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": "l043_r003",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/Convenience_Store/l043_r003/lit.png",5 "camera": {6 "location": [7 667,8 878,9 9310 ],11 "rotation": [12 0,13 180,14 015 ],16 "fov": 90,17 "c2w": [18 [19 -0.9999999999999996,20 1.224646799147353e-16,21 0,22 023 ],24 [25 -1.224646799147353e-16,26 -0.9999999999999996,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 667,38 878,39 93,40 141 ]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 "counter corner": [54 {55 "object_id": "SM_Counter_Corner_Left_13",56 "bbox_2d": [57 895,58 523,59 1119,60 73361 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 168.2187271118164,66 859.9999656677246,67 55.0000076293945368 ],69 "extent": [70 91.78129577636719,71 50.00008010864258,72 45.000011444091873 ]74 },75 "obb": {76 "center": [77 168.2187271118164,78 859.9999656677246,79 55.0000076293945380 ],81 "extent": [82 91.78129577636719,83 50.00008010864258,84 45.000011444091885 ],86 "rotation": [87 0,88 0,89 090 ]91 },92 "location": [93 180,94 810,95 1096 ],97 "rotation": [98 0,99 0,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 0,110 95,111 191112 ]113 }114 ]115 },116 "foreground": {117 "small shelf": [118 {119 "object_id": "SM_Small_Shelf_10",120 "bbox_2d": [121 743,122 441,123 877,124 720125 ],126 "bbox_3d": {127 "aabb": {128 "center": [129 200.30500335042814,130 950.1268792991527,131 75132 ],133 "extent": [134 26.97160964135395,135 31.83506042418435,136 65137 ]138 },139 "obb": {140 "center": [141 200.30500335042814,142 950.1268792991527,143 75144 ],145 "extent": [146 26.97160964135395,147 31.83506042418435,148 65149 ],150 "rotation": [151 0,152 -67.41302490234374,153 0154 ]155 },156 "location": [157 200,158 950,159 10160 ],161 "rotation": [162 0,163 -67.41302490234374,164 0165 ],166 "scale": [167 1,168 1,169 1170 ]171 },172 "color": [173 0,174 95,175 31176 ]177 }178 ],179 "tobacco display": [180 {181 "object_id": "SM_Tobacco_Display_C_8",182 "bbox_2d": [183 1318,184 360,185 1441,186 522187 ],188 "bbox_3d": {189 "aabb": {190 "center": [191 24.718214886462405,192 604.8800907798582,193 109.9212646484375194 ],195 "extent": [196 22.350087063553914,197 38.00004380254984,198 99.92132568359375199 ]200 },201 "obb": {202 "center": [203 24.718214886462402,204 604.8800907798582,205 109.9212646484375206 ],207 "extent": [208 22.350087063553914,209 38.00004380254984,210 99.92132568359375211 ],212 "rotation": [213 0,214 -90.00012207031251,215 0216 ]217 },218 "location": [219 2.3681564331054688,220 566.880126953125,221 9.99993896484375222 ],223 "rotation": [224 0,225 -90.00012207031251,226 0227 ],228 "scale": [229 1,230 1,231 1232 ]233 },234 "color": [235 255,236 95,237 0238 ]239 },240 {241 "object_id": "SM_Tobacco_Display_A_2",242 "bbox_2d": [243 1077,244 360,245 1202,246 522247 ],248 "bbox_3d": {249 "aabb": {250 "center": [251 23.729498760974124,252 758.7660160728269,253 109.92137145996094254 ],255 "extent": [256 22.350087063553914,257 38.00004380254984,258 99.92132568359375259 ]260 },261 "obb": {262 "center": [263 23.72949876097412,264 