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": "l054_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/PizzaStore/l054_r000/lit.png",5 "camera": {6 "location": [7 440,8 -240,9 20110 ],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 [37 440,38 -240,39 201,40 141 ]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 1039,58 805,59 1673,60 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": [119 853,120 0,121 1807,122 173123 ],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_rightwall_11",180 "bbox_2d": [181 1496,182 0,183 1919,184 788185 ],186 "bbox_3d": {187 "aabb": {188 "center": [189 -26.000122070144926,190 201.00004196215752,191 248.09518432617188192 ],193 "extent": [194 1213.475322102896,195 56.19279383862782,196 242.13626098632812197 ]198 },199 "obb": {200 "center": [201 -26.000122070144926,202 201.00004196215752,203 248.09518432617188204 ],205 "extent": [206 1213.475322102896,207 56.19279383862782,208 242.13626098632812209 ],210 "rotation": [211 0,212 179.99977111816406,213 0214 ]215 },216 "location": [217 -26,218 201,219 9.81463623046875220 ],221 "rotation": [222 0,223 179.99977111816406,224 0225 ],226 "scale": [227 1,228 1,229 1230 ]231 },232 "color": [233 0,234 255,235 127236 ]237 },238 {239 "object_id": "SM_backwall_14",240 "bbox_2d": [241 0,242 0,243 1495,244 1079245 ],246 "bbox_3d": {247 "aabb": {248 "center": [249 727,250 -42,251 244.2459716796875252 ],253 "extent": [254 513.4542740243764,255 298.30824864120177,256 243.74131774902344257 ]258 },259 "obb": {260 "center": [261 726.9999999999999,262 -42,263 244.2459716796875264 ],265 "extent": [266 513.4542740243764,267 298.30824864120177,268 243.74131774902344269 ],270 "rotation": [271 0,272 179.999755859375,273 0274 ]275 },276 "location": [277 727,278 -42,279 -1.56610107421875280 ],281 "rotation": [282 0,283 179.999755859375,284 0285 ],286 "scale": [287 1,288 1,289 1290 ]291 },292 "color": [293 255,294 0,295 127296 ]297 }298 ],299 "pipe": [300 {301 "object_id": "SM_Pipes_87",302 "bbox_2d": [303 1288,304 160,305 1486,306 651307 ],308 "bbox_3d": {309 "aabb": {310 "center": [311 1164.9854568957085,312 86.61339285034592,313 248.83089232729253314 ],315 "extent": [316 17.764735660944098,317 75.6964546231211,318 244.47722919016087319 ]320 },321 "obb": {322 "center": [323 1164.9854568957085,324 86.6133928503459,325 248.83089232729253326 ],327 "extent": [328 17.764735660944098,329 75.6964546231211,330 244.47722919016087331 ],332 "rotation": [333 0,334 90.00000000000001,335 0336 ]337 },338 "location": [339 1174.117431640625,340 55.71179962158203,341 6.208587646484375342 ],343 "rotation": [344 0,345 90.00000000000001,346 0347 ],348 "scale": [349 1.384575366973877,350 1.384575366973877,351 1.384575366973877352 ]353 },354 "color": [355 63,356 191,357 255358 ]359 },360 {361 "object_id": "SM_pipeskitchen_90",362 "bbox_2d": [363 923,364 161,365 939,366 400367 ],368 "bbox_3d": {369 "aabb": {370 "center": [371 1177.9559863401912,372 -261.75722317782504,373 246.57614497792383374 ],375 "extent": [376 13.398842006945642,377 10.99121235027792,378 242.9800451244082379 ]380 },381 "obb": {382 "center": [383 1177.9559863401912,384 -261.75722317782504,385 246.57614497792383386 ],387 "extent": [388 13.398842006945642,389 10.99121235027792,390 242.9800451244082391 ],392 "rotation": [393 0,394 90.00000000000001,395 0396 ]397 },398 "location": [399 1172.7105712890625,400 -261.73883056640625,401 3.596099853515625402 ],403 "rotation": [404 0,405 90.00000000000001,406 