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": "Diner50",3 "view_id": "l028_off0_r003",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/Diner50/l028_off0_r003/lit.png",5 "camera": {6 "location": [7 5,8 -760,9 21010 ],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 5,38 -760,39 210,40 141 ]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 "walls": [54 {55 "object_id": "SM_Walls",56 "bbox_2d": [57 0,58 0,59 1919,60 92561 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 -217.06695556640625,66 -300.78192138671875,67 259.984344482421968 ],69 "extent": [70 559.015869140625,71 1006.7079467773438,72 260.0156860351562573 ]74 },75 "obb": {76 "center": [77 -217.06695556640625,78 -300.78192138671875,79 259.984344482421980 ],81 "extent": [82 559.015869140625,83 1006.7079467773438,84 260.0156860351562585 ],86 "rotation": [87 0,88 0,89 090 ]91 },92 "location": [93 150,94 380,95 096 ],97 "rotation": [98 0,99 0,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 255,110 255,111 0112 ]113 }114 ],115 "floor planks corner": [116 {117 "object_id": "SM_Floor_20",118 "bbox_2d": [119 0,120 826,121 1919,122 1079123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 -216.60736083984375,128 -297.8223876953125,129 -3.0517578125e-05130 ],131 "extent": [132 536.977783203125,133 987.1641845703125,134 0135 ]136 },137 "obb": {138 "center": [139 -216.60736083984375,140 -297.8223876953125,141 -3.0517578125e-05142 ],143 "extent": [144 536.977783203125,145 987.1641845703125,146 0147 ],148 "rotation": [149 0,150 0,151 0152 ]153 },154 "location": [155 150,156 380,157 0158 ],159 "rotation": [160 0,161 0,162 0163 ],164 "scale": [165 1,166 1,167 1168 ]169 },170 "color": [171 191,172 63,173 63174 ]175 }176 ],177 "window divided": [178 {179 "object_id": "SM_Window_5",180 "bbox_2d": [181 1875,182 383,183 1919,184 722185 ],186 "bbox_3d": {187 "aabb": {188 "center": [189 -432.00000000003644,190 -1304.000017100967,191 204.96497344970703192 ],193 "extent": [194 143.84922790499564,195 0.0003293161232704733,196 104.96500396728516197 ]198 },199 "obb": {200 "center": [201 -432.00000000003644,202 -1304.000017100967,203 204.96497344970703204 ],205 "extent": [206 143.84922790499564,207 0.0003293161232704733,208 104.96500396728516209 ],210 "rotation": [211 0,212 -90.00012207031251,213 0214 ]215 },216 "location": [217 -432,218 -1304,219 100220 ],221 "rotation": [222 0,223 -90.00012207031251,224 0225 ],226 "scale": [227 1,228 1,229 1230 ]231 },232 "color": [233 191,234 191,235 0236 ]237 }238 ],239 "window": [240 {241 "object_id": "SM_WinShutter5_34",242 "bbox_2d": [243 1848,244 370,245 1919,246 578247 ],248 "bbox_3d": {249 "aabb": {250 "center": [251 -430.99699438429536,252 -1292.1716666285658,253 245.91168594360352254 ],255 "extent": [256 132.32897808537803,257 6.502085328796511,258 57.0882682800293259 ]260 },261 "obb": {262 "center": [263 -430.99699438429536,264 -1292.1716666285658,265 245.91168594360352266 ],267 "extent": [268 132.32897808537803,269 6.502085328796511,270 57.0882682800293271 ],272 "rotation": [273 0,274 -90.00012207031251,275 0276 ]277 },278 "location": [279 -431,280 -1292,281 303282 ],283 "rotation": [284 0,285 -90.00012207031251,286 0287 ],288 "scale": [289 1,290 1,291 1292 ]293 },294 "color": [295 0,296 31,297 255298 ]299 }300 ],301 "ventilation": [302 {303 "object_id": "SM_Vent5_2",304 "bbox_2d": [305 104,306 0,307 803,308 311309 ],310 "bbox_3d": {311 "aabb": {312 "center": [313 -544,314 -502.7701873779297,315 453.7108688354492316 ],317 "extent": [318 33.41020965576172,319 208.16990661621094,320 