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": "Convenience_Store",3 "view_id": "l007_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/Convenience_Store/l007_r000/lit.png",5 "camera": {6 "location": [7 521,8 786,9 9110 ],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 [37 521,38 786,39 91,40 141 ]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 "foreground": {54 "coffee counter": [55 {56 "object_id": "SM_Coffee_Counter_10",57 "bbox_2d": [58 0,59 512,60 66,61 79062 ],63 "bbox_3d": {64 "aabb": {65 "center": [66 748.8608591313241,67 439.99975984073865,68 55.0000190734863369 ],70 "extent": [71 101.1391713864673,72 40.000270676740854,73 45.0000190734863374 ]75 },76 "obb": {77 "center": [78 748.8608591313241,79 439.99975984073865,80 55.0000190734863381 ],82 "extent": [83 101.1391713864673,84 40.000270676740854,85 45.0000190734863386 ],87 "rotation": [88 0,89 90.00011444091797,90 091 ]92 },93 "location": [94 850,95 400,96 1097 ],98 "rotation": [99 0,100 90.00011444091797,101 0102 ],103 "scale": [104 1,105 1,106 1107 ]108 },109 "color": [110 191,111 95,112 31113 ]114 },115 {116 "object_id": "SM_Coffee_Counter2_12",117 "bbox_2d": [118 49,119 514,120 406,121 772122 ],123 "bbox_3d": {124 "aabb": {125 "center": [126 951.2646677250741,127 439.99975984073865,128 55.00001907348633129 ],130 "extent": [131 101.1391713864673,132 40.000270676740854,133 45.00001907348633134 ]135 },136 "obb": {137 "center": [138 951.2646677250741,139 439.99975984073865,140 55.00001907348633141 ],142 "extent": [143 101.1391713864673,144 40.000270676740854,145 45.00001907348633146 ],147 "rotation": [148 0,149 90.00011444091797,150 0151 ]152 },153 "location": [154 1052.40380859375,155 400,156 10157 ],158 "rotation": [159 0,160 90.00011444091797,161 0162 ],163 "scale": [164 1,165 1,166 1167 ]168 },169 "color": [170 31,171 95,172 0173 ]174 }175 ],176 "drink machine": [177 {178 "object_id": "SM_Drink_Machine_2",179 "bbox_2d": [180 0,181 325,182 194,183 516184 ],185 "bbox_3d": {186 "aabb": {187 "center": [188 889.1782880594402,189 443.63552856446387,190 133.54526138305664191 ],192 "extent": [193 29.00478112511564,194 27.472098157030928,195 33.42982482910156196 ]197 },198 "obb": {199 "center": [200 889.1782880594402,201 443.63552856446387,202 133.54526138305664203 ],204 "extent": [205 29.00478112511564,206 27.472098157030928,207 33.42982482910156208 ],209 "rotation": [210 0,211 90.00012207031251,212 0213 ]214 },215 "location": [216 889.1782836914062,217 443,218 100.00001525878906219 ],220 "rotation": [221 0,222 90.00012207031251,223 0224 ],225 "scale": [226 1,227 1,228 1229 ]230 },231 "color": [232 31,233 95,234 255235 ]236 }237 ],238 "cup": [239 {240 "object_id": "SM_Plastic_Cup_5",241 "bbox_2d": [242 193,243 516,244 217,245 517246 ],247 "bbox_3d": {248 "aabb": {249 "center": [250 937.7943618646119,251 457.9903783798352,252 106.27174806615629253 ],254 "extent": [255 4.662321174947806,256 4.6622708339359065,257 6.0977138140409295258 ]259 },260 "obb": {261 "center": [262 937.7943618646119,263 457.9903783798352,264 106.27174806615629265 ],266 "extent": [267 4.662321174947806,268 4.6622708339359065,269 6.0977138140409295270 ],271 "rotation": [272 -0.0004730224609443101,273 -179.99998474121097,274 180275 ]276 },277 "location": [278 937.7943115234375,279 457.9903564453125,280 112.36942291259766281 ],282 "rotation": [283 -0.0004730224609443101,284 -179.99998474121097,285 180286 ],287 "scale": [288 1,289 1,290 1291 ]292 },293 "color": [294 31,295 95,296 127297 ]298 },299 {300 "object_id": "SM_Plastic_Cup2",301 "bbox_2d": [302 193,303 514,304 217,305 515306 ],307 "bbox_3d": {308 "aabb": {309 "center": [310 937.7943624063862,311 457.99038000375793,312 107.4034008981981313 ],314 "extent": [315 4.662322958371874,316 4.662273699495586,317 6.09771546991837318 ]319 },320 "obb": {321 "center": [322 937.7943624063862,323 457.99038000375793,324 107.4034008981981325 ],326 "extent": [327 4.662322958371874,328 4.662273699495586,329 6.09771546991837330 ],331 "rotation": [332 -0.0004781132156495003,333 -179.99996948242188,334 -179.99998474121097335 ]336 },337 "location": [338 937.7943115234375,339 457.9903564453125,340 113.5010757446289341 ],342 "rotation": [343 -0.0004781132156495003,344 -179.99996948242188,345 -179.99998474121097346 ],347 "scale": [348 1,349 1,350 1351 ]352 },353 "color": [354 31,355 