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": "l080_r005",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/Convenience_Store/l080_r005/lit.png",5 "camera": {6 "location": [7 576,8 736,9 12310 ],11 "rotation": [12 0,13 -59.999999999999986,14 015 ],16 "fov": 90,17 "c2w": [18 [19 0.5000000000000002,20 -0.8660254037844384,21 0,22 023 ],24 [25 0.8660254037844384,26 0.5000000000000002,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 576,38 736,39 123,40 141 ]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": [58 996,59 440,60 1174,61 60662 ],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": [120 842,121 538,122 1001,123 612124 ],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 "napkin dispenser": [179 {180 "object_id": "SM_Paper_Napkin_Dispenser_8",181 "bbox_2d": [182 787,183 577,184 859,185 615186 ],187 "bbox_3d": {188 "aabb": {189 "center": [190 688.4382333753791,191 455.6964111147987,192 105.59275150299072193 ],194 "extent": [195 8.491547799773002,196 9.322457854809215,197 5.591593265533447198 ]199 },200 "obb": {201 "center": [202 688.4382333753791,203 455.6964111147987,204 105.59275150299072205 ],206 "extent": [207 8.491547799773002,208 9.322457854809215,209 5.591593265533447210 ],211 "rotation": [212 0,213 88.91768646240236,214 0215 ]216 },217 "location": [218 688.438232421875,219 455.6964111328125,220 100.00115966796875221 ],222 "rotation": [223 0,224 88.91768646240236,225 0226 ],227 "scale": [228 1,229 1,230 1231 ]232 },233 "color": [234 63,235 95,236 255237 ]238 }239 ],240 "cup": [241 {242 "object_id": "SM_Paper_Cups_11",243 "bbox_2d": [244 1014,245 565,246 1040,247 608248 ],249 "bbox_3d": {250 "aabb": {251 "center": [252 758.4381108283997,253 465.6969604492194,254 107.31064081192017255 ],256 "extent": [257 4.662275800468478,258 4.662275800468535,259 7.309482097625732260 ]261 },262 "obb": {263 "center": [264 758.4381108283997,265 465.6969604492194,266 107.31064081192017267 ],268 "extent": [269 4.662275800468478,270 4.662275800468535,271 7.309482097625732272 ],273 "rotation": [274 0,275 90.00007629394531,276 0277 ]278 },279 "location": [280 758.4381103515625,281 465.69696044921875,282 100.00115966796875283 ],284 "rotation": [285 0,286 90.00007629394531,287 0288 ],289 "scale": [290 1,291 1,292 1293 ]294 },295 "color": [296 63,297 95,298 127299 ]300 },301 {302 "object_id": "SM_Paper_Cups2",303 "bbox_2d": [304 1076,305 655,306 1115,307 680308 ],309 "bbox_3d": {310 "aabb": {311 "center": [312 774.2435852559868,313 481.9266381261665,314 80.00115966796875315 ],316 "extent": [317 4.66232409787483,318 7.309516863272449,319 4.662269592285156320 ]321 },322 "obb": {323 "center": [324 774.2435852559868,325 481.9266381261665,326 80.00115966796875327 ],328 "extent": [329 4.66232409787483,330 7.309516863272449,331 4.662269592285156332 ],333 "rotation": [334 -90,335 89.99957275390624,336 0337 ]338 },339 "location": [340 774.2435302734375,341 474.6171569824219,342 80.00115966796875343 ],344 "rotation": [345 -90,346 89.99957275390624,347 0348 ],349 "scale": [350 1,351 1,352 1353 ]354 },355 "color": [356 63,357 95,358 63359 ]360 },361 {362 "object_id": "SM_Paper_Cups3",363 "bbox_2d": [364 746,365 599,366 774,367 609368 ],369 "bbox_3d": {370 "aabb": {371 "center": [372 678.4381108283997,373 425.69631958007875,374 107.31064081192017375 ],376 "extent": [377 4.662275800468478,378 4.662275800468535,379 7.309482097625732380 ]381 },382 "obb": {383 "center": [384 678.4381108283997,385 425.69631958007875,386 