106.49465942382812321 ]322 },323 "obb": {324 "center": [325 -544,326 -502.7701873779297,327 453.7108688354492328 ],329 "extent": [330 33.41020965576172,331 208.16990661621094,332 106.49465942382812333 ],334 "rotation": [335 0,336 0,337 0338 ]339 },340 "location": [341 -544,342 -468,343 355344 ],345 "rotation": [346 0,347 0,348 0349 ],350 "scale": [351 1,352 1,353 1354 ]355 },356 "color": [357 0,358 31,359 191360 ]361 },362 {363 "object_id": "SM_Vent6",364 "bbox_2d": [365 1206,366 0,367 1893,368 311369 ],370 "bbox_3d": {371 "aabb": {372 "center": [373 -543.9998703619458,374 -1059.229812622312,375 453.7108688354492376 ],377 "extent": [378 33.41098580152311,379 208.17003118224244,380 106.49465942382812381 ]382 },383 "obb": {384 "center": [385 -543.9998703619458,386 -1059.229812622312,387 453.7108688354492388 ],389 "extent": [390 33.41098580152311,391 208.17003118224244,392 106.49465942382812393 ],394 "rotation": [395 0,396 179.99978637695312,397 0398 ]399 },400 "location": [401 -544,402 -1094,403 355404 ],405 "rotation": [406 0,407 179.99978637695312,408 0409 ],410 "scale": [411 1,412 1,413 1414 ]415 },416 "color": [417 255,418 31,419 0420 ]421 }422 ],423 "ceiling planks corner": [424 {425 "object_id": "SM_Ceiling_6",426 "bbox_2d": [427 243,428 0,429 1750,430 147431 ],432 "bbox_3d": {433 "aabb": {434 "center": [435 -217,436 -341.76141357421875,437 519.4999694824219438 ],439 "extent": [440 580.7535400390625,441 1054.54931640625,442 0443 ]444 },445 "obb": {446 "center": [447 -217,448 -341.76141357421875,449 519.4999694824219450 ],451 "extent": [452 580.7535400390625,453 1054.54931640625,454 0455 ],456 "rotation": [457 0,458 0,459 0460 ]461 },462 "location": [463 -217,464 -341.76141357421875,465 519.5466 ],467 "rotation": [468 0,469 0,470 0471 ],472 "scale": [473 1,474 1,475 1476 ]477 },478 "color": [479 255,480 31,481 255482 ]483 }484 ]485 },486 "foreground": {487 "chair": [488 {489 "object_id": "SM_BarChair5",490 "bbox_2d": [491 288,492 981,493 445,494 1079495 ],496 "bbox_3d": {497 "aabb": {498 "center": [499 -278.00000000000404,500 -586.0000019073486,501 37.42520523071289502 ],503 "extent": [504 19.84144241911116,505 19.841440511766564,506 37.360755920410156507 ]508 },509 "obb": {510 "center": [511 -278.00000000000404,512 -586.0000019073486,513 37.42520523071289514 ],515 "extent": [516 19.84144241911116,517 19.841440511766564,518 37.360755920410156519 ],520 "rotation": [521 0,522 -90.00012207031251,523 0524 ]525 },526 "location": [527 -278,528 -586,529 0530 ],531 "rotation": [532 0,533 -90.00012207031251,534 0535 ],536 "scale": [537 1,538 1,539 1540 ]541 },542 "color": [543 0,544 127,545 0546 ]547 },548 {549 "object_id": "SM_BarChair6",550 "bbox_2d": [551 279,552 875,553 398,554 1012555 ],556 "bbox_3d": {557 "aabb": {558 "center": [559 -372.9999990463283,560 -516.0000016518139,561 37.42520523071289562 ],563 "extent": [564 27.103844088388712,565 27.10384339024651,566 37.360755920410156567 ]568 },569 "obb": {570 "center": [571 -372.9999990463283,572 -516.0000016518139,573 37.42520523071289574 ],575 "extent": [576 27.103844088388712,577 27.10384339024651,578 37.360755920410156579 ],580 "rotation": [581 0,582 -60.000091552734375,583 0584 ]585 },586 "location": [587 -373,588 -516,589 0590 ],591 "rotation": [592 0,593 -60.000091552734375,594 0595 ],596 "scale": [597 1,598 1,599 1600 ]601 },602 "color": [603 0,604 127,605 255606 ]607 },608 {609 "object_id": "SM_BarChair11",610 "bbox_2d": [611 1751,612 1049,613 1909,614 1079615 ],616 "bbox_3d": {617 "aabb": {618 "center": [619 -237.99999877398227,620 -986.0000014611157,621 