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": "PizzaStore",3 "view_id": "l000_off0_r005",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/PizzaStore/l000_off0_r005/lit.png",5 "camera": {6 "location": [7 358,8 -62,9 14810 ],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 [37 358,38 -62,39 148,40 141 ]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 "ground": [54 {55 "object_id": "SM_ground_8",56 "bbox_2d": [57 1310,58 827,59 1919,60 107961 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 -0.999755859375,66 -27,67 -5.1021575927734375e-0568 ],69 "extent": [70 1238.3093261718745,71 284.8822830769005,72 6.208618164062573 ]74 },75 "obb": {76 "center": [77 -0.999755859375,78 -27,79 -5.1021575927734375e-0580 ],81 "extent": [82 1238.3093261718745,83 284.8822830769005,84 6.208618164062585 ],86 "rotation": [87 0,88 180,89 090 ]91 },92 "location": [93 -1,94 -27,95 096 ],97 "rotation": [98 0,99 180,100 0101 ],102 "scale": [103 1,104 0.9549999833106995,105 1106 ]107 },108 "color": [109 255,110 255,111 0112 ]113 }114 ],115 "roof": [116 {117 "object_id": "SM_roof_5",118 "bbox_2d": [119 1876,120 0,121 1919,122 13123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 -3,128 -24.625823974609375,129 491.1820068359375130 ],131 "extent": [132 1235.6843500952236,133 284.49486201703985,134 3.760068655014038135 ]136 },137 "obb": {138 "center": [139 -3,140 -24.625823974609375,141 491.1820068359375142 ],143 "extent": [144 1235.6843500952236,145 284.49486201703985,146 3.760068655014038147 ],148 "rotation": [149 0,150 0,151 0152 ]153 },154 "location": [155 -3,156 -24.625823974609375,157 491.1820068359375158 ],159 "rotation": [160 0,161 0,162 0163 ],164 "scale": [165 1.0174999237060547,166 1.0950000286102295,167 1168 ]169 },170 "color": [171 255,172 255,173 255174 ]175 }176 ],177 "wall": [178 {179 "object_id": "SM_backwall_14",180 "bbox_2d": [181 0,182 0,183 1919,184 1079185 ],186 "bbox_3d": {187 "aabb": {188 "center": [189 727,190 -42,191 244.2459716796875192 ],193 "extent": [194 513.4542740243764,195 298.30824864120177,196 243.74131774902344197 ]198 },199 "obb": {200 "center": [201 726.9999999999999,202 -42,203 244.2459716796875204 ],205 "extent": [206 513.4542740243764,207 298.30824864120177,208 243.74131774902344209 ],210 "rotation": [211 0,212 179.999755859375,213 0214 ]215 },216 "location": [217 727,218 -42,219 -1.56610107421875220 ],221 "rotation": [222 0,223 179.999755859375,224 0225 ],226 "scale": [227 1,228 1,229 1230 ]231 },232 "color": [233 255,234 0,235 127236 ]237 }238 ]239 },240 "foreground": {241 "appliance": [242 {243 "object_id": "SM_metalstove_01_63",244 "bbox_2d": [245 508,246 647,247 1107,248 1079249 ],250 "bbox_3d": {251 "aabb": {252 "center": [253 428.0511474609375,254 -249.85353088378906,255 64.6959114074707256 ],257 "extent": [258 50.72198486328125,259 44.144866943359375,260 56.601539611816406261 ]262 },263 "obb": {264 "center": [265 428.0511474609375,266 -249.85353088378906,267 64.6959114074707268 ],269 "extent": [270 50.72198486328125,271 44.144866943359375,272 56.601539611816406273 ],274 "rotation": [275 0,276 0,277 0278 ]279 },280 "location": [281 428.0511474609375,282 -249.85353088378906,283 6.2086181640625284 ],285 "rotation": [286 0,287 0,288 0289 ],290 "scale": [291 1,292 1,293 1294 ]295 },296 "color": [297 255,298 191,299 0300 ]301 }302 ],303 "shelving": [304 {305 "object_id": "SM_kitchenshelf_01_66",306 "bbox_2d": [307 1419,308 501,309 1876,310 986311 ],312 "bbox_3d": {313 "aabb": {314 "center": [315 789.006477355957,316 -256.27825927734375,317 85.66647338867188318 ],319 "extent": [320 100.21844482421875,321 40.54936981201172,322 79.90824890136719323 ]324 },325 "obb": {326 "center": [327 789.006477355957,328 -256.27825927734375,329 85.66647338867188330 ],331 "extent": [332 100.21844482421875,333 40.54936981201172,334 79.90824890136719335 ],336 "rotation": [337 0,338 0,339 0340 ]341 },342 "location": [343 789.0064697265625,344 -256.27825927734375,345 5.758232116699219346 ],347 "rotation": [348 0,349 0,350 0351 ],352 "scale": [353 1,354 1,355 1356 ]357 },358 "color": [359 255,360 191,361 255362 ]363 },364 {365 "object_id": "SM_kitchenshelf_2",366 "bbox_2d": [367 951,368 633,369 1629,370 1079371 ],372 "bbox_3d": {373 "aabb": {374 "center": [375 587.5064392089844,376 -256.2773094177246,377 61.13639831542969378 ],379 "extent": [380 100.01679229736328,381 40.04176330566406,382 54.999107360839844383 ]384 },385 "obb": {386 "center": [387 587.5064392089844,388 -256.2773094177246,389 61.13639831542969390 ],391 "extent": [392 100.01679229736328,393 40.04176330566406,394 54.999107360839844395 ],396 "rotation": [397 0,398 0,399 0400 ]401 },402 "location": [403 587.5064697265625,404 -256.27728271484375,405 5.758232116699219406 ],407 "rotation": [408 0,409 0,410 0411 ],412 "scale": [413 1,414 1,415 1416 ]417 },418 "color": [419 255,420 191,421 63422 ]423 },424 {425 "object_id": "SM_kitchenshelf_5",426 "bbox_2d": [427 1888,428 922,429 1919,430 974431 ],432 "bbox_3d": {433 "aabb": {434 "center": [435 552.35986328125,436 -48.998043060302734,437 63.65044021606445438 ],439 "extent": [440 99.99972534179685,441 39.9998779296875,442 54.99895095825195443 ]444 },445 "obb": {446 "center": [447 552.35986328125,448 -48.998043060302734,449 63.65044021606445450 ],451 "extent": [452 99.99972534179685,453 39.9998779296875,454 54.99895095825195455 ],456 "rotation": [457 0,458 180,459 0460 ]461 },462 "location": [463 552.35986328125,464 -48.998043060302734,465 6.20855712890625466 ],467 "rotation": [468 0,469 180,470 0471 ],472 "scale": [473 1,474 1,475 1476 ]477 },478 "color": [479 127,480 191,481 255482 ]483 }484 ],485 "fridge": [486 {487 "object_id": "SM_fridge_02_84",488 "bbox_2d": [489 1668,490 249,491 1919,492 862493 ],494 "bbox_3d": {495 "aabb": {496 "center": [497 966.9981079101562,498 -245.73443603515625,499 135.7894058227539500 ],501 "extent": [502 80.00001525878906,503 47.4110107421875,504 129.93312072753906505 ]506 },507 "obb": {508 "center": [509 966.9981079101562,510 -245.73443603515625,511 135.7894058227539512 ],513 "extent": [514 80.00001525878906,515 47.4110107421875,516 129.93312072753906517 ],518 "rotation": [519 0,520 0,521 0522 ]523 },524 "location": [525 966.9981079101562,526 -245.73443603515625,527 