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": "l111_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/Convenience_Store/l111_r000/lit.png",5 "camera": {6 "location": [7 89,8 821,9 16110 ],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 89,38 821,39 161,40 141 ]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": [57 863,58 882,59 1742,60 107961 ],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 1731,122 705,123 1919,124 1079125 ],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 "coffee machine": [180 {181 "object_id": "SM_Coffee_Machine_2",182 "bbox_2d": [183 402,184 544,185 496,186 625187 ],188 "bbox_3d": {189 "aabb": {190 "center": [191 797.5586261905396,192 445.6846854893375,193 128.9685573577881194 ],195 "extent": [196 27.070429990485422,197 22.343763158214927,198 28.9674015045166199 ]200 },201 "obb": {202 "center": [203 797.5586261905396,204 445.6846854893375,205 128.9685573577881206 ],207 "extent": [208 27.070429990485422,209 22.343763158214927,210 28.9674015045166211 ],212 "rotation": [213 0,214 90.00007629394531,215 0216 ]217 },218 "location": [219 798.4383544921875,220 445.6964111328125,221 100.00115966796875222 ],223 "rotation": [224 0,225 90.00007629394531,226 0227 ],228 "scale": [229 1,230 1,231 1232 ]233 },234 "color": [235 127,236 95,237 31238 ]239 }240 ],241 "coffee supplies": [242 {243 "object_id": "SM_Coffee_Supplies_5",244 "bbox_2d": [245 351,246 594,247 438,248 634249 ],250 "bbox_3d": {251 "aabb": {252 "center": [253 728.4383504150533,254 445.6962622915158,255 111.84191799163818256 ],257 "extent": [258 24.109946031074287,259 16.28647964711405,260 11.954957008361816261 ]262 },263 "obb": {264 "center": [265 728.4383504150533,266 445.6962622915158,267 111.84191799163818268 ],269 "extent": [270 24.109946031074287,271 16.28647964711405,272 11.954957008361816273 ],274 "rotation": [275 0,276 93.59552001953126,277 0278 ]279 },280 "location": [281 728.4383544921875,282 445.6961669921875,283 100.00115966796875284 ],285 "rotation": [286 0,287 93.59552001953126,288 0289 ],290 "scale": [291 1,292 1,293 1294 ]295 },296 "color": [297 63,298 95,299 0300 ]301 }302 ],303 "napkin dispenser": [304 {305 "object_id": "SM_Paper_Napkin_Dispenser_8",306 "bbox_2d": [307 352,308 619,309 396,310 638311 ],312 "bbox_3d": {313 "aabb": {314 "center": [315 688.4382333753791,316 455.6964111147987,317 105.59275150299072318 ],319 "extent": [320 8.491547799773002,321 9.322457854809215,322 5.591593265533447323 ]324 },325 "obb": {326 "center": [327 688.4382333753791,328 455.6964111147987,329 105.59275150299072330 ],331 "extent": [332 8.491547799773002,333 9.322457854809215,334 5.591593265533447335 ],336 "rotation": [337 0,338 88.91768646240236,339 0340 ]341 },342 "location": [343 688.438232421875,344 455.6964111328125,345 100.00115966796875346 ],347 "rotation": [348 0,349 88.91768646240236,350 0351 ],352 "scale": [353 1,354 1,355 1356 ]357 },358 "color": [359 63,360 95,361 255362 ]363 }364 ],365 "cup": [366 {367 "object_id": "SM_Paper_Cups_11",368 "bbox_2d": [369 443,370 606,371 457,372 627373 ],374 "bbox_3d": {375 "aabb": {376 "center": [377 758.4381108283997,378 465.6969604492194,379 107.31064081192017380 ],381 "extent": [382 4.662275800468478,383 4.662275800468535,384 7.309482097625732385 ]386 },387 "obb": {388 "center": [389 758.4381108283997,390 465.6969604492194,391 107.31064081192017392 ],393 "extent": [394 4.662275800468478,395 4.662275800468535,396 7.309482097625732397 ],398 "rotation": [399 0,400 90.00007629394531,401 0402 ]403 },404 "location": [405 758.4381103515625,406 465.69696044921875,407 100.00115966796875408 ],409 "rotation": [410 0,411 