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": "JapaneseRestaurant_02",3 "view_id": "l020_r004",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/JapaneseRestaurant_02/l020_r004/lit.png",5 "camera": {6 "location": [7 899,8 -167,9 4710 ],11 "rotation": [12 0,13 -120.00000000000007,14 015 ],16 "fov": 90,17 "c2w": [18 [19 -0.5000000000000007,20 -0.8660254037844379,21 0,22 023 ],24 [25 0.8660254037844379,26 -0.5000000000000007,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 899,38 -167,39 47,40 141 ]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 "foreground": {54 "plane": [55 {56 "object_id": "Plane_243",57 "bbox_2d": [58 649,59 639,60 1634,61 92362 ],63 "bbox_3d": {64 "aabb": {65 "center": [66 890,67 -460,68 069 ],70 "extent": [71 150,72 150,73 2.4121840694324697e-1474 ]75 },76 "obb": {77 "center": [78 890,79 -460,80 081 ],82 "extent": [83 150,84 150,85 2.4121840694324697e-1486 ],87 "rotation": [88 0,89 0,90 091 ]92 },93 "location": [94 890,95 -460,96 097 ],98 "rotation": [99 0,100 0,101 0102 ],103 "scale": [104 3,105 3,106 3107 ]108 },109 "color": [110 0,111 31,112 191113 ]114 }115 ],116 "bar stool": [117 {118 "object_id": "SM_Barstool_01_Small_45",119 "bbox_2d": [120 644,121 547,122 809,123 737124 ],125 "bbox_3d": {126 "aabb": {127 "center": [128 725.0137140279497,129 -350.0092285159917,130 22.542636655631668131 ],132 "extent": [133 18.46397396977636,134 18.183465535778396,135 22.60599171834542136 ]137 },138 "obb": {139 "center": [140 725.0137140279497,141 -350.0092285159917,142 22.542636655631668143 ],144 "extent": [145 18.46397396977636,146 18.183465535778396,147 22.60599171834542148 ],149 "rotation": [150 0,151 0,152 0153 ]154 },155 "location": [156 725,157 -350,158 0159 ],160 "rotation": [161 0,162 0,163 0164 ],165 "scale": [166 0.9000000357627869,167 0.9000000357627869,168 0.8999999761581421169 ]170 },171 "color": [172 159,173 95,174 0175 ]176 },177 {178 "object_id": "SM_Barstool_01_Small2",179 "bbox_2d": [180 431,181 546,182 579,183 704184 ],185 "bbox_3d": {186 "aabb": {187 "center": [188 635.0137140270415,189 -350.0092285153805,190 22.542636655631668191 ],192 "extent": [193 18.463972746955733,194 18.183464331535106,195 22.60599171834542196 ]197 },198 "obb": {199 "center": [200 635.0137140270415,201 -350.0092285153805,202 22.542636655631668203 ],204 "extent": [205 18.463972746955733,206 18.183464331535106,207 22.60599171834542208 ],209 "rotation": [210 0,211 0,212 0213 ]214 },215 "location": [216 635,217 -350,218 0219 ],220 "rotation": [221 0,222 0,223 0224 ],225 "scale": [226 0.8999999761581421,227 0.8999999761581421,228 0.8999999761581421229 ]230 },231 "color": [232 159,233 95,234 255235 ]236 },237 {238 "object_id": "SM_Barstool_01_Small3",239 "bbox_2d": [240 0,241 552,242 236,243 868244 ],245 "bbox_3d": {246 "aabb": {247 "center": [248 725.0137140270415,249 -220.00922851538053,250 22.542636655631668251 ],252 "extent": [253 18.463972746955733,254 18.183464331535106,255 22.60599171834542256 ]257 },258 "obb": {259 "center": [260 725.0137140270415,261 -220.00922851538053,262 22.542636655631668263 ],264 "extent": [265 18.463972746955733,266 18.183464331535106,267 22.60599171834542268 ],269 "rotation": [270 0,271 0,272 0273 ]274 },275 "location": [276 725,277 -220,278 0279 ],280 "rotation": [281 0,282 0,283 0284 ],285 "scale": [286 0.8999999761581421,287 0.8999999761581421,288 0.8999999761581421289 ]290 },291 "color": [292 159,293 95,294 127295 ]296 },297 {298 "object_id": "SM_Barstool_01_Small4",299 "bbox_2d": [300 0,301 735,302 1,303 744304 ],305 "bbox_3d": {306 "aabb": {307 "center": [308 635.0137140270415,309 -220.00922851538053,310 22.542636655631668311 ],312 "extent": [313 18.463972746955733,314 18.183464331535106,315 22.60599171834542316 ]317 },318 "obb": {319 "center": [320 635.0137140270415,321 -220.00922851538053,322 22.542636655631668323 ],324 "extent": [325 18.463972746955733,326 18.183464331535106,327 22.60599171834542328 ],329 "rotation": [330 0,331 0,332 0333 ]334 },335 "location": [336 635,337 -220,338 0339 ],340 "rotation": [341 0,342 0,343 0344 ],345 "scale": [346 0.8999999761581421,347 0.8999999761581421,348 0.8999999761581421349 ]350 },351 "color": [352 159,353 95,354 63355 ]356 },357 {358 "object_id": "SM_Barstool_01_Small5",359 "bbox_2d": [360 922,361 545,362 1027,363 672364 ],365 "bbox_3d": {366 "aabb": {367 "center": [368 