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": "l106_r005",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/Convenience_Store/l106_r005/lit.png",5 "camera": {6 "location": [7 417,8 1082,9 15910 ],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 [37 417,38 1082,39 159,40 141 ]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": [58 932,59 541,60 1017,61 61962 ],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": [120 857,121 586,122 930,123 622124 ],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": [182 833,183 607,184 865,185 624186 ],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 "object_id": "SM_Paper_Napkin_Dispenser2",241 "bbox_2d": [242 0,243 637,244 3,245 657246 ],247 "bbox_3d": {248 "aabb": {249 "center": [250 234.41401691860423,251 441.58792020904673,252 105.59275150299072253 ],254 "extent": [255 10.674257866788565,256 10.018262998583964,257 5.591593265533447258 ]259 },260 "obb": {261 "center": [262 234.41401691860423,263 441.58792020904673,264 105.59275150299072265 ],266 "extent": [267 10.674257866788565,268 10.018262998583964,269 5.591593265533447270 ],271 "rotation": [272 0,273 11.796856880187987,274 0275 ]276 },277 "location": [278 234.4140167236328,279 441.5879211425781,280 100.00115966796875281 ],282 "rotation": [283 0,284 11.796856880187987,285 0286 ],287 "scale": [288 1,289 1,290 1291 ]292 },293 "color": [294 95,295 0,296 63297 ]298 }299 ],300 "cup": [301 {302 "object_id": "SM_Paper_Cups_11",303 "bbox_2d": [304 937,305 600,306 948,307 620308 ],309 "bbox_3d": {310 "aabb": {311 "center": [312 758.4381108283997,313 465.6969604492194,314 107.31064081192017315 ],316 "extent": [317 4.662275800468478,318 4.662275800468535,319 7.309482097625732320 ]321 },322 "obb": {323 "center": [324 758.4381108283997,325 465.6969604492194,326 107.31064081192017327 ],328 "extent": [329 4.662275800468478,330 4.662275800468535,331 7.309482097625732332 ],333 "rotation": [334 0,335 90.00007629394531,336 0337 ]338 },339 "location": [340 758.4381103515625,341 465.69696044921875,342 100.00115966796875343 ],344 "rotation": [345 0,346 90.00007629394531,347 0348 ],349 "scale": [350 1,351 1,352 1353 ]354 },355 "color": [356 63,357 95,358 127359 ]360 },361 {362 "object_id": "SM_Paper_Cups2",363 "bbox_2d": [364 965,365 642,366 981,367 653368 ],369 "bbox_3d": {370 "aabb": {371 "center": [372 774.2435852559868,373 481.9266381261665,374 80.00115966796875375 ],376 "extent": [377 4.66232409787483,378 7.309516863272449,379 4.662269592285156380 ]381 },382 "obb": {383 "center": [384 774.2435852559868,385 481.9266381261665,386 80.00115966796875387 ],388 "extent": [389 4.66232409787483,390 7.309516863272449,391 4.662269592285156392 ],393 "rotation": [394 -90,395 89.99957275390624,396 0397 ]398 },399 "location": [400 774.2435302734375,401 474.6171569824219,402 80.00115966796875403 ],404 "rotation": [405 -90,406 89.99957275390624,407 0408 ],409 "scale": [410 1,411 1,412 1413 ]414 },415 "color": [416 63,417 95,418 63419 ]420 },421 {422 "object_id": "SM_Paper_Cups3",423 "bbox_2d": [424 814,425 617,426 826,427 621428 ],429 "bbox_3d": {430 "aabb": {431 "center": [432 678.4381108283997,433 425.69631958007875,434 107.31064081192017435 ],436 "extent": [437 4.662275800468478,438 4.662275800468535,439 7.309482097625732440 ]441 },442 "obb": {443 "center": [444 