37.42520523071289622 ],623 "extent": [624 27.95319536505673,625 27.953195129958658,626 37.360755920410156627 ]628 },629 "obb": {630 "center": [631 -237.99999877398227,632 -986.0000014611157,633 37.42520523071289634 ],635 "extent": [636 27.95319536505673,637 27.953195129958658,638 37.360755920410156639 ],640 "rotation": [641 0,642 -50.000091552734375,643 0644 ]645 },646 "location": [647 -238,648 -986,649 0650 ],651 "rotation": [652 0,653 -50.000091552734375,654 0655 ],656 "scale": [657 1,658 1,659 1660 ]661 },662 "color": [663 0,664 127,665 127666 ]667 },668 {669 "object_id": "SM_BarChair12",670 "bbox_2d": [671 1763,672 929,673 1919,674 1059675 ],676 "bbox_3d": {677 "aabb": {678 "center": [679 -317.9999990463283,680 -1056.0000016518138,681 37.42520523071289682 ],683 "extent": [684 27.103844088388712,685 27.10384339024654,686 37.360755920410156687 ]688 },689 "obb": {690 "center": [691 -317.9999990463283,692 -1056.0000016518138,693 37.42520523071289694 ],695 "extent": [696 27.103844088388712,697 27.10384339024654,698 37.360755920410156699 ],700 "rotation": [701 0,702 -60.000091552734375,703 0704 ]705 },706 "location": [707 -318,708 -1056,709 0710 ],711 "rotation": [712 0,713 -60.000091552734375,714 0715 ],716 "scale": [717 1,718 1,719 1720 ]721 },722 "color": [723 255,724 127,725 127726 ]727 },728 {729 "object_id": "SM_Chair2_39",730 "bbox_2d": [731 1703,732 742,733 1841,734 908735 ],736 "bbox_3d": {737 "aabb": {738 "center": [739 -573.041361887923,740 -1247.386407552934,741 41.25320053100586742 ],743 "extent": [744 32.56694129914763,745 28.0951534642395,746 41.51362991333008747 ]748 },749 "obb": {750 "center": [751 -573.041361887923,752 -1247.386407552934,753 41.25320053100586754 ],755 "extent": [756 32.56694129914763,757 28.0951534642395,758 41.51362991333008759 ],760 "rotation": [761 0,762 9.999992370605469,763 0764 ]765 },766 "location": [767 -565.6389770507812,768 -1246.68798828125,769 0770 ],771 "rotation": [772 0,773 9.999992370605469,774 0775 ],776 "scale": [777 1,778 1,779 1780 ]781 },782 "color": [783 127,784 127,785 255786 ]787 },788 {789 "object_id": "SM_Chair9",790 "bbox_2d": [791 1533,792 733,793 1613,794 759795 ],796 "bbox_3d": {797 "aabb": {798 "center": [799 -600.2216148774748,800 -1137.2931870198906,801 41.25320053100586802 ],803 "extent": [804 36.546721229337095,805 37.226222763332544,806 41.51362991333008807 ]808 },809 "obb": {810 "center": [811 -600.2216148774748,812 -1137.2931870198906,813 41.25320053100586814 ],815 "extent": [816 36.546721229337095,817 37.226222763332544,818 41.51362991333008819 ],820 "rotation": [821 0,822 50.000053405761726,823 0824 ]825 },826 "location": [827 -595,828 -1132,829 0830 ],831 "rotation": [832 0,833 50.000053405761726,834 0835 ],836 "scale": [837 1,838 1,839 1840 ]841 },842 "color": [843 191,844 31,845 127846 ]847 }848 ],849 "can": [850 {851 "object_id": "SM_MetalCan6",852 "bbox_2d": [853 0,854 860,855 81,856 1010857 ],858 "bbox_3d": {859 "aabb": {860 "center": [861 -441,862 -316,863 28.001554489135742864 ],865 "extent": [866 35.51027882575352,867 35.78369470308343,868 28.001554489135742869 ]870 },871 "obb": {872 "center": [873 -441,874 -316,875 28.001554489135742876 ],877 "extent": [878 35.51027882575352,879 35.78369470308343,880 28.001554489135742881 ],882 "rotation": [883 0,884 -40.00006103515626,885 0886 ]887 },888 "location": [889 -441,890 -316,891 0892 ],893 "rotation": [894 0,895 -40.00006103515626,896 0897 ],898 "scale": [899 1,900 1,901 1902 ]903 },904 "color": [905 127,906 63,907 0908 ]909 },910 {911 "object_id": "SM_MetalCan9",912 "bbox_2d": [913 795,914 749,915 802,916 769917 ],918 "bbox_3d": {919 "aabb": {920 "center": [921 -717,922 -663,923 28.001554489135742924 ],925 "extent": [926 33.8165056500095,927 34.719689370103765,928 28.001554489135742929 ]930 },931 "obb": {932 "center": [933 -717,934 -663,935 28.001554489135742936 ],937 "extent": [938 33.8165056500095,939 34.719689370103765,940 28.001554489135742941 ],942 "rotation": [943 0,944 151.73233032226562,945 0946 ]947 },948 "location": [949 -717,950 -663,951 0952 ],953 "rotation": [954 0,955 151.73233032226562,956 0957 ],958 "scale": [959 1,960 1,961 1962 ]963 },964 "color": [965 95,966 95,967 191968 ]969 },970 {971 "object_id": "SM_MetalCan10",972 "bbox_2d": [973 1200,974 766,975 1259,976 857977 ],978 "bbox_3d": {979 "aabb": {980 "center": [981 -644,982 -935,983 28.001554489135742984 ],985 "extent": [986 30.77289199434051,987 32.25862148150236,988 28.001554489135742989 ]990 },991 "obb": {992 "center": [993 -644,994 -935,995 28.001554489135742996 ],997 "extent": [998 30.77289199434051,999 32.25862148150236,1000 28.0015544891357421001 ],1002 "rotation": [1003 0,1004 16.732116699218746,1005 01006 ]1007 },1008 "location": [1009 -644,1010 -935,1011 01012 ],1013 "rotation": [1014 0,1015 16.732116699218746,1016 01017 ],1018 "scale": [1019 1,1020 1,1021 11022 ]1023 },1024 "color": [1025 95,1026 95,1027 311028 ]1029 }1030 ],1031 "electronics": [1032 {1033 "object_id": "SM_AndroidHub",1034 "bbox_2d": [1035 0,1036 726,1037 261,1038 9651039 ],1040 "bbox_3d": {1041 "aabb": {1042 "center": [1043 -513,1044 -311.31535720825195,1045 51.197624206542971046 ],1047 "extent": [1048 45.00006103515625,1049 40.31535339355469,1050 51.19763183593751051 ]1052 },1053 "obb": {1054 "center": [1055 -513,1056 -311.31535720825195,1057 51.197624206542971058 ],1059 "extent": [1060 45.00006103515625,1061 40.31535339355469,1062 51.19763183593751063 ],1064 "rotation": [1065 0,1066 0,1067 01068 ]1069 },1070 "location": [1071 -513,1072 -311,1073 01074 ],1075 "rotation": [1076 0,1077 0,1078 01079 ],1080 "scale": [1081 1,1082 1,1083 11084 ]1085 },1086 "color": [1087 255,1088 63,1089 631090 ]1091 }1092 ],1093 "boxes": [1094 {1095 "object_id": "SM_BoxPaper_11",1096 "bbox_2d": [1097 134,1098 657,1099 358,1100 8911101 ],1102 "bbox_3d": {1103 "aabb": {1104 "center": [1105 -610,1106 -309.0738983154297,1107 651108 ],1109 "extent": [1110 45.32843017578125,1111 39.48811340332031,1112 651113 ]1114 },1115 "obb": {1116 "center": [1117 -610,1118 -309.0738983154297,1119 651120 ],1121 "extent": [1122 45.32843017578125,1123 39.48811340332031,1124 651125 ],1126 "rotation": [1127 0,1128 0,1129 01130 ]1131 },1132 "location": [1133 -610,1134 -308,1135 01136 ],1137 "rotation": [1138 0,1139 0,1140 01141 ],1142 "scale": [1143 1,1144 1,1145 11146 ]1147 },1148 "color": [1149 127,1150 63,1151 631152 ]1153 },1154 {1155 "object_id": "SM_BottleBox3",1156 "bbox_2d": [1157 649,1158 641,1159 704,1160 7011161 ],1162 "bbox_3d": {1163 "aabb": {1164 "center": [1165 -673.8642197382126,1166 -559.0347964453756,1167 118.40573883056641168 ],1169 "extent": [1170 30.244360476272846,1171 25.571638365406898,1172 17.9592437744140621173 ]1174 },1175 "obb": {1176 "center": [1177 -673.8642197382126,1178 -559.0347964453756,1179 118.40573883056641180 ],1181 "extent": [1182 30.244360476272846,1183 25.571638365406898,1184 17.9592437744140621185 ],1186 "rotation": [1187 0,1188 -35.00006103515626,1189 01190 ]1191 },1192 "location": [1193 -673.6110229492188,1194 -559.6791381835938,1195 100.446495056152341196 ],1197 "rotation": [1198 0,1199 -35.00006103515626,1200 0