0407 ],408 "scale": [409 1.0134018659591675,410 1.0134018659591675,411 1.0134018659591675412 ]413 },414 "color": [415 63,416 191,417 127418 ]419 }420 ]421 },422 "foreground": {423 "shelving": [424 {425 "object_id": "SM_kitchenshelf_01_66",426 "bbox_2d": [427 904,428 723,429 1052,430 869431 ],432 "bbox_3d": {433 "aabb": {434 "center": [435 789.006477355957,436 -256.27825927734375,437 85.66647338867188438 ],439 "extent": [440 100.21844482421875,441 40.54936981201172,442 79.90824890136719443 ]444 },445 "obb": {446 "center": [447 789.006477355957,448 -256.27825927734375,449 85.66647338867188450 ],451 "extent": [452 100.21844482421875,453 40.54936981201172,454 79.90824890136719455 ],456 "rotation": [457 0,458 0,459 0460 ]461 },462 "location": [463 789.0064697265625,464 -256.27825927734375,465 5.758232116699219466 ],467 "rotation": [468 0,469 0,470 0471 ],472 "scale": [473 1,474 1,475 1476 ]477 },478 "color": [479 255,480 191,481 255482 ]483 },484 {485 "object_id": "SM_kitchenshelf_2",486 "bbox_2d": [487 602,488 869,489 1064,490 1079491 ],492 "bbox_3d": {493 "aabb": {494 "center": [495 587.5064392089844,496 -256.2773094177246,497 61.13639831542969498 ],499 "extent": [500 100.01679229736328,501 40.04176330566406,502 54.999107360839844503 ]504 },505 "obb": {506 "center": [507 587.5064392089844,508 -256.2773094177246,509 61.13639831542969510 ],511 "extent": [512 100.01679229736328,513 40.04176330566406,514 54.999107360839844515 ],516 "rotation": [517 0,518 0,519 0520 ]521 },522 "location": [523 587.5064697265625,524 -256.27728271484375,525 5.758232116699219526 ],527 "rotation": [528 0,529 0,530 0531 ],532 "scale": [533 1,534 1,535 1536 ]537 },538 "color": [539 255,540 191,541 63542 ]543 },544 {545 "object_id": "SM_kitchenshelf_4",546 "bbox_2d": [547 1310,548 736,549 1824,550 1079551 ],552 "bbox_3d": {553 "aabb": {554 "center": [555 754.4514465332031,556 -49.00006103515625,557 61.58672332763672558 ],559 "extent": [560 100.01679229736328,561 40.04176330566406,562 54.999107360839844563 ]564 },565 "obb": {566 "center": [567 754.4514465332031,568 -49.00006103515625,569 61.58672332763672570 ],571 "extent": [572 100.01679229736328,573 40.04176330566406,574 54.999107360839844575 ],576 "rotation": [577 0,578 180,579 0580 ]581 },582 "location": [583 754.451416015625,584 -49.00008773803711,585 6.20855712890625586 ],587 "rotation": [588 0,589 180,590 0591 ],592 "scale": [593 1,594 1,595 1596 ]597 },598 "color": [599 127,600 191,601 0602 ]603 },604 {605 "object_id": "SM_kitchenshelf_5",606 "bbox_2d": [607 1643,608 912,609 1919,610 1079611 ],612 "bbox_3d": {613 "aabb": {614 "center": [615 552.35986328125,616 -48.998043060302734,617 63.65044021606445618 ],619 "extent": [620 99.99972534179685,621 39.9998779296875,622 54.99895095825195623 ]624 },625 "obb": {626 "center": [627 552.35986328125,628 -48.998043060302734,629 63.65044021606445630 ],631 "extent": [632 99.99972534179685,633 39.9998779296875,634 54.99895095825195635 ],636 "rotation": [637 0,638 180,639 0640 ]641 },642 "location": [643 552.35986328125,644 -48.998043060302734,645 6.20855712890625646 ],647 "rotation": [648 0,649 180,650 0651 ],652 "scale": [653 1,654 1,655 1656 ]657 },658 "color": [659 127,660 191,661 255662 ]663 },664 {665 "object_id": "SM_kitchenshelf_7",666 "bbox_2d": [667 1545,668 676,669 1749,670 796671 ],672 "bbox_3d": {673 "aabb": {674 "center": [675 934.2007751464844,676 161.94645309448242,677 61.58667707443237678 ],679 "extent": [680 100.01679229736328,681 