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": "l119_r003",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/Convenience_Store/l119_r003/lit.png",5 "camera": {6 "location": [7 748,8 1115,9 15410 ],11 "rotation": [12 0,13 180,14 015 ],16 "fov": 90,17 "c2w": [18 [19 -0.9999999999999996,20 1.224646799147353e-16,21 0,22 023 ],24 [25 -1.224646799147353e-16,26 -0.9999999999999996,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 748,38 1115,39 154,40 141 ]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 1301,58 617,59 1559,60 82061 ],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 1196,122 563,123 1300,124 804125 ],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 "tobacco display": [180 {181 "object_id": "SM_Tobacco_Display_C_8",182 "bbox_2d": [183 1599,184 464,185 1710,186 630187 ],188 "bbox_3d": {189 "aabb": {190 "center": [191 24.718214886462405,192 604.8800907798582,193 109.9212646484375194 ],195 "extent": [196 22.350087063553914,197 38.00004380254984,198 99.92132568359375199 ]200 },201 "obb": {202 "center": [203 24.718214886462402,204 604.8800907798582,205 109.9212646484375206 ],207 "extent": [208 22.350087063553914,209 38.00004380254984,210 99.92132568359375211 ],212 "rotation": [213 0,214 -90.00012207031251,215 0216 ]217 },218 "location": [219 2.3681564331054688,220 566.880126953125,221 9.99993896484375222 ],223 "rotation": [224 0,225 -90.00012207031251,226 0227 ],228 "scale": [229 1,230 1,231 1232 ]233 },234 "color": [235 255,236 95,237 0238 ]239 },240 {241 "object_id": "SM_Tobacco_Display_A_2",242 "bbox_2d": [243 1369,244 464,245 1498,246 630247 ],248 "bbox_3d": {249 "aabb": {250 "center": [251 23.729498760974124,252 758.7660160728269,253 109.92137145996094254 ],255 "extent": [256 22.350087063553914,257 38.00004380254984,258 99.92132568359375259 ]260 },261 "obb": {262 "center": [263 23.72949876097412,264 758.7660160728269,265 109.92137145996094266 ],267 "extent": [268 22.350087063553914,269 38.00004380254984,270 99.92132568359375271 ],272 "rotation": [273 0,274 -90.00012207031251,275 0276 ]277 },278 "location": [279 1.3794403076171875,280 720.7660522460938,281 10.000045776367188282 ],283 "rotation": [284 0,285 -90.00012207031251,286 0287 ],288 "scale": [289 1,290 1,291 1292 ]293 },294 "color": [295 95,296 63,297 63298 ]299 },300 {301 "object_id": "SM_Tobacco_Display_B_8",302 "bbox_2d": [303 1495,304 464,305 1603,306 630307 ],308 "bbox_3d": {309 "aabb": {310 "center": [311 23.90831144999611,312 682.3889438536045,313 109.92131042480469314 ],315 "extent": [316 22.3500820035545,317 38.00004082647695,318 99.92132568359375319 ]320 },321 "obb": {322 "center": [323 23.90831144999611,324 682.3889438536045,325 109.92131042480469326 ],327 "extent": [328 22.3500820035545,329 38.00004082647695,330 99.92132568359375331 ],332 "rotation": [333 0,334 -90.00011444091797,335 0336 ]337 },338 "location": [339 1.558258056640625,340 644.3889770507812,341 9.999984741210938342 ],343 "rotation": [344 0,345 -90.00011444091797,346 0347 ],348 "scale": [349 1,350 1,351 1352 ]353 },354 "color": [355 95,356 63,357 191358 ]359 }360 ],361 "atm": [362 {363 "object_id": "SM_ATM_27",364 "bbox_2d": [365 942,366 504,367 1010,368 694369 ],370 "bbox_3d": {371 "aabb": {372 "center": [373 -165.37035369874536,374 1099.9999860165026,375 99.15963745117188376 ],377 "extent": [378 31.839377383484702,379 31.772072915673334,380 89.1596450805664381 ]382 },383 "obb": {384 "center": [385 -165.37035369874536,386 1099.9999860165026,387 99.15963745117188388 ],389 "extent": [390 31.839377383484702,391 31.772072915673334,392 