758.7660160728269,265 109.92137145996094266 ],267 "extent": [268 22.350087063553914,269 38.00004380254984,270 99.92132568359375271 ],272 "rotation": [273 0,274 -90.00012207031251,275 0276 ]277 },278 "location": [279 1.3794403076171875,280 720.7660522460938,281 10.000045776367188282 ],283 "rotation": [284 0,285 -90.00012207031251,286 0287 ],288 "scale": [289 1,290 1,291 1292 ]293 },294 "color": [295 95,296 63,297 63298 ]299 },300 {301 "object_id": "SM_Tobacco_Display_B_8",302 "bbox_2d": [303 1201,304 360,305 1320,306 522307 ],308 "bbox_3d": {309 "aabb": {310 "center": [311 23.90831144999611,312 682.3889438536045,313 109.92131042480469314 ],315 "extent": [316 22.3500820035545,317 38.00004082647695,318 99.92132568359375319 ]320 },321 "obb": {322 "center": [323 23.90831144999611,324 682.3889438536045,325 109.92131042480469326 ],327 "extent": [328 22.3500820035545,329 38.00004082647695,330 99.92132568359375331 ],332 "rotation": [333 0,334 -90.00011444091797,335 0336 ]337 },338 "location": [339 1.558258056640625,340 644.3889770507812,341 9.999984741210938342 ],343 "rotation": [344 0,345 -90.00011444091797,346 0347 ],348 "scale": [349 1,350 1,351 1352 ]353 },354 "color": [355 95,356 63,357 191358 ]359 }360 ],361 "atm": [362 {363 "object_id": "SM_ATM_27",364 "bbox_2d": [365 657,366 429,367 745,368 637369 ],370 "bbox_3d": {371 "aabb": {372 "center": [373 -165.37035369874536,374 1099.9999860165026,375 99.15963745117188376 ],377 "extent": [378 31.839377383484702,379 31.772072915673334,380 89.1596450805664381 ]382 },383 "obb": {384 "center": [385 -165.37035369874536,386 1099.9999860165026,387 99.15963745117188388 ],389 "extent": [390 31.839377383484702,391 31.772072915673334,392 89.1596450805664393 ],394 "rotation": [395 0,396 -90.00012207031251,397 0398 ]399 },400 "location": [401 -171.93374633789062,402 1100,403 10404 ],405 "rotation": [406 0,407 -90.00012207031251,408 0409 ],410 "scale": [411 1,412 1,413 1414 ]415 },416 "color": [417 255,418 95,419 31420 ]421 }422 ],423 "hot dog grill": [424 {425 "object_id": "SM_Hot_Dog_Grill_2",426 "bbox_2d": [427 1659,428 436,429 1864,430 522431 ],432 "bbox_3d": {433 "aabb": {434 "center": [435 218.9225597381623,436 506.7220488255456,437 120.7146987915039438 ],439 "extent": [440 21.332088011749477,441 32.01364102946616,442 20.843448638916016443 ]444 },445 "obb": {446 "center": [447 218.9225597381623,448 506.7220488255456,449 120.7146987915039450 ],451 "extent": [452 21.332088011749477,453 32.01364102946616,454 20.843448638916016455 ],456 "rotation": [457 0,458 -90.00012207031251,459 0460 ]461 },462 "location": [463 220.29644775390625,464 506.7220458984375,465 100466 ],467 "rotation": [468 0,469 -90.00012207031251,470 0471 ],472 "scale": [473 1,474 1,475 1476 ]477 },478 "color": [479 63,480 95,481 95482 ]483 }484 ],485 "bottle stand": [486 {487 "object_id": "SM_Bottle_Stand_5",488 "bbox_2d": [489 1528,490 474,491 1599,492 522493 ],494 "bbox_3d": {495 "aabb": {496 "center": [497 231.80416889283168,498 604.9944947649063,499 111.77631187438965500 ],501 "extent": [502 19.91625660101562,503 10.514703403895282,504 