95,356 63357 ]358 },359 {360 "object_id": "SM_Plastic_Cup3",361 "bbox_2d": [362 193,363 511,364 217,365 513366 ],367 "bbox_3d": {368 "aabb": {369 "center": [370 937.7943623943374,371 457.99038000375793,372 108.45808076880347373 ],374 "extent": [375 4.662322946323229,376 4.662273699495586,377 6.097715460706041378 ]379 },380 "obb": {381 "center": [382 937.7943623943374,383 457.99038000375793,384 108.45808076880347385 ],386 "extent": [387 4.662322946323229,388 4.662273699495586,389 6.097715460706041390 ],391 "rotation": [392 -0.00047800000174902363,393 -179.99996948242188,394 -179.99998474121097395 ]396 },397 "location": [398 937.7943115234375,399 457.9903564453125,400 114.55575561523438401 ],402 "rotation": [403 -0.00047800000174902363,404 -179.99996948242188,405 -179.99998474121097406 ],407 "scale": [408 1,409 1,410 1411 ]412 },413 "color": [414 31,415 95,416 191417 ]418 },419 {420 "object_id": "SM_Plastic_Cup4",421 "bbox_2d": [422 193,423 509,424 217,425 511426 ],427 "bbox_3d": {428 "aabb": {429 "center": [430 937.7943623943374,431 457.99038000375793,432 109.43800020239722433 ],434 "extent": [435 4.662322946323229,436 4.662273699495586,437 6.097715460706041438 ]439 },440 "obb": {441 "center": [442 937.7943623943374,443 457.99038000375793,444 109.43800020239722445 ],446 "extent": [447 4.662322946323229,448 4.662273699495586,449 6.097715460706041450 ],451 "rotation": [452 -0.00047800000174902363,453 -179.99996948242188,454 -179.99998474121097455 ]456 },457 "location": [458 937.7943115234375,459 457.9903564453125,460 115.53567504882812461 ],462 "rotation": [463 -0.00047800000174902363,464 -179.99996948242188,465 -179.99998474121097466 ],467 "scale": [468 1,469 1,470 1471 ]472 },473 "color": [474 31,475 95,476 31477 ]478 },479 {480 "object_id": "SM_Plastic_Cup5",481 "bbox_2d": [482 191,483 480,484 217,485 508486 ],487 "bbox_3d": {488 "aabb": {489 "center": [490 937.7943623943374,491 457.99038000375793,492 110.60352754614722493 ],494 "extent": [495 4.662322946323229,496 4.662273699495586,497 6.097715460706041498 ]499 },500 "obb": {501 "center": [502 937.7943623943374,503 457.99038000375793,504 110.60352754614722505 ],506 "extent": [507 4.662322946323229,508 4.662273699495586,509 6.097715460706041510 ],511 "rotation": [512 -0.00047800000174902363,513 -179.99996948242188,514 -179.99998474121097515 ]516 },517 "location": [518 937.7943115234375,519 457.9903564453125,520 116.70120239257812521 ],522 "rotation": [523 -0.00047800000174902363,524 -179.99996948242188,525 -179.99998474121097526 ],527 "scale": [528 1,529 1,530 1531 ]532 },533 "color": [534 0,535 95,536 95537 ]538 },539 {540 "object_id": "SM_Plastic_Cup6",541 "bbox_2d": [542 306,543 554,544 336,545 571546 ],547 "bbox_3d": {548 "aabb": {549 "center": [550 976.5128099366584,551 482.11237764378257,552 80.07191109149238553 ],554 "extent": [555 4.662327705307916,556 6.097736163472632,557 4.662300099139145558 ]559 },560 "obb": {561 "center": [562 976.5128099366584,563 482.11237764378257,564 80.07191109149238565 ],566 "extent": [567 4.662327705307916,568 6.097736163472632,569 4.662300099139145570 ],571 "rotation": [572 5.5600874475203515e-05,573 -179.99949645996094,574 89.99975585937501575 ]576 },577 "location": [578 976.5127563476562,579 488.2100524902344,580 80.07190704345703581 ],582 "rotation": [583 5.5600874475203515e-05,584 -179.99949645996094,585 89.99975585937501586 ],587 "scale": [588 1,589 1,590 1591 ]592 },593 "color": [594 255,595 95,596 95597 ]598 },599 {600 "object_id": "SM_Plastic_Cup7",601 "bbox_2d": [602 344,603 553,604 372,605 569606 ],607 "bbox_3d": {608 "aabb": {609 "center": [610 1004.8085252686898,611 482.11237764378257,612 80.07191109149238613 ],614 "extent": [615 4.662327737785745,616 6.0977361634728595,617 4.662300131616803618 ]619 },620 "obb": {621 "center": [622 1004.8085252686898,623 482.11237764378257,624 80.07191109149238625 ],626 "extent": [627 4.662327737785745,628 6.0977361634728595,629 4.662300131616803630 ],631 "rotation": [632 5.6000000768108266e-05,633 -179.99949645996094,634 89.99975585937501635 ]636 },637 "location": [638 1004.8084716796875,639 488.2100524902344,640 80.07190704345703641 ],642 "rotation": [643 5.6000000768108266e-05,644 -179.99949645996094,645 89.99975585937501646 ],647 "scale": [648 1,649 1,650 1651 ]652 },653 "color": [654 127,655 95,656 95657 ]658 }659 ]660 }661}