40.04176330566406,682 54.999107360839844683 ]684 },685 "obb": {686 "center": [687 934.2007751464844,688 161.94645309448242,689 61.58667707443237690 ],691 "extent": [692 100.01679229736328,693 40.04176330566406,694 54.999107360839844695 ],696 "rotation": [697 0,698 180,699 0700 ]701 },702 "location": [703 934.2007446289062,704 161.94642639160156,705 6.208510875701904706 ],707 "rotation": [708 0,709 180,710 0711 ],712 "scale": [713 1,714 1,715 1716 ]717 },718 "color": [719 255,720 0,721 31722 ]723 }724 ],725 "appliance": [726 {727 "object_id": "SM_metalstove_04_79",728 "bbox_2d": [729 1039,730 647,731 1163,732 835733 ],734 "bbox_3d": {735 "aabb": {736 "center": [737 1103.11962890625,738 -157.6143341064453,739 64.6992073059082740 ],741 "extent": [742 43.35235595703125,743 50.721969604492216,744 57.534793853759766745 ]746 },747 "obb": {748 "center": [749 1103.11962890625,750 -157.6143341064453,751 64.6992073059082752 ],753 "extent": [754 43.35235595703125,755 50.721969604492216,756 57.534793853759766757 ],758 "rotation": [759 0,760 90.00000000000001,761 0762 ]763 },764 "location": [765 1103.11962890625,766 -157.6143341064453,767 6.2119140625768 ],769 "rotation": [770 0,771 90.00000000000001,772 0773 ],774 "scale": [775 1,776 1,777 1778 ]779 },780 "color": [781 127,782 191,783 127784 ]785 },786 {787 "object_id": "SM_metalstove_5",788 "bbox_2d": [789 1146,790 646,791 1323,792 836793 ],794 "bbox_3d": {795 "aabb": {796 "center": [797 1103.11962890625,798 -54.09661102294922,799 64.6992073059082800 ],801 "extent": [802 43.352325439453125,803 50.7218933105469,804 59.01047134399414805 ]806 },807 "obb": {808 "center": [809 1103.11962890625,810 -54.09661102294922,811 64.6992073059082812 ],813 "extent": [814 43.352325439453125,815 50.7218933105469,816 59.01047134399414817 ],818 "rotation": [819 0,820 90.00000000000001,821 0822 ]823 },824 "location": [825 1103.11962890625,826 -54.09661102294922,827 6.2119140625828 ],829 "rotation": [830 0,831 90.00000000000001,832 0833 ],834 "scale": [835 1,836 1,837 1838 ]839 },840 "color": [841 127,842 191,843 63844 ]845 },846 {847 "object_id": "SM_drinkmachine_01_148",848 "bbox_2d": [849 1869,850 548,851 1919,852 1031853 ],854 "bbox_3d": {855 "aabb": {856 "center": [857 578.17551612854,858 -54.67023849487305,859 159.90197372436523860 ],861 "extent": [862 29.289949417114258,863 29.229614257812514,864 40.97690200805664865 ]866 },867 "obb": {868 "center": [869 578.17551612854,870 -54.67023849487305,871 159.90197372436523872 ],873 "extent": [874 29.289949417114258,875 29.229614257812514,876 40.97690200805664877 ],878 "rotation": [879 0,880 -90.00000000000001,881 0882 ]883 },884 "location": [885 578.175537109375,886 -54.67021179199219,887 116.28553009033203888 ],889 "rotation": [890 0,891 -90.00000000000001,892 0893 ],894 "scale": [895 1,896 1,897 1898 ]899 },900 "color": [901 191,902 63,903 127904 ]905 },906 {907 "object_id": "SM_metalstove_198",908 "bbox_2d": [909 1291,910 649,911 1479,912 735913 ],914 "bbox_3d": {915 "aabb": {916 "center": [917 1103.11962890625,918 48.065025329589844,919 64.6992073059082920 ],921 "extent": [922 44.144866943359375,923 50.72198486328128,924 56.601539611816406925 ]926 },927 "obb": {928 "center": [929 1103.11962890625,930 48.06502532958985,931 64.6992073059082932 ],933 "extent": [934 44.144866943359375,935 50.72198486328128,936 56.601539611816406937 ],938 "rotation": [939 0,940 90.00000000000001,941 0942 ]943 },944 "location": [945 1103.11962890625,946 