11.776299476623535505 ]506 },507 "obb": {508 "center": [509 231.80416889283168,510 604.9944947649063,511 111.77631187438965512 ],513 "extent": [514 19.91625660101562,515 10.514703403895282,516 11.776299476623535517 ],518 "rotation": [519 0,520 -80.00007629394531,521 0522 ]523 },524 "location": [525 231.80416870117188,526 604.9945068359375,527 100.00001525878906528 ],529 "rotation": [530 0,531 -80.00007629394531,532 0533 ],534 "scale": [535 1,536 1,537 1538 ]539 },540 "color": [541 191,542 95,543 95544 ]545 }546 ],547 "bottle": [548 {549 "object_id": "SM_Ketchup_Bottle_8",550 "bbox_2d": [551 1542,552 427,553 1560,554 480555 ],556 "bbox_3d": {557 "aabb": {558 "center": [559 221.8688999205397,560 602.6392806261019,561 131.40055084228516562 ],563 "extent": [564 5.444847136823114,565 5.444846363241595,566 13.736084938049316567 ]568 },569 "obb": {570 "center": [571 221.8688999205397,572 602.6392806261019,573 131.40055084228516574 ],575 "extent": [576 5.444847136823114,577 5.444846363241595,578 13.736084938049316579 ],580 "rotation": [581 0,582 10.000028610229492,583 0584 ]585 },586 "location": [587 221.86891174316406,588 602.6392822265625,589 117.66446685791016590 ],591 "rotation": [592 0,593 10.000028610229492,594 0595 ],596 "scale": [597 1,598 1,599 1600 ]601 },602 "color": [603 31,604 95,605 95606 ]607 },608 {609 "object_id": "SM_Mustard_Bottle_11",610 "bbox_2d": [611 1550,612 438,613 1571,614 491615 ],616 "bbox_3d": {617 "aabb": {618 "center": [619 231.92778350472975,620 604.8994129316324,621 125.51240539550781622 ],623 "extent": [624 5.444847136823114,625 5.444846363241595,626 13.736084938049316627 ]628 },629 "obb": {630 "center": [631 231.92778350472975,632 604.8994129316324,633 125.51240539550781634 ],635 "extent": [636 5.444847136823114,637 5.444846363241595,638 13.736084938049316639 ],640 "rotation": [641 0,642 10.000028610229492,643 0644 ]645 },646 "location": [647 231.92779541015625,648 604.8994140625,649 111.77632141113281650 ],651 "rotation": [652 0,653 10.000028610229492,654 0655 ],656 "scale": [657 1,658 1,659 1660 ]661 },662 "color": [663 95,664 0,665 0666 ]667 },668 {669 "object_id": "SM_Mayonaise_Bottle_14",670 "bbox_2d": [671 1561,672 448,673 1585,674 509675 ],676 "bbox_3d": {677 "aabb": {678 "center": [679 243.7590366392897,680 607.3930648057894,681 119.62425994873047682 ],683 "extent": [684 5.444847136823114,685 5.444846363241595,686 13.736084938049316687 ]688 },689 "obb": {690 "center": [691 243.7590366392897,692 607.3930648057894,693 119.62425994873047694 ],695 "extent": [696 5.444847136823114,697 5.444846363241595,698 13.736084938049316699 ],700 "rotation": [701 0,702 10.000028610229492,703 0704 ]705 },706 "location": [707 243.75904846191406,708 607.39306640625,709 105.88817596435547710 ],711 "rotation": [712 0,713 10.000028610229492,714 0715 ],716 "scale": [717 1,718 1,719 1720 ]721 },722 "color": [723 95,724 0,725 255726 ]727 }728 ],729 "tong": [730 {731 "object_id": "SM_Sausage_Tong_17",732 "bbox_2d": [733 1605,734 466,735 1679,736 522737 ],738 "bbox_3d": {739 "aabb": {740 "center": [741 224.54147720335038,742 