89.1596450805664393 ],394 "rotation": [395 0,396 -90.00012207031251,397 0398 ]399 },400 "location": [401 -171.93374633789062,402 1100,403 10404 ],405 "rotation": [406 0,407 -90.00012207031251,408 0409 ],410 "scale": [411 1,412 1,413 1414 ]415 },416 "color": [417 255,418 95,419 31420 ]421 }422 ],423 "bottle stand": [424 {425 "object_id": "SM_Bottle_Stand_5",426 "bbox_2d": [427 1866,428 595,429 1919,430 643431 ],432 "bbox_3d": {433 "aabb": {434 "center": [435 231.80416889283168,436 604.9944947649063,437 111.77631187438965438 ],439 "extent": [440 19.91625660101562,441 10.514703403895282,442 11.776299476623535443 ]444 },445 "obb": {446 "center": [447 231.80416889283168,448 604.9944947649063,449 111.77631187438965450 ],451 "extent": [452 19.91625660101562,453 10.514703403895282,454 11.776299476623535455 ],456 "rotation": [457 0,458 -80.00007629394531,459 0460 ]461 },462 "location": [463 231.80416870117188,464 604.9945068359375,465 100.00001525878906466 ],467 "rotation": [468 0,469 -80.00007629394531,470 0471 ],472 "scale": [473 1,474 1,475 1476 ]477 },478 "color": [479 191,480 95,481 95482 ]483 }484 ],485 "bottle": [486 {487 "object_id": "SM_Ketchup_Bottle_8",488 "bbox_2d": [489 1883,490 556,491 1905,492 601493 ],494 "bbox_3d": {495 "aabb": {496 "center": [497 221.8688999205397,498 602.6392806261019,499 131.40055084228516500 ],501 "extent": [502 5.444847136823114,503 5.444846363241595,504 13.736084938049316505 ]506 },507 "obb": {508 "center": [509 221.8688999205397,510 602.6392806261019,511 131.40055084228516512 ],513 "extent": [514 5.444847136823114,515 5.444846363241595,516 13.736084938049316517 ],518 "rotation": [519 0,520 10.000028610229492,521 0522 ]523 },524 "location": [525 221.86891174316406,526 602.6392822265625,527 117.66446685791016528 ],529 "rotation": [530 0,531 10.000028610229492,532 0533 ],534 "scale": [535 1,536 1,537 1538 ]539 },540 "color": [541 31,542 95,543 95544 ]545 },546 {547 "object_id": "SM_Mustard_Bottle_11",548 "bbox_2d": [549 1897,550 567,551 1919,552 613553 ],554 "bbox_3d": {555 "aabb": {556 "center": [557 231.92778350472975,558 604.8994129316324,559 125.51240539550781560 ],561 "extent": [562 5.444847136823114,563 5.444846363241595,564 13.736084938049316565 ]566 },567 "obb": {568 "center": [569 231.92778350472975,570 604.8994129316324,571 125.51240539550781572 ],573 "extent": [574 5.444847136823114,575 5.444846363241595,576 13.736084938049316577 ],578 "rotation": [579 0,580 10.000028610229492,581 0582 ]583 },584 "location": [585 231.92779541015625,586 604.8994140625,587 111.77632141113281588 ],589 "rotation": [590 0,591 10.000028610229492,592 0593 ],594 "scale": [595 1,596 1,597 1598 ]599 },600 "color": [601 95,602 0,603 0604 ]605 },606 {607 "object_id": "SM_Mayonaise_Bottle_14",608 "bbox_2d": [609 1914,610 588,611 1919,612 617613 ],614 "bbox_3d": {615 "aabb": {616 "center": [617 243.7590366392897,618 607.3930648057894,619 119.62425994873047620 ],621 "extent": [622 5.444847136823114,623 5.444846363241595,624 13.736084938049316625 ]626 },627 "obb": {628 "center": [629 243.7590366392897,630 607.3930648057894,631 119.62425994873047632 ],633 "extent": [634 5.444847136823114,635 5.444846363241595,636 13.736084938049316637 ],638 "rotation": [639 0,640 10.000028610229492,641 0642 ]643 },644 "location": [645 243.75904846191406,646 607.39306640625,647 105.88817596435547648 ],649 "rotation": [650 0,651 10.000028610229492,652 0653 ],654 "scale": [655 1,656 1,657 1658 ]659 },660 "color": [661 95,662 0,663 255664 ]665 }666 ],667 "card reader": [668 {669 "object_id": "SM_Card_Reader_2",670 "bbox_2d": [671 1657,672 622,673 1693,674 637675 ],676 "bbox_3d": {677 "aabb": {678 "center": [679 212.96651400260225,680 716.4899456618128,681 104.12414264678955682 ],683 "extent": [684 10.298967466885273,685 6.94403134721415,686 4.124121189117432687 ]688 },689 "obb": {690 "center": [691 212.96651400260225,692 716.4899456618128,693 104.12414264678955694 ],695 "extent": [696 10.298967466885273,697 6.94403134721415,698 4.124121189117432699 ],700 "rotation": [701 0,702 -77.24995422363281,703 0704 ]705 },706 "location": [707 213.7287139892578,708 716.6624145507812,709 100.0000228881836710 ],711 "rotation": [712 0,713 -77.24995422363281,714 0715 ],716 "scale": [717 1,718 1,719 1720 ]721 },722 "color": [723 95,724 0,725 191726 ]727 }728 ],729 "shopping basket stand": [730 {731 "object_id": "SM_Shopping_Basket_Stand_2",732 "bbox_2d": [733 765,734 863,735 944,736 1045737 ],738 "bbox_3d": {739 "aabb": {740 "center": [741 437.0000002387705,742 1145.9999981076555,743 24.87095546722412744 ],745 "extent": [746 37.900795186396465,747 25.92428990466101,748 14.87095832824707749 ]750 },751 "obb": {752 "center": [753 437.0000002387705,754 1145.9999981076555,755 24.87095546722412756 ],757 "extent": [758 37.900795186396465,759 25.92428990466101,760 14.87095832824707761 ],762 "rotation": [763 0,764 7.191411018371582,765 0766 ]767 },768 "location": [769 437,770 1146,771 10772 ],773 "rotation": [774 0,775 7.191411018371582,776 0777 ],778 "scale": [779 1,780 1,781 1782 ]783 },784 "color": [785 95,786 0,787 31788 ]789 }790 ],791 "shopping basket": [792 {793 "object_id": "SM_Shopping_Basket_11",794 "bbox_2d": [795 778,796 850,797 938,798 1014799 ],800 "bbox_3d": {801 "aabb": {802 "center": [803 437.000002865246,804 1145.9999772918668,805 28.726181030273438806 ],807 "extent": [808 32.089719732421145,809 24.25146511108278,810 16.13337516784668811 ]812 },813 "obb": {814 "center": [815 437.000002865246,816 1145.9999772918668,817 28.726181030273438818 ],819 "extent": [820 32.089719732421145,821 24.25146511108278,822 16.13337516784668823 ],824 "rotation": [825 0,826 7.191411018371582,827 0828 ]829 },830 "location": [831 437,832 1146,833 12.592809677124023834 ],835 "rotation": [836 0,837 7.191411018371582,838 0839 ],840 "scale": [841 1,842 1,843 1844 ]845 },846 "color": [847 95,848 255,849 0850 ]851 },852 {853 "object_id": "SM_Shopping_Basket2",854 "bbox_2d": [855 778,856 834,857 938,858 994859 ],860 "bbox_3d": {861 "aabb": {862 "center": [863 437.000002865246,864 1145.9999772918668,865 34.18583297729492866 ],867 "extent": [868 32.089719732421145,869 24.25146511108278,870 16.13337516784668871 ]872 },873 "obb": {874 "center": [875 437.000002865246,876 1145.9999772918668,877 34.18583297729492878 ],879 "extent": [880 32.089719732421145,881 24.25146511108278,882 16.13337516784668883 ],884 "rotation": [885 0,886 7.191411018371582,887 0888 ]889 },890 "location": [891 437,892 1146,893 18.052461624145508894 ],895 "rotation": [896 0,897 7.191411018371582,898 0899 ],900 "scale": [901 1,902 1,903 1904 ]905 },906 "color": [907 95,908 255,909 255910 ]911 },912 {913 "object_id": "SM_Shopping_Basket3",914 "bbox_2d": [915 778,916 816,917 938,918 975919 ],920 "bbox_3d": {921 "aabb": {922 "center": [923 437.000002865246,924 1145.9999772918668,925 39.529951095581055926 ],927 "extent": [928 32.089719732421145,929 24.25146511108278,930 16.13337516784668931 ]932 },933 "obb": {934 "center": [935 437.000002865246,936 1145.9999772918668,937 39.529951095581055938 ],939 "extent": [940 32.089719732421145,941 24.25146511108278,942 16.13337516784668943 ],944 "rotation": [945 0,946 7.191411018371582,947 0948 ]949 },950 "location": [951 437,952 1146,953 23.39657974243164954 ],955 "rotation": [956 0,957 7.191411018371582,958 0959 ],960 "scale": [961 1,962 1,963 1964 ]965 },966 "color": [967 95,968 255,969 127970 ]971 },972 {973 "object_id": "SM_Shopping_Basket4",974 "bbox_2d": [975 775,976 731,977 937,978 878979 ],980 "bbox_3d": {981 "aabb": {982 "center": [983 436.34887032376605,984 1145.2814455686596,985 59.73983968876464986 ],987 "extent": [988 36.4081771978602,989 25.262972897530062,990 28.069951478752223991 ]992 },993 "obb": {994 "center": [995 436.34887032376605,996 1145.2814455686596,997 59.73983968876464998 ],999 "extent": [1000 36.4081771978602,1001 25.262972897530062,1002 28.0699514787522231003 ],1004 "rotation": [1005 -27.591447830200202,1006 8.121444702148441,1007 01008 ]1009 },1010 "location": [1011 428.951416015625,1012 1144.225830078125,1013 45.44127273559571014 ],1015 "rotation": [1016 -27.591447830200202,1017 8.121444702148441,1018 01019 ],1020 "scale": [1021 1,1022 1,1023 11024 ]1025 },1026 "color": [1027 95,1028 255,1029 631030 ]1031 }1032 ],1033 "mat": [1034 {1035 "object_id": "SM_Mat2",1036 "bbox_2d": [1037 1558,1038 820,1039 1919,1040 9281041 ],1042 "bbox_3d": {1043 "aabb": {1044 "center": [1045 324.528668041802,1046 717.1061794844431,1047 10.6890996694564821048 ],1049 "extent": [1050 69.14052434333286,1051 93.36202669623742,1052 0.55331581830978391053 ]1054 },1055 "obb": {1056 "center": [1057 324.528668041802,1058 717.1061794844431,1059 10.6890996694564821060 ],1061 "extent": [1062 69.14052434333286,1063 93.36202669623742,1064 0.55331581830978391065 ],1066 "rotation": [1067 0,1068 -90.50744628906251,1069 01070 ]1071 },1072 "location": [1073 324.0971984863281,1074 717.1015625,1075 10.1577072143554691076 ],1077 "rotation": [1078 0,1079 -90.50744628906251,1080 01081 ],1082 "scale": [1083 1,1084 1,1085 11086 ]1087 },1088 "color": [1089 95,1090 255,1091 311092 ]1093 }1094 ],1095 "lighter display": [1096 {1097 "object_id": "SM_Lighter_Display_5",1098 "bbox_2d": [1099 1517,1100 591,1101 1582,1102 6441103 ],1104 "bbox_3d": {1105 "aabb": {1106 "center": [1107 238.92790071919288,1108 802.2531143062456,1109 113.307734489440921110 ],1111 "extent": [1112 13.147392160229316,1113 14.132033608390088,1114 13.307736396789551115 ]1116 },1117 "obb": {1118 "center": [1119 238.92790071919288,1120 802.2531143062456,1121 113.307734489440921122 ],1123 "extent": [1124 13.147392160229316,1125 14.132033608390088,1126 13.307736396789551127 ],1128 "rotation": [1129 0,1130 -108.63994598388675,1131 01132 ]1133 },1134 "location": [1135 238.9279022216797,1136 802.2531127929688,1137 1001138 ],1139 "rotation": [1140 0,1141 -108.63994598388675,1142 01143 ],1144 "scale": [1145 1,1146 1,1147 11148 ]1149 },1150 "color": [1151 95,1152 31,1153 01154 ]1155 }1156 ],1157 "energy drink display": [1158 {1159 "object_id": "SM_Energy_Drink_Display_2",1160 "bbox_2d": [1161 1794,1162 530,1163 1875,1164 6431165 ],1166 "bbox_3d": {1167 "aabb": {1168 "center": [1169 234.2728631504418,1170 646.744538947257,1171 129.777713775634771172 ],1173 "extent": [1174 19.787281211975227,1175 17.610119532174963,1176 29.7777290344238281177 ]1178 },1179 "obb": {1180 "center": [1181 234.2728631504418,1182 646.744538947257,1183 129.777713775634771184 ],1185 "extent": [1186 19.787281211975227,1187 17.610119532174963,1188 29.7777290344238281189 ],1190 "rotation": [1191 0,1192 -66.38336181640624,1193 01194 ]1195 },1196 "location": [1197 232.88006591796875,1198 646.1355590820312,1199 99.999992370605471200 ],