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": "l105_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/Convenience_Store/l105_r000/lit.png",5 "camera": {6 "location": [7 304,8 843,9 15910 ],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 [37 304,38 843,39 159,40 141 ]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": [58 101,59 542,60 265,61 66062 ],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 0,121 615,122 140,123 680124 ],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 0,183 657,184 35,185 687186 ],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": [244 150,245 633,246 175,247 665248 ],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": [304 209,305 692,306 241,307 709308 ],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_Plastic_Cup_5",363 "bbox_2d": [364 375,365 627,366 384,367 629368 ],369 "bbox_3d": {370 "aabb": {371 "center": [372 937.7943618646119,373 457.9903783798352,374 106.27174806615629375 ],376 "extent": [377 4.662321174947806,378 4.6622708339359065,379 6.0977138140409295380 ]381 },382 "obb": {383 "center": [384 937.7943618646119,385 457.9903783798352,386 106.27174806615629387 ],388 "extent": [389 4.662321174947806,390 4.6622708339359065,391 6.0977138140409295392 ],393 "rotation": [394 -0.0004730224609443101,395 -179.99998474121097,396 180397 ]398 },399 "location": [400 937.7943115234375,401 457.9903564453125,402 112.36942291259766403 ],404 "rotation": [405 -0.0004730224609443101,406 -179.99998474121097,407 180408 ],409 "scale": [410 1,411 1,412 1413 ]414 },415 "color": [416 31,417 95,418 127419 ]420 },421 {422 "object_id": "SM_Plastic_Cup2",423 "bbox_2d": [424 374,425 626,426 384,427 627428 ],429 "bbox_3d": {430 "aabb": {431 "center": [432 937.7943624063862,433 457.99038000375793,434 107.4034008981981435 ],436 "extent": [437 4.662322958371874,438 4.662273699495586,439 6.09771546991837440 ]441 },442 "obb": {443 "center": [444 937.7943624063862,445 457.99038000375793,446 107.4034008981981447 ],448 "extent": [449 4.662322958371874,450 4.662273699495586,451 6.09771546991837452 ],453 "rotation": [454 -0.0004781132156495003,455 -179.99996948242188,456 -179.99998474121097457 ]458 },459 "location": [460 937.7943115234375,461 457.9903564453125,462 113.5010757446289463 ],464 "rotation": [465 -0.0004781132156495003,466 -179.99996948242188,467 -179.99998474121097468 ],469 "scale": [470 1,471 1,472 1473 ]474 },475 "color": [476 31,477 95,478 63479 ]480 },481 {482 "object_id": "SM_Plastic_Cup3",483 "bbox_2d": [484 369,485 624,486 384,487 625488 ],489 "bbox_3d": {490 "aabb": {491 "center": [492 937.7943623943374,493 457.99038000375793,494 108.45808076880347495 ],496 "extent": [497 4.662322946323229,498 4.662273699495586,499 6.097715460706041500 ]501 },502 "obb": {503 "center": [504 937.7943623943374,505 457.99038000375793,506 108.45808076880347507 ],508 "extent": [509 4.662322946323229,510 4.662273699495586,511 6.097715460706041512 ],513 "rotation": [514 -0.00047800000174902363,515 -179.99996948242188,516 -179.99998474121097517 ]518 },519 "location": [520 937.7943115234375,521 457.9903564453125,522 114.55575561523438523 ],524 "rotation": [525 -0.00047800000174902363,526 -179.99996948242188,527 -179.99998474121097528 ],529 "scale": [530 1,531 1,532 1533 ]534 },535 "color": [536 31,537 95,538 191539 ]540 },541 {542 "object_id": "SM_Plastic_Cup4",543 "bbox_2d": [544 369,545 622,546 384,547 624548 ],549 "bbox_3d": {550 "aabb": {551 "center": [552 937.7943623943374,553 457.99038000375793,554 109.43800020239722555 ],556 "extent": [557 4.662322946323229,558 4.662273699495586,559 6.097715460706041560 ]561 },562 "obb": {563 "center": [564 937.7943623943374,565 457.99038000375793,566 109.43800020239722567 ],568 "extent": [569 4.662322946323229,570 4.662273699495586,571 6.097715460706041572 ],573 "rotation": [574 -0.00047800000174902363,575 -179.99996948242188,576 -179.99998474121097577 ]578 },579 "location": [580 937.7943115234375,581 457.9903564453125,582 115.53567504882812583 ],584 "rotation": [585 -0.00047800000174902363,586 -179.99996948242188,587 -179.99998474121097588 ],589 "scale": [590 1,591 1,592 1593 ]594 },595 "color": [596 31,597 95,598 31599 ]600 },601 {602 "object_id": "SM_Plastic_Cup5",603 "bbox_2d": [604 369,605 604,606 384,607 622608 ],609 "bbox_3d": {610 "aabb": {611 "center": [612 937.7943623943374,613 457.99038000375793,614 110.60352754614722615 ],616 "extent": [617 4.662322946323229,618 4.662273699495586,619 6.097715460706041620 ]621 },622 "obb": {623 "center": [624 937.7943623943374,625 457.99038000375793,626 110.60352754614722627 ],628 "extent": [629 4.662322946323229,630 4.662273699495586,631 6.097715460706041632 ],633 "rotation": [634 -0.00047800000174902363,635 -179.99996948242188,636 -179.99998474121097637 ]638 },639 "location": [640 937.7943115234375,641 457.9903564453125,642 116.70120239257812643 ],644 "rotation": [645 -0.00047800000174902363,646 -179.99996948242188,647 -179.99998474121097648 ],649 "scale": [650 1,651 1,652 1653 ]654 },655 "color": [656 0,657 95,658 95659 ]660 },661 {662 "object_id": "SM_Plastic_Cup6",663 "bbox_2d": [664 437,665 647,666 455,667 658668 ],669 "bbox_3d": {670 "aabb": {671 "center": [672 976.5128099366584,673 482.11237764378257,674 80.07191109149238675 ],676 "extent": [677 4.662327705307916,678 6.097736163472632,679 4.662300099139145680 ]681 },682 "obb": {683 "center": [684 976.5128099366584,685 482.11237764378257,686 80.07191109149238687 ],688 "extent": [689 4.662327705307916,690 6.097736163472632,691 4.662300099139145692 ],693 "rotation": [694 5.5600874475203515e-05,695 -179.99949645996094,696 89.99975585937501697 ]698 },699 "location": [700 976.5127563476562,701 488.2100524902344,702 80.07190704345703703 ],704 "rotation": [705 5.5600874475203515e-05,706 -179.99949645996094,707 89.99975585937501708 ],709 "scale": [710 1,711 1,712 1713 ]714 },715 "color": [716 255,717 95,718 95719 ]720 },721 {722 "object_id": "SM_Plastic_Cup7",723 "bbox_2d": [724 458,725 642,726 475,727 653728 ],729 "bbox_3d": {730 "aabb": {731 "center": [732 1004.8085252686898,733 482.11237764378257,734 80.07191109149238735 ],736 "extent": [737 4.662327737785745,738 6.0977361634728595,739 4.662300131616803740 ]741 },742 "obb": {743 "center": [744 1004.8085252686898,745 482.11237764378257,746 80.07191109149238747 ],748 "extent": [749 4.662327737785745,750 6.0977361634728595,751 4.662300131616803752 ],753 "rotation": [754 5.6000000768108266e-05,755 -179.99949645996094,756 89.99975585937501757 ]758 },759 "location": [760 1004.8084716796875,761 488.2100524902344,762 80.07190704345703763 ],764 "rotation": [765 5.6000000768108266e-05,766 -179.99949645996094,767 89.99975585937501768 ],769 "scale": [770 1,771 1,772 1773 ]774 },775 "color": [776 127,777 95,778 95779 ]780 }781 ],782 "coffee counter": [783 {784 "object_id": "SM_Coffee_Counter_10",785 "bbox_2d": [786 0,787 644,788 321,789 929790 ],791 "bbox_3d": {792 "aabb": {793 "center": [794 748.8608591313241,795 439.99975984073865,796 55.00001907348633797 ],798 "extent": [799 101.1391713864673,800 40.000270676740854,801 45.00001907348633802 ]803 },804 "obb": {805 "center": [806 748.8608591313241,807 439.99975984073865,808 55.00001907348633809 ],810 "extent": [811 101.1391713864673,812 40.000270676740854,813 45.00001907348633814 ],815 "rotation": [816 0,817 90.00011444091797,818 0819 ]820 },821 "location": [822 850,823 400,824 10825 ],826 "rotation": [827 0,828 90.00011444091797,829 0830 ],831 "scale": [832 1,833 1,834 1835 ]836 },837 "color": [838 191,839 95,840 31841 ]842 },843 {844 "object_id": "SM_Coffee_Counter2_12",845 "bbox_2d": [846 248,847 616,848 493,849 799850 ],851 "bbox_3d": {852 "aabb": {853 "center": [854 951.2646677250741,855 439.99975984073865,856 