678.4381108283997,445 425.69631958007875,446 107.31064081192017447 ],448 "extent": [449 4.662275800468478,450 4.662275800468535,451 7.309482097625732452 ],453 "rotation": [454 0,455 90.00007629394531,456 0457 ]458 },459 "location": [460 678.4381103515625,461 425.6963195800781,462 100.00115966796875463 ],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 127479 ]480 },481 {482 "object_id": "SM_Paper_Cups4",483 "bbox_2d": [484 814,485 612,486 826,487 616488 ],489 "bbox_3d": {490 "aabb": {491 "center": [492 678.4381108283997,493 425.69631958007875,494 110.54884576797485495 ],496 "extent": [497 4.662275800468478,498 4.662275800468535,499 7.309482097625732500 ]501 },502 "obb": {503 "center": [504 678.4381108283997,505 425.69631958007875,506 110.54884576797485507 ],508 "extent": [509 4.662275800468478,510 4.662275800468535,511 7.309482097625732512 ],513 "rotation": [514 0,515 90.00007629394531,516 0517 ]518 },519 "location": [520 678.4381103515625,521 425.6963195800781,522 103.23936462402344523 ],524 "rotation": [525 0,526 90.00007629394531,527 0528 ],529 "scale": [530 1,531 1,532 1533 ]534 },535 "color": [536 191,537 95,538 63539 ]540 },541 {542 "object_id": "SM_Paper_Cups5",543 "bbox_2d": [544 814,545 592,546 826,547 612548 ],549 "bbox_3d": {550 "aabb": {551 "center": [552 678.4381099491318,553 425.69631983585765,554 113.61073541641235555 ],556 "extent": [557 6.4356430293148605,558 6.435643029314804,559 7.309482097625732560 ]561 },562 "obb": {563 "center": [564 678.4381099491318,565 425.69631983585765,566 113.61073541641235567 ],568 "extent": [569 6.4356430293148605,570 6.435643029314804,571 7.309482097625732572 ],573 "rotation": [574 0,575 -122.43948364257814,576 0577 ]578 },579 "location": [580 678.4381103515625,581 425.6963195800781,582 106.30125427246094583 ],584 "rotation": [585 0,586 -122.43948364257814,587 0588 ],589 "scale": [590 1,591 1,592 1593 ]594 },595 "color": [596 191,597 95,598 191599 ]600 }601 ],602 "coffee counter": [603 {604 "object_id": "SM_Coffee_Counter_10",605 "bbox_2d": [606 768,607 612,608 1055,609 762610 ],611 "bbox_3d": {612 "aabb": {613 "center": [614 748.8608591313241,615 439.99975984073865,616 55.00001907348633617 ],618 "extent": [619 101.1391713864673,620 40.000270676740854,621 45.00001907348633622 ]623 },624 "obb": {625 "center": [626 748.8608591313241,627 439.99975984073865,628 55.00001907348633629 ],630 "extent": [631 101.1391713864673,632 40.000270676740854,633 45.00001907348633634 ],635 "rotation": [636 0,637 90.00011444091797,638 0639 ]640 },641 "location": [642 850,643 400,644 10645 ],646 "rotation": [647 0,648 90.00011444091797,649 0650 ],651 "scale": [652 1,653 1,654 1655 ]656 },657 "color": [658 191,659 95,660 31661 ]662 },663 {664 "object_id": "SM_Coffee_Counter2_12",665 "bbox_2d": [666 1012,667 609,668 1129,669 731670 ],671 "bbox_3d": {672 "aabb": {673 "center": [674 951.2646677250741,675 439.99975984073865,676 55.00001907348633677 ],678 "extent": [679 101.1391713864673,680 40.000270676740854,681 45.00001907348633682 ]683 },684 "obb": {685 "center": [686 951.2646677250741,687 439.99975984073865,688 55.00001907348633689 ],690 "extent": [691 101.1391713864673,692 40.000270676740854,693 45.00001907348633694 ],695 "rotation": [696 0,697 90.00011444091797,698 0699 ]700 },701 "location": [702 1052.40380859375,703 