561.3736702950249,743 112.85123252868652744 ],745 "extent": [746 19.13773023052434,747 7.932754594725338,748 12.851158142089844749 ]750 },751 "obb": {752 "center": [753 224.54147720335038,754 561.3736702950249,755 112.85123252868652756 ],757 "extent": [758 19.13773023052434,759 7.932754594725338,760 12.851158142089844761 ],762 "rotation": [763 0,764 90.00011444091797,765 0766 ]767 },768 "location": [769 220.86343383789062,770 561.3736572265625,771 100.00007629394531772 ],773 "rotation": [774 0,775 90.00011444091797,776 0777 ],778 "scale": [779 1,780 1,781 1782 ]783 },784 "color": [785 95,786 0,787 127788 ]789 }790 ],791 "napkin dispenser": [792 {793 "object_id": "SM_Paper_Napkin_Dispenser2",794 "bbox_2d": [795 1892,796 499,797 1919,798 522799 ],800 "bbox_3d": {801 "aabb": {802 "center": [803 234.41401691860423,804 441.58792020904673,805 105.59275150299072806 ],807 "extent": [808 10.674257866788565,809 10.018262998583964,810 5.591593265533447811 ]812 },813 "obb": {814 "center": [815 234.41401691860423,816 441.58792020904673,817 105.59275150299072818 ],819 "extent": [820 10.674257866788565,821 10.018262998583964,822 5.591593265533447823 ],824 "rotation": [825 0,826 11.796856880187987,827 0828 ]829 },830 "location": [831 234.4140167236328,832 441.5879211425781,833 100.00115966796875834 ],835 "rotation": [836 0,837 11.796856880187987,838 0839 ],840 "scale": [841 1,842 1,843 1844 ]845 },846 "color": [847 95,848 0,849 63850 ]851 }852 ],853 "card reader": [854 {855 "object_id": "SM_Card_Reader_2",856 "bbox_2d": [857 1288,858 508,859 1314,860 522861 ],862 "bbox_3d": {863 "aabb": {864 "center": [865 212.96651400260225,866 716.4899456618128,867 104.12414264678955868 ],869 "extent": [870 10.298967466885273,871 6.94403134721415,872 4.124121189117432873 ]874 },875 "obb": {876 "center": [877 212.96651400260225,878 716.4899456618128,879 104.12414264678955880 ],881 "extent": [882 10.298967466885273,883 6.94403134721415,884 4.124121189117432885 ],886 "rotation": [887 0,888 -77.24995422363281,889 0890 ]891 },892 "location": [893 213.7287139892578,894 716.6624145507812,895 100.0000228881836896 ],897 "rotation": [898 0,899 -77.24995422363281,900 0901 ],902 "scale": [903 1,904 1,905 1906 ]907 },908 "color": [909 95,910 0,911 191912 ]913 }914 ],915 "shopping basket stand": [916 {917 "object_id": "SM_Shopping_Basket_Stand_2",918 "bbox_2d": [919 0,920 738,921 71,922 845923 ],924 "bbox_3d": {925 "aabb": {926 "center": [927 437.0000002387705,928 1145.9999981076555,929 24.87095546722412930 ],931 "extent": [932 37.900795186396465,933 25.92428990466101,934 14.87095832824707935 ]936 },937 "obb": {938 "center": [939 437.0000002387705,940 1145.9999981076555,941 24.87095546722412942 ],943 "extent": [944 37.900795186396465,945 25.92428990466101,946 14.87095832824707947 ],948 "rotation": [949 0,950 7.191411018371582,951 0952 ]953 },954 "location": [955 437,956 1146,957 10958 ],959 "rotation": [960 0,961 7.191411018371582,962 0963 ],964 "scale": [965 1,966 1,967 1968 ]969 },970 "color": [971 95,972 0,973 31974 ]975 }976 ],977 "shopping basket": [978 {979 "object_id": "SM_Shopping_Basket_11",980 "bbox_2d": [981 0,982 720,983 36,984 848985 ],986 "bbox_3d": {987 "aabb": {988 "center": [989 437.000002865246,990 1145.9999772918668,991 28.726181030273438992 ],993 "extent": [994 32.089719732421145,995 24.25146511108278,996 16.13337516784668997 ]998 },999 "obb": {1000 "center": [1001 437.000002865246,1002 1145.9999772918668,1003 28.7261810302734381004 ],1005 "extent": [1006 32.089719732421145,1007 24.25146511108278,1008 16.133375167846681009 ],1010 "rotation": [1011 0,1012 7.191411018371582,1013 01014 ]1015 },1016 "location": [1017 437,1018 1146,1019 12.5928096771240231020 ],1021 "rotation": [1022 0,1023 7.191411018371582,1024 01025 ],1026 "scale": [1027 1,1028 1,1029 11030 ]1031 },1032 "color": [1033 95,1034 255,1035 01036 ]1037 },1038 {1039 "object_id": "SM_Shopping_Basket2",1040 "bbox_2d": [1041 0,1042 700,1043 36,1044 8241045 ],1046 "bbox_3d": {1047 "aabb": {1048 "center": [1049 437.000002865246,1050 1145.9999772918668,1051 34.185832977294921052 ],1053 "extent": [1054 32.089719732421145,1055 24.25146511108278,1056 16.133375167846681057 ]1058 },1059 "obb": {1060 "center": [1061 437.000002865246,1062 1145.9999772918668,1063 34.185832977294921064 ],1065 "extent": [1066 32.089719732421145,1067 24.25146511108278,1068 16.133375167846681069 ],1070 "rotation": [1071 0,1072 7.191411018371582,1073 01074 ]1075 },1076 "location": [1077 437,1078 1146,1079 18.0524616241455081080 ],1081 "rotation": [1082 0,1083 7.191411018371582,1084 01085 ],1086 "scale": [1087 1,1088 1,1089 11090 ]1091 },1092 "color": [1093 95,1094 255,1095 2551096 ]1097 },1098 {1099 "object_id": "SM_Shopping_Basket3",1100 "bbox_2d": [1101 0,1102 679,1103 36,1104 7991105 ],1106 "bbox_3d": {1107 "aabb": {1108 "center": [1109 437.000002865246,1110 1145.9999772918668,1111 39.5299510955810551112 ],1113 "extent": [1114 32.089719732421145,1115 24.25146511108278,1116 16.133375167846681117 ]1118 },1119 "obb": {1120 "center": [1121 437.000002865246,1122 1145.9999772918668,1123 39.5299510955810551124 ],1125 "extent": [1126 32.089719732421145,1127 24.25146511108278,1128 16.133375167846681129 ],1130 "rotation": [1131 0,1132 7.191411018371582,1133 01134 ]1135 },1136 "location": [1137 437,1138 1146,1139 23.396579742431641140 ],1141 "rotation": [1142 0,1143 7.191411018371582,1144 01145 ],1146 "scale": [1147 1,1148 1,1149 11150 ]1151 },1152 "color": [1153 95,1154 255,1155 1271156 ]1157 },1158 {1159 "object_id": "SM_Shopping_Basket4",1160 "bbox_2d": [1161 0,1162 569,1163 27,1164 6851165 ],1166 "bbox_3d": {1167 "aabb": {1168 "center": [1169 436.34887032376605,1170 1145.2814455686596,1171 59.739839688764641172 ],1173 "extent": [1174 36.4081771978602,1175 25.262972897530062,1176 28.0699514787522231177 ]1178 },1179 "obb": {1180 "center": [1181 436.34887032376605,1182 1145.2814455686596,1183 59.739839688764641184 ],1185 "extent": [1186 36.4081771978602,1187 25.262972897530062,1188 28.0699514787522231189 ],1190 "rotation": [1191 -27.591447830200202,1192 8.121444702148441,1193 01194 ]1195 },1196 "location": [1197 428.951416015625,1198 1144.225830078125,1199 45.44127273559571200 ],