081298828,644 -45.5966682434082,645 19.998779296875646 ],647 "rotation": [648 0,649 0,650 0651 ],652 "scale": [653 1,654 1,655 1656 ]657 },658 "color": [659 255,660 127,661 0662 ]663 }664 ],665 "cashier": [666 {667 "object_id": "SM_cashier_302",668 "bbox_2d": [669 945,670 676,671 1262,672 881673 ],674 "bbox_3d": {675 "aabb": {676 "center": [677 330.7001953125,678 148.85812377929688,679 68.8092041015625680 ],681 "extent": [682 39.265533447265625,683 83.54351806640625,684 50.12611389160156685 ]686 },687 "obb": {688 "center": [689 330.7001953125,690 148.85812377929688,691 68.8092041015625692 ],693 "extent": [694 39.265533447265625,695 83.54351806640625,696 50.12611389160156697 ],698 "rotation": [699 0,700 0,701 0702 ]703 },704 "location": [705 330.7001953125,706 148.85812377929688,707 20708 ],709 "rotation": [710 0,711 0,712 0713 ],714 "scale": [715 1,716 1,717 1718 ]719 },720 "color": [721 255,722 127,723 255724 ]725 }726 ],727 "cash register": [728 {729 "object_id": "SM_cash_register_318",730 "bbox_2d": [731 932,732 644,733 1041,734 686735 ],736 "bbox_3d": {737 "aabb": {738 "center": [739 347.53276852910653,740 89.550582188795,741 129.63134792869084742 ],743 "extent": [744 24.934106523168452,745 32.800457754910184,746 11.22339287083048747 ]748 },749 "obb": {750 "center": [751 347.53276852910653,752 89.550582188795,753 129.63134792869084754 ],755 "extent": [756 24.934106523168452,757 32.800457754910184,758 11.22339287083048759 ],760 "rotation": [761 0,762 -80.00000762939452,763 0764 ]765 },766 "location": [767 344.2492980957031,768 84.56668090820312,769 119.345947265625770 ],771 "rotation": [772 0,773 -80.00000762939452,774 0775 ],776 "scale": [777 1,778 1.0000001192092896,779 1.0000001192092896780 ]781 },782 "color": [783 127,784 255,785 0786 ]787 }788 ],789 "fireextinguisher": [790 {791 "object_id": "SM_fireextinguisher_324",792 "bbox_2d": [793 841,794 750,795 873,796 845797 ],798 "bbox_3d": {799 "aabb": {800 "center": [801 331.0877685546875,802 13.703109741210938,803 55.87240219116211804 ],805 "extent": [806 15.99792177943084,807 14.843982007062664,808 37.336402893066406809 ]810 },811 "obb": {812 "center": [813 331.0877685546875,814 13.703109741210938,815 55.87240219116211816 ],817 "extent": [818 15.99792177943084,819 14.843982007062664,820 37.336402893066406821 ],822 "rotation": [823 0,824 -30.000061035156264,825 0826 ]827 },828 "location": [829 331.0877685546875,830 13.703109741210938,831 55.872406005859375832 ],833 "rotation": [834 0,835 -30.000061035156264,836 0837 ],838 "scale": [839 1,840 1,841 1842 ]843 },844 "color": [845 127,846 0,847 127848 ]849 }850 ],851 "signboard": [852 {853 "object_id": "SM_signboard_334",854 "bbox_2d": [855 891,856 879,857 996,858 1079859 ],860 "bbox_3d": {861 "aabb": {862 "center": [863 122.64287689364788,864 67.14201353037565,865 48.84699630737305866 ],867 "extent": [868 20.14439747159524,869 19.53664125018948,870 28.949970245361328871 ]872 },873 "obb": {874 "center": [875 122.64287689364788,876 67.14201353037565,877 48.84699630737305878 ],879 "extent": [880 20.14439747159524,881 19.53664125018948,882 28.949970245361328883 ],884 "rotation": [885 0,886 -131.53952026367188,887 0888 ]889 },890 "location": [891 122.76341247558594,892 67.19048309326172,893 20894 ],895 "rotation": [896 0,897 -131.53952026367188,898 0899 ],900 "scale": [901 1,902 1,903 1904 ]905 },906 "color": [907 127,908 127,909 127910 ]911 }912 ],913 "steel": [914 {915 "object_id": "SM_steel_02_346",916 "bbox_2d": [917 798,918 558,919 909,920 950921 ],922 "bbox_3d": {923 "aabb": {924 "center": [925 230.1611499786377,926 25.21088981628418,927 106.01264953613281928 ],929 "extent": [930 20.196971893310547,931 23.852373123168952,932 