400,704 10705 ],706 "rotation": [707 0,708 90.00011444091797,709 0710 ],711 "scale": [712 1,713 1,714 1715 ]716 },717 "color": [718 31,719 95,720 0721 ]722 }723 ],724 "drink machine": [725 {726 "object_id": "SM_Drink_Machine_2",727 "bbox_2d": [728 1021,729 530,730 1116,731 614732 ],733 "bbox_3d": {734 "aabb": {735 "center": [736 889.1782880594402,737 443.63552856446387,738 133.54526138305664739 ],740 "extent": [741 29.00478112511564,742 27.472098157030928,743 33.42982482910156744 ]745 },746 "obb": {747 "center": [748 889.1782880594402,749 443.63552856446387,750 133.54526138305664751 ],752 "extent": [753 29.00478112511564,754 27.472098157030928,755 33.42982482910156756 ],757 "rotation": [758 0,759 90.00012207031251,760 0761 ]762 },763 "location": [764 889.1782836914062,765 443,766 100.00001525878906767 ],768 "rotation": [769 0,770 90.00012207031251,771 0772 ],773 "scale": [774 1,775 1,776 1777 ]778 },779 "color": [780 31,781 95,782 255783 ]784 }785 ],786 "mat": [787 {788 "object_id": "SM_Mat2",789 "bbox_2d": [790 0,791 913,792 330,793 1079794 ],795 "bbox_3d": {796 "aabb": {797 "center": [798 324.528668041802,799 717.1061794844431,800 10.689099669456482801 ],802 "extent": [803 69.14052434333286,804 93.36202669623742,805 0.5533158183097839806 ]807 },808 "obb": {809 "center": [810 324.528668041802,811 717.1061794844431,812 10.689099669456482813 ],814 "extent": [815 69.14052434333286,816 93.36202669623742,817 0.5533158183097839818 ],819 "rotation": [820 0,821 -90.50744628906251,822 0823 ]824 },825 "location": [826 324.0971984863281,827 717.1015625,828 10.157707214355469829 ],830 "rotation": [831 0,832 -90.50744628906251,833 0834 ],835 "scale": [836 1,837 1,838 1839 ]840 },841 "color": [842 95,843 255,844 31845 ]846 }847 ],848 "counter shelf display": [849 {850 "object_id": "SM_Counter_Shelf_Display_B_4",851 "bbox_2d": [852 0,853 653,854 59,855 864856 ],857 "bbox_3d": {858 "aabb": {859 "center": [860 219.9999656677246,861 510.00003814697266,862 55.00001907348633863 ],864 "extent": [865 40.00006866455078,866 100.00005340576172,867 45.00001907348633868 ]869 },870 "obb": {871 "center": [872 219.9999656677246,873 510.00003814697266,874 55.00001907348633875 ],876 "extent": [877 40.00006866455078,878 100.00005340576172,879 45.00001907348633880 ],881 "rotation": [882 0,883 0,884 0885 ]886 },887 "location": [888 180,889 410,890 10891 ],892 "rotation": [893 0,894 0,895 0896 ],897 "scale": [898 1,899 1,900 1901 ]902 },903 "color": [904 95,905 191,906 31907 ]908 }909 ],910 "beer sign": [911 {912 "object_id": "SM_Beer_Sign3",913 "bbox_2d": [914 1558,915 416,916 1651,917 455918 ],919 "bbox_3d": {920 "aabb": {921 "center": [922 1398.1966238021976,923 599.056816550878,924 256.6761484146118925 ],926 "extent": [927 2.0739083496189323,928 41.187305000402034,929 14.96452808380127930 ]931 },932 "obb": {933 "center": [934 1398.1966238021976,935 599.056816550878,936 256.6761484146118937 ],938 "extent": [939 2.0739083496189323,940 41.187305000402034,941 14.96452808380127942 ],943 "rotation": [944 0,945 90.00019836425781,946 0947 ]948 },949 "location": [950 1400.2703857421875,951 599.0568237304688,952 256.6761474609375953 ],954 "rotation": [955 0,956 90.00019836425781,957 0958 ],959 "scale": [960 1,961 1,962 1963 ]964 },965 "color": [966 95,967 95,968 0969 ]970 }971 ]972 }973}