55.00001907348633857 ],858 "extent": [859 101.1391713864673,860 40.000270676740854,861 45.00001907348633862 ]863 },864 "obb": {865 "center": [866 951.2646677250741,867 439.99975984073865,868 55.00001907348633869 ],870 "extent": [871 101.1391713864673,872 40.000270676740854,873 45.00001907348633874 ],875 "rotation": [876 0,877 90.00011444091797,878 0879 ]880 },881 "location": [882 1052.40380859375,883 400,884 10885 ],886 "rotation": [887 0,888 90.00011444091797,889 0890 ],891 "scale": [892 1,893 1,894 1895 ]896 },897 "color": [898 31,899 95,900 0901 ]902 }903 ],904 "drink machine": [905 {906 "object_id": "SM_Drink_Machine_2",907 "bbox_2d": [908 223,909 526,910 376,911 641912 ],913 "bbox_3d": {914 "aabb": {915 "center": [916 889.1782880594402,917 443.63552856446387,918 133.54526138305664919 ],920 "extent": [921 29.00478112511564,922 27.472098157030928,923 33.42982482910156924 ]925 },926 "obb": {927 "center": [928 889.1782880594402,929 443.63552856446387,930 133.54526138305664931 ],932 "extent": [933 29.00478112511564,934 27.472098157030928,935 33.42982482910156936 ],937 "rotation": [938 0,939 90.00012207031251,940 0941 ]942 },943 "location": [944 889.1782836914062,945 443,946 100.00001525878906947 ],948 "rotation": [949 0,950 90.00012207031251,951 0952 ],953 "scale": [954 1,955 1,956 1957 ]958 },959 "color": [960 31,961 95,962 255963 ]964 }965 ],966 "mat": [967 {968 "object_id": "SM_Mat_2",969 "bbox_2d": [970 1495,971 908,972 1919,973 1079974 ],975 "bbox_3d": {976 "aabb": {977 "center": [978 596.1696014404297,979 1124.8133697509766,980 11.26958978176117981 ],982 "extent": [983 92.76057434082031,984 68.32167053222656,985 0.5533158183097839986 ]987 },988 "obb": {989 "center": [990 596.1696014404297,991 1124.8133697509766,992 11.26958978176117993 ],994 "extent": [995 92.76057434082031,996 68.32167053222656,997 0.5533158183097839998 ],999 "rotation": [1000 0,1001 0,1002 01003 ]1004 },1005 "location": [1006 596.1780395507812,1007 1124.3819580078125,1008 10.7381973266601561009 ],1010 "rotation": [1011 0,1012 0,1013 01014 ],1015 "scale": [1016 1,1017 1,1018 11019 ]1020 },1021 "color": [1022 95,1023 255,1024 1911025 ]1026 }1027 ],1028 "beer sign": [1029 {1030 "object_id": "SM_Beer_Sign3",1031 "bbox_2d": [1032 710,1033 441,1034 781,1035 4671036 ],1037 "bbox_3d": {1038 "aabb": {1039 "center": [1040 1398.1966238021976,1041 599.056816550878,1042 256.67614841461181043 ],1044 "extent": [1045 2.0739083496189323,1046 41.187305000402034,1047 14.964528083801271048 ]1049 },1050 "obb": {1051 "center": [1052 1398.1966238021976,1053 599.056816550878,1054 256.67614841461181055 ],1056 "extent": [1057 2.0739083496189323,1058 41.187305000402034,1059 14.964528083801271060 ],1061 "rotation": [1062 0,1063 90.00019836425781,1064 01065 ]1066 },1067 "location": [1068 1400.2703857421875,1069 599.0568237304688,1070 256.67614746093751071 ],1072 "rotation": [1073 0,1074 90.00019836425781,1075 01076 ],1077 "scale": [1078 1,1079 1,1080 11081 ]1082 },1083 "color": [1084 95,1085 95,1086 01087 ]1088 }1089 ],1090 "ad": [1091 {1092 "object_id": "SM_Sandwich_Ad_2",1093 "bbox_2d": [1094 1677,1095 460,1096 1789,1097 6771098 ],1099 "bbox_3d": {1100 "aabb": {1101 "center": [1102 750.7865600585938,1103 1201.00441634655,1104 146.558418273925781105 ],1106 "extent": [1107 32.24943542480469,1108 0.4452856779098511,1109 47.1828308105468751110 ]1111 },1112 "obb": {1113 "center": [1114 750.7865600585938,1115 1201.00441634655,1116 146.558418273925781117 ],1118 "extent": [1119 32.24943542480469,1120 0.4452856779098511,1121 47.1828308105468751122 ],1123 "rotation": [1124 0,1125 0,1126 01127 ]1128 },1129 "location": [1130 750.7865600585938,1131 1200.9569091796875,1132 145.040924072265621133 ],1134 "rotation": [1135 0,1136 0,1137 01138 ],1139 "scale": [1140 1,1141 1,1142 11143 ]1144 },1145 "color": [1146 95,1147 95,1148 631149 ]1150 }1151 ]1152 }1153}