90.00007629394531,412 0413 ],414 "scale": [415 1,416 1,417 1418 ]419 },420 "color": [421 63,422 95,423 127424 ]425 },426 {427 "object_id": "SM_Paper_Cups2",428 "bbox_2d": [429 477,430 647,431 496,432 659433 ],434 "bbox_3d": {435 "aabb": {436 "center": [437 774.2435852559868,438 481.9266381261665,439 80.00115966796875440 ],441 "extent": [442 4.66232409787483,443 7.309516863272449,444 4.662269592285156445 ]446 },447 "obb": {448 "center": [449 774.2435852559868,450 481.9266381261665,451 80.00115966796875452 ],453 "extent": [454 4.66232409787483,455 7.309516863272449,456 4.662269592285156457 ],458 "rotation": [459 -90,460 89.99957275390624,461 0462 ]463 },464 "location": [465 774.2435302734375,466 474.6171569824219,467 80.00115966796875468 ],469 "rotation": [470 -90,471 89.99957275390624,472 0473 ],474 "scale": [475 1,476 1,477 1478 ]479 },480 "color": [481 63,482 95,483 63484 ]485 },486 {487 "object_id": "SM_Paper_Cups3",488 "bbox_2d": [489 307,490 634,491 324,492 639493 ],494 "bbox_3d": {495 "aabb": {496 "center": [497 678.4381108283997,498 425.69631958007875,499 107.31064081192017500 ],501 "extent": [502 4.662275800468478,503 4.662275800468535,504 7.309482097625732505 ]506 },507 "obb": {508 "center": [509 678.4381108283997,510 425.69631958007875,511 107.31064081192017512 ],513 "extent": [514 4.662275800468478,515 4.662275800468535,516 7.309482097625732517 ],518 "rotation": [519 0,520 90.00007629394531,521 0522 ]523 },524 "location": [525 678.4381103515625,526 425.6963195800781,527 100.00115966796875528 ],529 "rotation": [530 0,531 90.00007629394531,532 0533 ],534 "scale": [535 1,536 1,537 1538 ]539 },540 "color": [541 191,542 95,543 127544 ]545 },546 {547 "object_id": "SM_Paper_Cups4",548 "bbox_2d": [549 307,550 628,551 324,552 634553 ],554 "bbox_3d": {555 "aabb": {556 "center": [557 678.4381108283997,558 425.69631958007875,559 110.54884576797485560 ],561 "extent": [562 4.662275800468478,563 4.662275800468535,564 7.309482097625732565 ]566 },567 "obb": {568 "center": [569 678.4381108283997,570 425.69631958007875,571 110.54884576797485572 ],573 "extent": [574 4.662275800468478,575 4.662275800468535,576 7.309482097625732577 ],578 "rotation": [579 0,580 90.00007629394531,581 0582 ]583 },584 "location": [585 678.4381103515625,586 425.6963195800781,587 103.23936462402344588 ],589 "rotation": [590 0,591 90.00007629394531,592 0593 ],594 "scale": [595 1,596 1,597 1598 ]599 },600 "color": [601 191,602 95,603 63604 ]605 },606 {607 "object_id": "SM_Paper_Cups5",608 "bbox_2d": [609 307,610 605,611 324,612 629613 ],614 "bbox_3d": {615 "aabb": {616 "center": [617 678.4381099491318,618 425.69631983585765,619 113.61073541641235620 ],621 "extent": [622 6.4356430293148605,623 6.435643029314804,624 7.309482097625732625 ]626 },627 "obb": {628 "center": [629 678.4381099491318,630 425.69631983585765,631 113.61073541641235632 ],633 "extent": [634 6.4356430293148605,635 6.435643029314804,636 7.309482097625732637 ],638 "rotation": [639 0,640 -122.43948364257814,641 0642 ]643 },644 "location": [645 678.4381103515625,646 425.6963195800781,647 106.30125427246094648 ],649 "rotation": [650 0,651 -122.43948364257814,652 0653 ],654 "scale": [655 1,656 1,657 1658 ]659 },660 "color": [661 191,662 95,663 191664 ]665 },666 {667 "object_id": "SM_Plastic_Cup_5",668 "bbox_2d": [669 552,670 608,671 554,672 608673 ],674 "bbox_3d": {675 "aabb": {676 "center": [677 937.7943618646119,678 457.9903783798352,679 106.27174806615629680 ],681 "extent": [682 4.662321174947806,683 4.6622708339359065,684 6.0977138140409295685 ]686 },687 "obb": {688 "center": [689 937.7943618646119,690 457.9903783798352,691 106.27174806615629692 ],693 "extent": [694 4.662321174947806,695 4.6622708339359065,696 6.0977138140409295697 ],698 "rotation": [699 -0.0004730224609443101,700 -179.99998474121097,701 180702 ]703 },704 "location": [705 937.7943115234375,706 457.9903564453125,707 112.36942291259766708 ],709 "rotation": [710 -0.0004730224609443101,711 -179.99998474121097,712 180713 ],714 "scale": [715 1,716 1,717 1718 ]719 },720 "color": [721 31,722 95,723 127724 ]725 },726 {727 "object_id": "SM_Plastic_Cup2",728 "bbox_2d": [729 552,730 606,731 554,732 607733 ],734 "bbox_3d": {735 "aabb": {736 "center": [737 937.7943624063862,738 457.99038000375793,739 107.4034008981981740 ],741 "extent": [742 4.662322958371874,743 4.662273699495586,744 6.09771546991837745 ]746 },747 "obb": {748 "center": [749 937.7943624063862,750 457.99038000375793,751 107.4034008981981752 ],753 "extent": [754 4.662322958371874,755 4.662273699495586,756 6.09771546991837757 ],758 "rotation": [759 -0.0004781132156495003,760 -179.99996948242188,761 -179.99998474121097762 ]763 },764 "location": [765 937.7943115234375,766 457.9903564453125,767 113.5010757446289768 ],769 "rotation": [770 -0.0004781132156495003,771 -179.99996948242188,772 -179.99998474121097773 ],774 "scale": [775 1,776 1,777 1778 ]779 },780 "color": [781 31,782 95,783 63784 ]785 },786 {787 "object_id": "SM_Plastic_Cup3",788 "bbox_2d": [789 551,790 605,791 554,792 606793 ],794 "bbox_3d": {795 "aabb": {796 "center": [797 937.7943623943374,798 457.99038000375793,799 108.45808076880347800 ],801 "extent": [802 4.662322946323229,803 4.662273699495586,804 6.097715460706041805 ]806 },807 "obb": {808 "center": [809 937.7943623943374,810 457.99038000375793,811 108.45808076880347812 ],813 "extent": [814 4.662322946323229,815 4.662273699495586,816 6.097715460706041817 ],818 "rotation": [819 -0.00047800000174902363,820 -179.99996948242188,821 -179.99998474121097822 ]823 },824 "location": [825 937.7943115234375,826 457.9903564453125,827 114.55575561523438828 ],829 "rotation": [830 -0.00047800000174902363,831 -179.99996948242188,832 -179.99998474121097833 ],834 "scale": [835 1,836 1,837 1838 ]839 },840 "color": [841 31,842 95,843 191844 ]845 },846 {847 "object_id": "SM_Plastic_Cup4",848 "bbox_2d": [849 547,850 604,851 554,852 605853 ],854 "bbox_3d": {855 "aabb": {856 "center": [857 937.7943623943374,858 457.99038000375793,859 109.43800020239722860 ],861 "extent": [862 4.662322946323229,863 4.662273699495586,864 6.097715460706041865 ]866 },867 "obb": {868 "center": [869 937.7943623943374,870 457.99038000375793,871 109.43800020239722872 ],873 "extent": [874 4.662322946323229,875 4.662273699495586,876 6.097715460706041877 ],878 "rotation": [879 -0.00047800000174902363,880 -179.99996948242188,881 -179.99998474121097882 ]883 },884 "location": [885 937.7943115234375,886 457.9903564453125,887 115.53567504882812888 ],889 "rotation": [890 -0.00047800000174902363,891 -179.99996948242188,892 -179.99998474121097893 ],894 "scale": [895 1,896 1,897 1898 ]899 },900 "color": [901 31,902 95,903 31904 ]905 },906 {907 "object_id": "SM_Plastic_Cup5",908 "bbox_2d": [909 547,910 590,911 554,912 603913 ],914 "bbox_3d": {915 "aabb": {916 "center": [917 937.7943623943374,918 457.99038000375793,919 110.60352754614722920 ],921 "extent": [922 4.662322946323229,923 4.662273699495586,924 6.097715460706041925 ]926 },927 "obb": {928 "center": [929 937.7943623943374,930 457.99038000375793,931 110.60352754614722932 ],933 "extent": [934 4.662322946323229,935 4.662273699495586,936 6.097715460706041937 ],938 "rotation": [939 -0.00047800000174902363,940 -179.99996948242188,941 -179.99998474121097942 ]943 },944 "location": [945 