4.546058654785156528 ],529 "rotation": [530 0,531 0,532 0533 ],534 "scale": [535 1,536 1,537 1538 ]539 },540 "color": [541 63,542 191,543 0544 ]545 }546 ],547 "rack": [548 {549 "object_id": "SM_potrack_98",550 "bbox_2d": [551 965,552 161,553 1373,554 493555 ],556 "bbox_3d": {557 "aabb": {558 "center": [559 552.9032776829881,560 -272.0926284614452,561 208.36021662483108562 ],563 "extent": [564 57.77327762029381,565 24.881000084882558,566 47.0049159501541567 ]568 },569 "obb": {570 "center": [571 552.9032776829881,572 -272.0926284614452,573 208.36021662483108574 ],575 "extent": [576 57.77327762029381,577 24.881000084882558,578 47.0049159501541579 ],580 "rotation": [581 0,582 90.00000000000001,583 0584 ]585 },586 "location": [587 552.9215698242188,588 -272.63623046875,589 180.7266387939453590 ],591 "rotation": [592 0,593 90.00000000000001,594 0595 ],596 "scale": [597 1.2925000190734863,598 1.2925000190734863,599 1.2925000190734863600 ]601 },602 "color": [603 255,604 191,605 191606 ]607 },608 {609 "object_id": "SM_potrack2_101",610 "bbox_2d": [611 1255,612 227,613 1581,614 501615 ],616 "bbox_3d": {617 "aabb": {618 "center": [619 668.0903504368944,620 -272.0927200141796,621 208.36021662483108622 ],623 "extent": [624 57.77327762029381,625 24.881000084882558,626 47.0049159501541627 ]628 },629 "obb": {630 "center": [631 668.0903504368944,632 -272.0927200141796,633 208.36021662483108634 ],635 "extent": [636 57.77327762029381,637 24.881000084882558,638 47.0049159501541639 ],640 "rotation": [641 0,642 90.00000000000001,643 0644 ]645 },646 "location": [647 668.108642578125,648 -272.6363220214844,649 180.7266387939453650 ],651 "rotation": [652 0,653 90.00000000000001,654 0655 ],656 "scale": [657 1.2925000190734863,658 1.2925000190734863,659 1.2925000190734863660 ]661 },662 "color": [663 127,664 191,665 191666 ]667 },668 {669 "object_id": "SM_kitchenrack_01_191",670 "bbox_2d": [671 1458,672 275,673 1700,674 435675 ],676 "bbox_3d": {677 "aabb": {678 "center": [679 795.0182226657862,680 -283.8942193627356,681 221.20362854003906682 ],683 "extent": [684 69.32912685175688,685 13.728644802682538,686 33.61538142823338687 ]688 },689 "obb": {690 "center": [691 795.0182226657862,692 -283.8942193627356,693 221.20362854003906694 ],695 "extent": [696 69.32912685175688,697 13.728644802682538,698 33.61538142823338699 ],700 "rotation": [701 0,702 0,703 0704 ]705 },706 "location": [707 795.0182495117188,708 -283.89422607421875,709 221.20362854003906710 ],711 "rotation": [712 0,713 0,714 0715 ],716 "scale": [717 1.4075000286102295,718 1.4075000286102295,719 1.4075000286102295720 ]721 },722 "color": [723 0,724 63,725 31726 ]727 }728 ],729 "supply": [730 {731 "object_id": "SM_canfood_162",732 "bbox_2d": [733 1368,734 404,735 1421,736 429737 ],738 "bbox_3d": {739 "aabb": {740 "center": [741 631.6035174751281,742 -268.68029415130627,743 186.5166805899687744 ],745 "extent": [746 16.71038303386308,747 16.71038303386308,748 4.004496384457326749 ]750 },751 "obb": {752 "center": [753 631.6035174751281,754 -268.68029415130627,755 186.5166805899687756 ],757 "extent": [758 16.71038303386308,759 