86.09856414794922933 ]934 },935 "obb": {936 "center": [937 230.1611499786377,938 25.21088981628418,939 106.01264953613281940 ],941 "extent": [942 20.196971893310547,943 23.852373123168952,944 86.09856414794922945 ],946 "rotation": [947 0,948 -90.00000000000001,949 0950 ]951 },952 "location": [953 230.16116333007812,954 25.21090316772461,955 20956 ],957 "rotation": [958 0,959 -90.00000000000001,960 0961 ],962 "scale": [963 1,964 1,965 1966 ]967 },968 "color": [969 0,970 255,971 63972 ]973 },974 {975 "object_id": "SM_steel_32",976 "bbox_2d": [977 0,978 601,979 765,980 1079981 ],982 "bbox_3d": {983 "aabb": {984 "center": [985 -111.97819519042969,986 23.47991371154785,987 105.68448638916016988 ],989 "extent": [990 44.119041442871094,991 20.18648910522461,992 86.05392456054688993 ]994 },995 "obb": {996 "center": [997 -111.97819519042969,998 23.47991371154785,999 105.684486389160161000 ],1001 "extent": [1002 44.119041442871094,1003 20.18648910522461,1004 86.053924560546881005 ],1006 "rotation": [1007 0,1008 0,1009 01010 ]1011 },1012 "location": [1013 -111.97987365722656,1014 23.479917526245117,1015 19.71643066406251016 ],1017 "rotation": [1018 0,1019 0,1020 01021 ],1022 "scale": [1023 1,1024 1,1025 11026 ]1027 },1028 "color": [1029 0,1030 63,1031 311032 ]1033 }1034 ],1035 "trash can": [1036 {1037 "object_id": "SM_trashcan_4",1038 "bbox_2d": [1039 864,1040 754,1041 919,1042 8281043 ],1044 "bbox_3d": {1045 "aabb": {1046 "center": [1047 397.53597989340074,1048 28.86361506498783,1049 41.5727157592773441050 ],1051 "extent": [1052 19.87358163878173,1053 19.820483007019522,1054 21.4007282257080081055 ]1056 },1057 "obb": {1058 "center": [1059 397.53597989340074,1060 28.86361506498783,1061 41.5727157592773441062 ],1063 "extent": [1064 19.87358163878173,1065 19.820483007019522,1066 21.4007282257080081067 ],1068 "rotation": [1069 0,1070 -10.000030517578125,1071 01072 ]1073 },1074 "location": [1075 397.5359802246094,1076 28.863616943359375,1077 41.5727157592773441078 ],1079 "rotation": [1080 0,1081 -10.000030517578125,1082 01083 ],1084 "scale": [1085 1,1086 1,1087 11088 ]1089 },1090 "color": [1091 255,1092 63,1093 2551094 ]1095 }1096 ],1097 "air conditioner": [1098 {1099 "object_id": "SM_Airconditioner_423",1100 "bbox_2d": [1101 962,1102 277,1103 1140,1104 3361105 ],1106 "bbox_3d": {1107 "aabb": {1108 "center": [1109 405.5927734375,1110 130.36524963378906,1111 351.42465209960941112 ],1113 "extent": [1114 16.555665969848633,1115 56.32305908203128,1116 16.0923042297363281117 ]1118 },1119 "obb": {1120 "center": [1121 405.5927734375,1122 130.36524963378906,1123 351.42465209960941124 ],1125 "extent": [1126 16.555665969848633,1127 56.32305908203128,1128 16.0923042297363281129 ],1130 "rotation": [1131 0,1132 90.00000000000001,1133 01134 ]1135 },1136 "location": [1137 405.5927734375,1138 130.36524963378906,1139 351.42465209960941140 ],1141 "rotation": [1142 0,1143 90.00000000000001,1144 01145 ],1146 "scale": [1147 1,1148 1,1149 11150 ]1151 },1152 "color": [1153 63,1154 255,1155 2551156 ]1157 }1158 ],1159 "chargingplug": [1160 {1161 "object_id": "SM_chargingplug_426",1162 "bbox_2d": [1163 1132,1164 269,1165 1160,1166 3481167 ],1168 "bbox_3d": {1169 "aabb": {1170 "center": [1171 422.2535355091095,1172 192.8204551025953,1173 352.40714787512051174 ],1175 "extent": [1176 2.1209771633148193,1177 13.289188546586672,1178 28.5188810516069681179 ]1180 },1181 "obb": {1182 "center": [1183 422.2535355091095,1184 192.8204551025953,1185 352.40714787512051186 ],1187 "extent": [1188 2.1209771633148193,1189 13.289188546586672,1190 28.5188810516069681191 ],1192 "rotation": [1193 0,1194 0,1195 01196 ]1197 },1198 "location": [1199 424.2372131347656,1200 201.2949981689453,