937.7943115234375,946 457.9903564453125,947 116.70120239257812948 ],949 "rotation": [950 -0.00047800000174902363,951 -179.99996948242188,952 -179.99998474121097953 ],954 "scale": [955 1,956 1,957 1958 ]959 },960 "color": [961 0,962 95,963 95964 ]965 },966 {967 "object_id": "SM_Plastic_Cup6",968 "bbox_2d": [969 588,970 623,971 600,972 631973 ],974 "bbox_3d": {975 "aabb": {976 "center": [977 976.5128099366584,978 482.11237764378257,979 80.07191109149238980 ],981 "extent": [982 4.662327705307916,983 6.097736163472632,984 4.662300099139145985 ]986 },987 "obb": {988 "center": [989 976.5128099366584,990 482.11237764378257,991 80.07191109149238992 ],993 "extent": [994 4.662327705307916,995 6.097736163472632,996 4.662300099139145997 ],998 "rotation": [999 5.5600874475203515e-05,1000 -179.99949645996094,1001 89.999755859375011002 ]1003 },1004 "location": [1005 976.5127563476562,1006 488.2100524902344,1007 80.071907043457031008 ],1009 "rotation": [1010 5.5600874475203515e-05,1011 -179.99949645996094,1012 89.999755859375011013 ],1014 "scale": [1015 1,1016 1,1017 11018 ]1019 },1020 "color": [1021 255,1022 95,1023 951024 ]1025 },1026 {1027 "object_id": "SM_Plastic_Cup7",1028 "bbox_2d": [1029 600,1030 620,1031 611,1032 6281033 ],1034 "bbox_3d": {1035 "aabb": {1036 "center": [1037 1004.8085252686898,1038 482.11237764378257,1039 80.071911091492381040 ],1041 "extent": [1042 4.662327737785745,1043 6.0977361634728595,1044 4.6623001316168031045 ]1046 },1047 "obb": {1048 "center": [1049 1004.8085252686898,1050 482.11237764378257,1051 80.071911091492381052 ],1053 "extent": [1054 4.662327737785745,1055 6.0977361634728595,1056 4.6623001316168031057 ],1058 "rotation": [1059 5.6000000768108266e-05,1060 -179.99949645996094,1061 89.999755859375011062 ]1063 },1064 "location": [1065 1004.8084716796875,1066 488.2100524902344,1067 80.071907043457031068 ],1069 "rotation": [1070 5.6000000768108266e-05,1071 -179.99949645996094,1072 89.999755859375011073 ],1074 "scale": [1075 1,1076 1,1077 11078 ]1079 },1080 "color": [1081 127,1082 95,1083 951084 ]1085 }1086 ],1087 "coffee counter": [1088 {1089 "object_id": "SM_Coffee_Counter_10",1090 "bbox_2d": [1091 237,1092 617,1093 529,1094 7971095 ],1096 "bbox_3d": {1097 "aabb": {1098 "center": [1099 748.8608591313241,1100 439.99975984073865,1101 55.000019073486331102 ],1103 "extent": [1104 101.1391713864673,1105 40.000270676740854,1106 45.000019073486331107 ]1108 },1109 "obb": {1110 "center": [1111 748.8608591313241,1112 439.99975984073865,1113 55.000019073486331114 ],1115 "extent": [1116 101.1391713864673,1117 40.000270676740854,1118 45.000019073486331119 ],1120 "rotation": [1121 0,1122 90.00011444091797,1123 01124 ]1125 },1126 "location": [1127 850,1128 400,1129 101130 ],1131 "rotation": [1132 0,1133 90.00011444091797,1134 01135 ],1136 "scale": [1137 1,1138 1,1139 11140 ]1141 },1142 "color": [1143 191,1144 95,1145 311146 ]1147 },1148 {1149 "object_id": "SM_Coffee_Counter2_12",1150 "bbox_2d": [1151 497,1152 601,1153 619,1154 7281155 ],1156 "bbox_3d": {1157 "aabb": {1158 "center": [1159 951.2646677250741,1160 439.99975984073865,1161 55.000019073486331162 ],1163 "extent": [1164 101.1391713864673,1165 40.000270676740854,1166 45.000019073486331167 ]1168 },1169 "obb": {1170 "center": [1171 951.2646677250741,1172 439.99975984073865,1173 55.000019073486331174 ],1175 "extent": [1176 101.1391713864673,1177 40.000270676740854,1178 45.000019073486331179 ],1180 "rotation": [1181 0,1182 90.00011444091797,1183 01184 ]1185 },1186 "location": [1187 1052.40380859375,1188 400,1189 101190 ],1191 "rotation": [1192 0,1193 90.00011444091797,1194 01195 ],1196 "scale": [1197 1,1198 1,1199 11200 ]