16.71038303386308,760 4.004496384457326761 ],762 "rotation": [763 0,764 0,765 0766 ]767 },768 "location": [769 631.603515625,770 -268.6802978515625,771 182.75030517578125772 ],773 "rotation": [774 0,775 0,776 0777 ],778 "scale": [779 1.9399999380111694,780 1.9399999380111694,781 1.9399999380111694782 ]783 },784 "color": [785 31,786 191,787 0788 ]789 },790 {791 "object_id": "SM_plasticbottle_136",792 "bbox_2d": [793 1530,794 561,795 1551,796 614797 ],798 "bbox_3d": {799 "aabb": {800 "center": [801 750.8613831996918,802 -278.1194152832031,803 127.69552040100098804 ],805 "extent": [806 3.7313179969787598,807 3.788879156112671,808 11.931714057922363809 ]810 },811 "obb": {812 "center": [813 750.8613831996918,814 -278.1194152832031,815 127.69552040100098816 ],817 "extent": [818 3.7313179969787598,819 3.788879156112671,820 11.931714057922363821 ],822 "rotation": [823 0,824 0,825 0826 ]827 },828 "location": [829 750.8613891601562,830 -278.1194152832031,831 115.76382446289062832 ],833 "rotation": [834 0,835 0,836 0837 ],838 "scale": [839 1,840 1,841 1842 ]843 },844 "color": [845 127,846 127,847 159848 ]849 },850 {851 "object_id": "SM_canfood2",852 "bbox_2d": [853 1421,854 408,855 1505,856 436857 ],858 "bbox_3d": {859 "aabb": {860 "center": [861 666.3973411284499,862 -262.02069438229626,863 186.51668082140526864 ],865 "extent": [866 22.858663262056098,867 22.858663262056112,868 4.004496630525978869 ]870 },871 "obb": {872 "center": [873 666.3973411284499,874 -262.02069438229626,875 186.51668082140526876 ],877 "extent": [878 22.858663262056098,879 22.858663262056112,880 4.004496630525978881 ],882 "rotation": [883 0,884 -120.30135345458984,885 0886 ]887 },888 "location": [889 666.3973388671875,890 -262.02069091796875,891 182.75030517578125892 ],893 "rotation": [894 0,895 -120.30135345458984,896 0897 ],898 "scale": [899 1.940000057220459,900 1.940000057220459,901 1.940000057220459902 ]903 },904 "color": [905 95,906 159,907 63908 ]909 },910 {911 "object_id": "SM_canfood3",912 "bbox_2d": [913 1505,914 418,915 1551,916 441917 ],918 "bbox_3d": {919 "aabb": {920 "center": [921 701.0185569487624,922 -265.89859355221813,923 186.51668082140526924 ],925 "extent": [926 22.858663262056098,927 22.858663262056112,928 4.004496630525978929 ]930 },931 "obb": {932 "center": [933 701.0185569487624,934 -265.89859355221813,935 186.51668082140526936 ],937 "extent": [938 22.858663262056098,939 22.858663262056112,940 4.004496630525978941 ],942 "rotation": [943 0,944 -120.30135345458984,945 0946 ]947 },948 "location": [949 701.0185546875,950 -265.8985900878906,951 182.75030517578125952 ],953 "rotation": [954 0,955 -120.30135345458984,956 0957 ],958 "scale": [959 1.940000057220459,960 1.940000057220459,961 1.940000057220459962 ]963 },964 "color": [965 95,966 159,967 191968 ]969 },970 {971 "object_id": "SM_canfood4",972 "bbox_2d": [973 1461,974 395,975 1553,976 421977 ],978 "bbox_3d": {979 "aabb": {980 "center": [981 699.6361733400606,982 -264.5526719780843,983 193.88252554796776984 ],985 "extent": [986 23.629844228953743,987 23.629844228953743,988 4.004496630525978989 ]990 },991 "obb": {992 "center": [993 