48.065025329589844,947 6.2119140625948 ],949 "rotation": [950 0,951 90.00000000000001,952 0953 ],954 "scale": [955 1,956 1,957 1958 ]959 },960 "color": [961 255,962 255,963 31964 ]965 },966 {967 "object_id": "SM_metalstove_7",968 "bbox_2d": [969 1424,970 647,971 1554,972 756973 ],974 "bbox_3d": {975 "aabb": {976 "center": [977 1103.11962890625,978 152.3569793701172,979 64.6992073059082980 ],981 "extent": [982 44.253570556640625,983 50.72198486328128,984 57.534793853759766985 ]986 },987 "obb": {988 "center": [989 1103.11962890625,990 152.3569793701172,991 64.6992073059082992 ],993 "extent": [994 44.253570556640625,995 50.72198486328128,996 57.534793853759766997 ],998 "rotation": [999 0,1000 90.00000000000001,1001 01002 ]1003 },1004 "location": [1005 1103.11962890625,1006 152.3569793701172,1007 6.21191406251008 ],1009 "rotation": [1010 0,1011 90.00000000000001,1012 01013 ],1014 "scale": [1015 1,1016 1,1017 11018 ]1019 },1020 "color": [1021 255,1022 127,1023 311024 ]1025 },1026 {1027 "object_id": "SM_boiler_159",1028 "bbox_2d": [1029 1428,1030 680,1031 1510,1032 7501033 ],1034 "bbox_3d": {1035 "aabb": {1036 "center": [1037 837.063322345746,1038 -29.972686788732222,1039 129.898900032043461040 ],1041 "extent": [1042 19.831553050246953,1043 20.386795846030264,1044 13.3130588531494141045 ]1046 },1047 "obb": {1048 "center": [1049 837.063322345746,1050 -29.972686788732222,1051 129.898900032043461052 ],1053 "extent": [1054 19.831553050246953,1055 20.386795846030264,1056 13.3130588531494141057 ],1058 "rotation": [1059 0,1060 -60.15197372436522,1061 01062 ]1063 },1064 "location": [1065 837.8109130859375,1066 -31.27552032470703,1067 116.585845947265621068 ],1069 "rotation": [1070 0,1071 -60.15197372436522,1072 01073 ],1074 "scale": [1075 1,1076 1,1077 11078 ]1079 },1080 "color": [1081 31,1082 63,1083 1911084 ]1085 }1086 ],1087 "fridge": [1088 {1089 "object_id": "SM_fridge_02_84",1090 "bbox_2d": [1091 861,1092 401,1093 1047,1094 8171095 ],1096 "bbox_3d": {1097 "aabb": {1098 "center": [1099 966.9981079101562,1100 -245.73443603515625,1101 135.78940582275391102 ],1103 "extent": [1104 80.00001525878906,1105 47.4110107421875,1106 129.933120727539061107 ]1108 },1109 "obb": {1110 "center": [1111 966.9981079101562,1112 -245.73443603515625,1113 135.78940582275391114 ],1115 "extent": [1116 80.00001525878906,1117 47.4110107421875,1118 129.933120727539061119 ],1120 "rotation": [1121 0,1122 0,1123 01124 ]1125 },1126 "location": [1127 966.9981079101562,1128 -245.73443603515625,1129 4.5460586547851561130 ],1131 "rotation": [1132 0,1133 0,1134 01135 ],1136 "scale": [1137 1,1138 1,1139 11140 ]1141 },1142 "color": [1143 63,1144 191,1145 01146 ]1147 }1148 ],1149 "rack": [1150 {1151 "object_id": "SM_potrack_98",1152 "bbox_2d": [1153 9,1154 0,1155 912,1156 10791157 ],1158 "bbox_3d": {1159 "aabb": {1160 "center": [1161 552.9032776829881,1162 -272.0926284614452,1163 208.360216624831081164 ],1165 "extent": [1166 57.77327762029381,1167 24.881000084882558,1168 47.00491595015411169 ]1170 },1171 "obb": {1172 "center": [1173 552.9032776829881,1174 -272.0926284614452,1175 208.360216624831081176 ],1177 "extent": [1178 57.77327762029381,1179 24.881000084882558,1180 47.00491595015411181 ],1182 "rotation": [1183 0,1184 90.00000000000001,1185 01186 ]1187 },1188 "location": [1189 552.9215698242188,1190 -272.63623046875,1191 180.72663879394531192 ],1193 "rotation": [1194 0,1195 90.00000000000001,1196 01197 ],1198 "scale": [1199 1.2925000190734863,1200 1.2925000190734863,