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": "l045_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/Convenience_Store/l045_r000/lit.png",5 "camera": {6 "location": [7 608,8 499,9 8410 ],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 [37 608,38 499,39 84,40 141 ]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 machine": [55 {56 "object_id": "SM_Coffee_Machine_2",57 "bbox_2d": [58 520,59 110,60 818,61 38162 ],63 "bbox_3d": {64 "aabb": {65 "center": [66 797.5586261905396,67 445.6846854893375,68 128.968557357788169 ],70 "extent": [71 27.070429990485422,72 22.343763158214927,73 28.967401504516674 ]75 },76 "obb": {77 "center": [78 797.5586261905396,79 445.6846854893375,80 128.968557357788181 ],82 "extent": [83 27.070429990485422,84 22.343763158214927,85 28.967401504516686 ],87 "rotation": [88 0,89 90.00007629394531,90 091 ]92 },93 "location": [94 798.4383544921875,95 445.6964111328125,96 100.0011596679687597 ],98 "rotation": [99 0,100 90.00007629394531,101 0102 ],103 "scale": [104 1,105 1,106 1107 ]108 },109 "color": [110 127,111 95,112 31113 ]114 }115 ],116 "coffee supplies": [117 {118 "object_id": "SM_Coffee_Supplies_5",119 "bbox_2d": [120 280,121 144,122 710,123 329124 ],125 "bbox_3d": {126 "aabb": {127 "center": [128 728.4383504150533,129 445.6962622915158,130 111.84191799163818131 ],132 "extent": [133 24.109946031074287,134 16.28647964711405,135 11.954957008361816136 ]137 },138 "obb": {139 "center": [140 728.4383504150533,141 445.6962622915158,142 111.84191799163818143 ],144 "extent": [145 24.109946031074287,146 16.28647964711405,147 11.954957008361816148 ],149 "rotation": [150 0,151 93.59552001953126,152 0153 ]154 },155 "location": [156 728.4383544921875,157 445.6961669921875,158 100.00115966796875159 ],160 "rotation": [161 0,162 93.59552001953126,163 0164 ],165 "scale": [166 1,167 1,168 1169 ]170 },171 "color": [172 63,173 95,174 0175 ]176 }177 ],178 "cup": [179 {180 "object_id": "SM_Paper_Cups_11",181 "bbox_2d": [182 728,183 341,184 770,185 379186 ],187 "bbox_3d": {188 "aabb": {189 "center": [190 758.4381108283997,191 465.6969604492194,192 107.31064081192017193 ],194 "extent": [195 4.662275800468478,196 4.662275800468535,197 7.309482097625732198 ]199 },200 "obb": {201 "center": [202 758.4381108283997,203 465.6969604492194,204 107.31064081192017205 ],206 "extent": [207 4.662275800468478,208 4.662275800468535,209 7.309482097625732210 ],211 "rotation": [212 0,213 90.00007629394531,214 0215 ]216 },217 "location": [218 758.4381103515625,219 465.69696044921875,220 100.00115966796875221 ],222 "rotation": [223 0,224 90.00007629394531,225 0226 ],227 "scale": [228 1,229 1,230 1231 ]232 },233 "color": [234 63,235 95,236 127237 ]238 },239 {240 "object_id": "SM_Paper_Cups2",241 "bbox_2d": [242 844,243 538,244 904,245 587246 ],247 "bbox_3d": {248 "aabb": {249 "center": [250 774.2435852559868,251 481.9266381261665,252 80.00115966796875253 ],254 "extent": [255 4.66232409787483,256 7.309516863272449,257 4.662269592285156258 ]259 },260 "obb": {261 "center": [262 774.2435852559868,263 481.9266381261665,264 80.00115966796875265 ],266 "extent": [267 4.66232409787483,268 7.309516863272449,269 4.662269592285156270 ],271 "rotation": [272 -90,273 89.99957275390624,274 0275 ]276 },277 "location": [278 774.2435302734375,279 474.6171569824219,280 80.00115966796875281 ],282 "rotation": [283 -90,284 89.99957275390624,285 0286 ],287 "scale": [288 1,289 1,290 1291 ]292 },293 "color": [294 63,295 95,296 63297 ]298 },299 {300 "object_id": "SM_Paper_Cups5",301 "bbox_2d": [302 0,303 36,304 34,305 152306 ],307 "bbox_3d": {308 "aabb": {309 "center": [310 678.4381099491318,311 425.69631983585765,312 113.61073541641235313 ],314 "extent": [315 6.4356430293148605,316 6.435643029314804,317 7.309482097625732318 ]319 },320 "obb": {321 "center": [322 678.4381099491318,323 425.69631983585765,324 113.61073541641235325 ],326 "extent": [327 6.4356430293148605,328 6.435643029314804,329 7.309482097625732330 ],331 "rotation": [332 0,333 -122.43948364257814,334 0335 ]336 },337 "location": [338 678.4381103515625,339 425.6963195800781,340 106.30125427246094341 ],342 "rotation": [343 0,344 -122.43948364257814,345 0346 ],347 "scale": [348 1,349 1,350 1351 ]352 },353 "color": [354 191,355 95,356 191357 ]358 },359 {360 "object_id": "SM_Plastic_Cup6",361 "bbox_2d": [362 909,363 539,364 931,365 560366 ],367 "bbox_3d": {368 "aabb": {369 "center": [370 976.5128099366584,371 482.11237764378257,372 80.07191109149238373 ],374 "extent": [375 4.662327705307916,376 6.097736163472632,377 4.662300099139145378 ]379 },380 "obb": {381 "center": [382 976.5128099366584,383 482.11237764378257,384 80.07191109149238385 ],386 "extent": [387 4.662327705307916,388 6.097736163472632,389 4.662300099139145390 ],391 "rotation": [392 5.5600874475203515e-05,393 -179.99949645996094,394 89.99975585937501395 ]396 },397 "location": [398 976.5127563476562,399 488.2100524902344,400 80.07190704345703401 ],402 "rotation": [403 5.5600874475203515e-05,404 -179.99949645996094,405 89.99975585937501406 ],407 "scale": [408 1,409 1,410 1411 ]412 },413 "color": [414 255,415 95,416 95417 ]418 },419 {420 "object_id": "SM_Plastic_Cup7",421 "bbox_2d": [422 918,423 540,424 933,425 556426 ],427 "bbox_3d": {428 "aabb": {429 "center": [430 1004.8085252686898,431 482.11237764378257,432 80.07191109149238433 ],434 "extent": [435 4.662327737785745,436 6.0977361634728595,437 4.662300131616803438 ]439 },440 "obb": {441 "center": [442 1004.8085252686898,443 482.11237764378257,444 80.07191109149238445 ],446 "extent": [447 4.662327737785745,448 6.0977361634728595,449 4.662300131616803450 ],451 "rotation": [452 5.6000000768108266e-05,453 -179.99949645996094,454 89.99975585937501455 ]456 },457 "location": [458 1004.8084716796875,459 488.2100524902344,460 80.07190704345703461 ],462 "rotation": [463 5.6000000768108266e-05,464 -179.99949645996094,465 89.99975585937501466 ],467 "scale": [468 1,469 1,470 1471 ]472 },473 "color": [474 127,475 95,476 95477 ]478 }479 ],480 "coffee counter": [481 {482 "object_id": "SM_Coffee_Counter_10",483 "bbox_2d": [484 0,485 153,486 884,487 1079488 ],489 "bbox_3d": {490 "aabb": {491 "center": [492 748.8608591313241,493 439.99975984073865,494 55.00001907348633495 ],496 "extent": [497 101.1391713864673,498 40.000270676740854,499 45.00001907348633500 ]501 },502 "obb": {503 "center": [504 748.8608591313241,505 439.99975984073865,506 55.00001907348633507 ],508 "extent": [509 101.1391713864673,510 40.000270676740854,511 45.00001907348633512 ],513 "rotation": [514 0,515 90.00011444091797,516 0517 ]518 },519 "location": [520 850,521 400,522 10523 ],524 "rotation": [525 0,526 90.00011444091797,527 0528 ],529 "scale": [530 1,531 1,532 1533 ]534 },535 "color": [536 191,537 95,538 31539 ]540 },541 {542 "object_id": "SM_Coffee_Counter2_12",543 "bbox_2d": [544 869,545 477,546 918,547 827548 ],549 "bbox_3d": {550 "aabb": {551 "center": [552 951.2646677250741,553 439.99975984073865,554 55.00001907348633555 ],556 "extent": [557 101.1391713864673,558 40.000270676740854,559 45.00001907348633560 ]561 },562 "obb": {563 "center": [564 951.2646677250741,565 439.99975984073865,566 55.00001907348633567 ],568 "extent": [569 101.1391713864673,570 40.000270676740854,571 45.00001907348633572 ],573 "rotation": [574 0,575 90.00011444091797,576 0577 ]578 },579 "location": [580 1052.40380859375,581 400,582 10583 ],584 "rotation": [585 0,586 90.00011444091797,587 0588 ],589 "scale": [590 1,591 1,592 1593 ]594 },595 "color": [596 31,597 95,598 0599 ]600 }601 ],602 "drink machine": [603 {604 "object_id": "SM_Drink_Machine_2",605 "bbox_2d": [606 773,607 224,608 872,609 448610 ],611 "bbox_3d": {612 "aabb": {613 "center": [614 889.1782880594402,615 443.63552856446387,616 133.54526138305664617 ],618 "extent": [619 29.00478112511564,620 27.472098157030928,621 33.42982482910156622 ]623 },624 "obb": {625 "center": [626 889.1782880594402,627 443.63552856446387,628 133.54526138305664629 ],630 "extent": [631 29.00478112511564,632 27.472098157030928,633 33.42982482910156634 ],635 "rotation": [636 0,637 90.00012207031251,638 0639 ]640 },641 "location": [642 889.1782836914062,643 443,644 100.00001525878906645 ],646 "rotation": [647 0,648 90.00012207031251,649 0650 ],651 "scale": [652 1,653 1,654 1655 ]656 },657 "color": [658 31,659 95,660 255661 ]662 }663 ],664 "beer sign": [665 {666 "object_id": "SM_Beer_Sign3",667 "bbox_2d": [668 1031,669 312,670 1130,671 348672 ],673 "bbox_3d": {674 "aabb": {675 "center": [676 1398.1966238021976,677 599.056816550878,678 256.6761484146118679 ],680 "extent": [681 2.0739083496189323,682 41.187305000402034,683 14.96452808380127684 ]685 },686 "obb": {687 "center": [688 1398.1966238021976,689 599.056816550878,690 256.6761484146118691 ],692 "extent": [693 2.0739083496189323,694 41.187305000402034,695 14.96452808380127696 ],697 "rotation": [698 0,699 90.00019836425781,700 0701 ]702 },703 "location": [704 1400.2703857421875,705 599.0568237304688,706 256.6761474609375707 ],708 "rotation": [709 0,710 90.00019836425781,711 0712 ],713 "scale": [714 1,715 1,716 1717 ]718 },719 "color": [720 95,721 95,722 0723 ]724 }725 ]726 }727}