107.31064081192017387 ],388 "extent": [389 4.662275800468478,390 4.662275800468535,391 7.309482097625732392 ],393 "rotation": [394 0,395 90.00007629394531,396 0397 ]398 },399 "location": [400 678.4381103515625,401 425.6963195800781,402 100.00115966796875403 ],404 "rotation": [405 0,406 90.00007629394531,407 0408 ],409 "scale": [410 1,411 1,412 1413 ]414 },415 "color": [416 191,417 95,418 127419 ]420 },421 {422 "object_id": "SM_Paper_Cups4",423 "bbox_2d": [424 746,425 588,426 774,427 599428 ],429 "bbox_3d": {430 "aabb": {431 "center": [432 678.4381108283997,433 425.69631958007875,434 110.54884576797485435 ],436 "extent": [437 4.662275800468478,438 4.662275800468535,439 7.309482097625732440 ]441 },442 "obb": {443 "center": [444 678.4381108283997,445 425.69631958007875,446 110.54884576797485447 ],448 "extent": [449 4.662275800468478,450 4.662275800468535,451 7.309482097625732452 ],453 "rotation": [454 0,455 90.00007629394531,456 0457 ]458 },459 "location": [460 678.4381103515625,461 425.6963195800781,462 103.23936462402344463 ],464 "rotation": [465 0,466 90.00007629394531,467 0468 ],469 "scale": [470 1,471 1,472 1473 ]474 },475 "color": [476 191,477 95,478 63479 ]480 },481 {482 "object_id": "SM_Paper_Cups5",483 "bbox_2d": [484 746,485 546,486 774,487 590488 ],489 "bbox_3d": {490 "aabb": {491 "center": [492 678.4381099491318,493 425.69631983585765,494 113.61073541641235495 ],496 "extent": [497 6.4356430293148605,498 6.435643029314804,499 7.309482097625732500 ]501 },502 "obb": {503 "center": [504 678.4381099491318,505 425.69631983585765,506 113.61073541641235507 ],508 "extent": [509 6.4356430293148605,510 6.435643029314804,511 7.309482097625732512 ],513 "rotation": [514 0,515 -122.43948364257814,516 0517 ]518 },519 "location": [520 678.4381103515625,521 425.6963195800781,522 106.30125427246094523 ],524 "rotation": [525 0,526 -122.43948364257814,527 0528 ],529 "scale": [530 1,531 1,532 1533 ]534 },535 "color": [536 191,537 95,538 191539 ]540 },541 {542 "object_id": "SM_Plastic_Cup_5",543 "bbox_2d": [544 1348,545 590,546 1367,547 592548 ],549 "bbox_3d": {550 "aabb": {551 "center": [552 937.7943618646119,553 457.9903783798352,554 106.27174806615629555 ],556 "extent": [557 4.662321174947806,558 4.6622708339359065,559 6.0977138140409295560 ]561 },562 "obb": {563 "center": [564 937.7943618646119,565 457.9903783798352,566 106.27174806615629567 ],568 "extent": [569 4.662321174947806,570 4.6622708339359065,571 6.0977138140409295572 ],573 "rotation": [574 -0.0004730224609443101,575 -179.99998474121097,576 180577 ]578 },579 "location": [580 937.7943115234375,581 457.9903564453125,582 112.36942291259766583 ],584 "rotation": [585 -0.0004730224609443101,586 -179.99998474121097,587 180588 ],589 "scale": [590 1,591 1,592 1593 ]594 },595 "color": [596 31,597 95,598 127599 ]600 },601 {602 "object_id": "SM_Plastic_Cup2",603 "bbox_2d": [604 1348,605 587,606 1367,607 589608 ],609 "bbox_3d": {610 "aabb": {611 "center": [612 937.7943624063862,613 457.99038000375793,614 107.4034008981981615 ],616 "extent": [617 4.662322958371874,618 4.662273699495586,619 6.09771546991837620 ]621 },622 "obb": {623 "center": [624 937.7943624063862,625 457.99038000375793,626 107.4034008981981627 ],628 "extent": [629 4.662322958371874,630 4.662273699495586,631 6.09771546991837632 ],633 "rotation": [634 -0.0004781132156495003,635 -179.99996948242188,636 -179.99998474121097637 ]638 },639 "location": [640 937.7943115234375,641 457.9903564453125,642 113.5010757446289643 ],644 "rotation": [645 -0.0004781132156495003,646 -179.99996948242188,647 -179.99998474121097648 ],649 "scale": [650 1,651 1,652 1653 ]654 },655 "color": [656 31,657 95,658 63659 ]660 },661 {662 "object_id": "SM_Plastic_Cup3",663 "bbox_2d": [664 1346,665 585,666 1367,667 587668 ],669 "bbox_3d": {670 "aabb": {671 "center": [672 937.7943623943374,673 457.99038000375793,674 108.45808076880347675 ],676 "extent": [677 4.662322946323229,678 4.662273699495586,679 6.097715460706041680 ]681 },682 "obb": {683 "center": [684 937.7943623943374,685 457.99038000375793,686 108.45808076880347687 ],688 "extent": [689 4.662322946323229,690 4.662273699495586,691 6.097715460706041692 ],693 "rotation": [694 -0.00047800000174902363,695 -179.99996948242188,696 -179.99998474121097697 ]698 },699 "location": [700 937.7943115234375,701 457.9903564453125,702 114.55575561523438703 ],704 "rotation": [705 -0.00047800000174902363,706 -179.99996948242188,707 -179.99998474121097708 ],709 "scale": [710 1,711 1,712 1713 ]714 },715 "color": [716 31,717 95,718 191719 ]720 },721 {722 "object_id": "SM_Plastic_Cup4",723 "bbox_2d": [724 1346,725 582,726 1367,727 584728 ],729 "bbox_3d": {730 "aabb": {731 "center": [732 937.7943623943374,733 457.99038000375793,734 109.43800020239722735 ],736 "extent": [737 4.662322946323229,738 4.662273699495586,739 6.097715460706041740 ]741 },742 "obb": {743 "center": [744 937.7943623943374,745 457.99038000375793,746 109.43800020239722747 ],748 "extent": [749 4.662322946323229,750 4.662273699495586,751 6.097715460706041752 ],753 "rotation": [754 -0.00047800000174902363,755 -179.99996948242188,756 -179.99998474121097757 ]758 },759 "location": [760 937.7943115234375,761 457.9903564453125,762 115.53567504882812763 ],764 "rotation": [765 -0.00047800000174902363,766 -179.99996948242188,767 -179.99998474121097768 ],769 "scale": [770 1,771 1,772 1773 ]774 },775 "color": [776 31,777 95,778 31779 ]780 },781 {782 "object_id": "SM_Plastic_Cup5",783 "bbox_2d": [784 1346,785 554,786 1367,787 582788 ],789 "bbox_3d": {790 "aabb": {791 "center": [792 937.7943623943374,793 457.99038000375793,794 110.60352754614722795 ],796 "extent": [797 4.662322946323229,798 4.662273699495586,799 6.097715460706041800 ]801 },802 "obb": {803 "center": [804 937.7943623943374,805 457.99038000375793,806 110.60352754614722807 ],808 "extent": [809 4.662322946323229,810 4.662273699495586,811 6.097715460706041812 ],813 "rotation": [814 -0.00047800000174902363,815 -179.99996948242188,816 -179.99998474121097817 ]818 },819 "location": [820 937.7943115234375,821 457.9903564453125,822 116.70120239257812823 ],824 "rotation": [825 -0.00047800000174902363,826 -179.99996948242188,827 -179.99998474121097828 ],829 "scale": [830 1,831 1,832 1833 ]834 },835 "color": [836 0,837 95,838 95839 ]840 },841 {842 "object_id": "SM_Plastic_Cup6",843 "bbox_2d": [844 1449,845 628,846 1479,847 646848 ],849 "bbox_3d": {850 "aabb": {851 "center": [852 976.5128099366584,853 482.11237764378257,854 80.07191109149238855 ],856 "extent": [857 4.662327705307916,858 6.097736163472632,859 4.662300099139145860 ]861 },862 "obb": {863 "center": [864 976.5128099366584,865 482.11237764378257,866 80.07191109149238867 ],868 "extent": [869 4.662327705307916,870 6.097736163472632,871 4.662300099139145872 ],873 "rotation": [874 5.5600874475203515e-05,875 -179.99949645996094,876 89.99975585937501877 ]878 },879 "location": [880 976.5127563476562,881 488.2100524902344,882 80.07190704345703883 ],884 "rotation": [885 5.5600874475203515e-05,886 -179.99949645996094,887 89.99975585937501888 ],889 "scale": [890 1,891 1,892 1893 ]894 },895 "color": [896 255,897 95,898 95899 ]900 },901 {902 "object_id": "SM_Plastic_Cup7",903 "bbox_2d": [904 1487,905 625,906 1517,907 643908 ],909 "bbox_3d": {910 "aabb": {911 "center": [912 1004.8085252686898,913 482.11237764378257,914 80.07191109149238915 ],916 "extent": [917 4.662327737785745,918 6.0977361634728595,919 4.662300131616803920 ]921 },922 "obb": {923 "center": [924 1004.8085252686898,925 482.11237764378257,926 80.07191109149238927 ],928 "extent": [929 4.662327737785745,930 6.0977361634728595,931 4.662300131616803932 ],933 "rotation": [934 5.6000000768108266e-05,935 -179.99949645996094,936 89.99975585937501937 ]938 },939 "location": [940 1004.8084716796875,941 488.2100524902344,942 80.07190704345703943 ],944 "rotation": [945 5.6000000768108266e-05,946 -179.99949645996094,947 89.99975585937501948 ],949 "scale": [950 1,951 1,952 1953 ]954 },955 "color": [956 127,957 95,958 95959 ]960 }961 ],962 "coffee counter": [963 {964 "object_id": "SM_Coffee_Counter_10",965 "bbox_2d": [966 649,967 596,968 1251,969 952970 ],971 "bbox_3d": {972 "aabb": {973 "center": [974 748.8608591313241,975 439.99975984073865,976 55.00001907348633977 ],978 "extent": [979 101.1391713864673,980 40.000270676740854,981 45.00001907348633982 ]983 },984 "obb": {985 "center": [986 748.8608591313241,987 439.99975984073865,988 55.00001907348633989 ],990 "extent": [991 101.1391713864673,992 40.000270676740854,993 45.00001907348633994 ],995 "rotation": [996 0,997 90.00011444091797,998 0999 ]1000 },1001 "location": [1002 850,1003 400,1004 101005 ],1006 "rotation": [1007 0,1008 90.00011444091797,1009 01010 ],1011 "scale": [1012 1,1013 1,1014 11015 ]1016 },1017 "color": [1018 191,1019 95,1020 311021 ]1022 },1023 {1024 "object_id": "SM_Coffee_Counter2_12",1025 "bbox_2d": [1026 1171,1027 582,1028 1553,1029 8371030 ],1031 "bbox_3d": {1032 "aabb": {1033 "center": [1034 951.2646677250741,1035 439.99975984073865,1036 55.000019073486331037 ],1038 "extent": [1039 101.1391713864673,1040 40.000270676740854,1041 45.000019073486331042 ]1043 },1044 "obb": {1045 "center": [1046 951.2646677250741,1047 439.99975984073865,1048 55.000019073486331049 ],1050 "extent": [1051 101.1391713864673,1052 40.000270676740854,1053 45.000019073486331054 ],1055 "rotation": [1056 0,1057 90.00011444091797,1058 01059 ]1060 },1061 "location": [1062 1052.40380859375,1063 400,1064 101065 ],1066 "rotation": [1067 0,1068 90.00011444091797,1069 01070 ],1071 "scale": [1072 1,1073 1,1074 11075 ]1076 },1077 "color": [1078 31,1079 95,1080 01081 ]1082 }1083 ],1084 "drink machine": [1085 {1086 "object_id": "SM_Drink_Machine_2",1087 "bbox_2d": [1088 1157,1089 427,1090 1349,1091 5981092 ],1093 "bbox_3d": {1094 "aabb": {1095 "center": [1096 889.1782880594402,1097 443.63552856446387,1098 133.545261383056641099 ],1100 "extent": [1101 29.00478112511564,1102 27.472098157030928,1103 33.429824829101561104 ]1105 },1106 "obb": {1107 "center": [1108 889.1782880594402,1109 443.63552856446387,1110 133.545261383056641111 ],1112 "extent": [1113 29.00478112511564,1114 27.472098157030928,1115 33.429824829101561116 ],1117 "rotation": [1118 0,1119 90.00012207031251,1120 01121 ]1122 },1123 "location": [1124 889.1782836914062,1125 443,1126 100.000015258789061127 ],1128 "rotation": [1129 0,1130 90.00012207031251,1131 01132 ],1133 "scale": [1134 1,1135 1,1136 11137 ]1138 },1139 "color": [1140 31,1141 95,1142 2551143 ]1144 }1145 ]1146 }1147}