699.6361733400606,994 -264.5526719780843,995 193.88252554796776996 ],997 "extent": [998 23.629844228953743,999 23.629844228953743,1000 4.0044966305259781001 ],1002 "rotation": [1003 0,1004 -44.21685028076171,1005 01006 ]1007 },1008 "location": [1009 699.6361694335938,1010 -264.55267333984375,1011 190.116149902343751012 ],1013 "rotation": [1014 0,1015 -44.21685028076171,1016 01017 ],1018 "scale": [1019 1.940000057220459,1020 1.940000057220459,1021 1.9400000572204591022 ]1023 },1024 "color": [1025 95,1026 159,1027 311028 ]1029 },1030 {1031 "object_id": "SM_canfood5",1032 "bbox_2d": [1033 1366,1034 383,1035 1461,1036 4111037 ],1038 "bbox_3d": {1039 "aabb": {1040 "center": [1041 647.3296533054277,1042 -265.22835968645774,1043 193.882525547967761044 ],1045 "extent": [1046 19.20245141212058,1047 19.202451412120524,1048 4.0044966305259781049 ]1050 },1051 "obb": {1052 "center": [1053 647.3296533054277,1054 -265.22835968645774,1055 193.882525547967761056 ],1057 "extent": [1058 19.20245141212058,1059 19.202451412120524,1060 4.0044966305259781061 ],1062 "rotation": [1063 0,1064 -9.346774101257322,1065 01066 ]1067 },1068 "location": [1069 647.3296508789062,1070 -265.2283630371094,1071 190.116149902343751072 ],1073 "rotation": [1074 0,1075 -9.346774101257322,1076 01077 ],1078 "scale": [1079 1.940000057220459,1080 1.940000057220459,1081 1.9400000572204591082 ]1083 },1084 "color": [1085 95,1086 159,1087 951088 ]1089 },1090 {1091 "object_id": "SM_canfood6",1092 "bbox_2d": [1093 1451,1094 374,1095 1553,1096 4011097 ],1098 "bbox_3d": {1099 "aabb": {1100 "center": [1101 699.636048530203,1102 -264.55261627371334,1103 200.952395543084951104 ],1105 "extent": [1106 23.616908757285046,1107 23.616908757285103,1108 4.0044966305259781109 ]1110 },1111 "obb": {1112 "center": [1113 699.636048530203,1114 -264.55261627371334,1115 200.952395543084951116 ],1117 "extent": [1118 23.616908757285046,1119 23.616908757285103,1120 4.0044966305259781121 ],1122 "rotation": [1123 0,1124 -137.05123901367188,1125 01126 ]1127 },1128 "location": [1129 699.6360473632812,1130 -264.5526123046875,1131 197.186019897460941132 ],1133 "rotation": [1134 0,1135 -137.05123901367188,1136 01137 ],1138 "scale": [1139 1.940000057220459,1140 1.940000057220459,1141 1.9400000572204591142 ]1143 },1144 "color": [1145 0,1146 159,1147 1591148 ]1149 }1150 ],1151 "decor": [1152 {1153 "object_id": "SM_cookiespackage_171",1154 "bbox_2d": [1155 999,1156 398,1157 1043,1158 4121159 ],1160 "bbox_3d": {1161 "aabb": {1162 "center": [1163 505.7469678009152,1164 -284.2287440265821,1165 183.873203992843631166 ],1167 "extent": [1168 10.058642440667654,1169 12.069230300110348,1170 2.3615226745605471171 ]1172 },1173 "obb": {1174 "center": [1175 505.7469678009152,1176 -284.2287440265821,1177 183.873203992843631178 ],1179 "extent": [1180 10.058642440667654,1181 12.069230300110348,1182 2.3615226745605471183 ],1184 "rotation": [1185 0,1186 -61.581298828124986,1187 01188 ]1189 },1190 "location": [1191 505.7365417480469,1192 -284.1382141113281,1193 183.872955322265621194 ],1195 "rotation": [1196 0,1197 -61.581298828124986,1198 01199 ],1200 "scale": [