725.0137140270415,369 -480.0092285153805,370 22.542636655631668371 ],372 "extent": [373 18.463972746955733,374 18.183464331535106,375 22.60599171834542376 ]377 },378 "obb": {379 "center": [380 725.0137140270415,381 -480.0092285153805,382 22.542636655631668383 ],384 "extent": [385 18.463972746955733,386 18.183464331535106,387 22.60599171834542388 ],389 "rotation": [390 0,391 0,392 0393 ]394 },395 "location": [396 725,397 -480,398 0399 ],400 "rotation": [401 0,402 0,403 0404 ],405 "scale": [406 0.8999999761581421,407 0.8999999761581421,408 0.8999999761581421409 ]410 },411 "color": [412 159,413 95,414 191415 ]416 },417 {418 "object_id": "SM_Barstool_01_Small6",419 "bbox_2d": [420 738,421 544,422 836,423 650424 ],425 "bbox_3d": {426 "aabb": {427 "center": [428 635.0137140270415,429 -480.0092285153805,430 22.542636655631668431 ],432 "extent": [433 18.463972746955733,434 18.183464331535106,435 22.60599171834542436 ]437 },438 "obb": {439 "center": [440 635.0137140270415,441 -480.0092285153805,442 22.542636655631668443 ],444 "extent": [445 18.463972746955733,446 18.183464331535106,447 22.60599171834542448 ],449 "rotation": [450 0,451 0,452 0453 ]454 },455 "location": [456 635,457 -480,458 0459 ],460 "rotation": [461 0,462 0,463 0464 ],465 "scale": [466 0.8999999761581421,467 0.8999999761581421,468 0.8999999761581421469 ]470 },471 "color": [472 159,473 95,474 31475 ]476 }477 ],478 "chair": [479 {480 "object_id": "SM_Chair_01_53",481 "bbox_2d": [482 161,483 458,484 325,485 679486 ],487 "bbox_3d": {488 "aabb": {489 "center": [490 530.0000038146973,491 -324.99999809265137,492 40.022247314453125493 ],494 "extent": [495 21.862672805786133,496 20.488967895507812,497 40.022247314453125498 ]499 },500 "obb": {501 "center": [502 530.0000038146973,503 -324.99999809265137,504 40.022247314453125505 ],506 "extent": [507 21.862672805786133,508 20.488967895507812,509 40.022247314453125510 ],511 "rotation": [512 0,513 0,514 0515 ]516 },517 "location": [518 530,519 -325,520 0521 ],522 "rotation": [523 0,524 0,525 0526 ],527 "scale": [528 1,529 1,530 1531 ]532 },533 "color": [534 159,535 95,536 95537 ]538 },539 {540 "object_id": "SM_Chair_3",541 "bbox_2d": [542 641,543 490,544 738,545 635546 ],547 "bbox_3d": {548 "aabb": {549 "center": [550 530.0000038146973,551 -524.9999980926514,552 40.022247314453125553 ],554 "extent": [555 21.862672805786133,556 20.488967895507812,557 40.022247314453125558 ]559 },560 "obb": {561 "center": [562 530.0000038146973,563 -524.9999980926514,564 40.022247314453125565 ],566 "extent": [567 21.862672805786133,568 20.488967895507812,569 40.022247314453125570 ],571 "rotation": [572 0,573 0,574 0575 ]576 },577 "location": [578 530,579 -525,580 0581 ],582 "rotation": [583 0,584 0,585 0586 ],587 "scale": [588 1,589 1,590 1591 ]592 },593 "color": [594 159,595 255,596 159597 ]598 },599 {600 "object_id": "SM_Chair_4",601 "bbox_2d": [602 459,603 485,604 576,605 647606 ],607 "bbox_3d": {608 "aabb": {609 "center": [610 529.9999961853027,611 -425.00000190734863,612 40.022247314453125613 ],614 "extent": [615 21.862672805786133,616 20.488967895507812,617 40.022247314453125618 ]619 },620 "obb": {621 "center": [622 529.9999961853027,623 -425.00000190734863,624 40.022247314453125625 ],626 "extent": [627 21.862672805786133,628 20.488967895507812,629 40.022247314453125630 ],631 "rotation": [632 0,633 180,634 0635 ]636 },637 "location": [638 530,639 -425,640 0641 ],642 "rotation": [643 0,644 180,645 0646 ],647 "scale": [648 1,649 1,650 1651 ]652 },653 "color": [654 159,655 127,656 159657 ]658 },659 {660 "object_id": "SM_Chair_7",661 "bbox_2d": [662 1522,663 436,664 1625,665 688666 ],667 "bbox_3d": {668 "aabb": {669 "center": [670 921.6391010284572,671 -543.5993690490649,672 40.02226257324219673 ],674 "extent": [675 20.489052319893403,676 21.8627519254851,677 40.022247314453125678 ]679 },680 "obb": {681 "center": [682 921.6391010284572,683 -543.5993690490649,684 40.02226257324219685 ],686 "extent": [687 20.489052319893403,688 21.8627519254851,689 40.022247314453125690 ],691 "rotation": [692 0,693 -89.99977874755861,694 0695 ]696 },697 "location": [698 921.6390991210938,699 -543.599365234375,700 1.52587890625e-05701 ],702 "rotation": [703 0,704 -89.99977874755861,705 0706 ],707 "scale": [708 1,709 1,710 1711 ]712 },713 "color": [714 159,715 191,716 159717 ]718 },719 {720 "object_id": "SM_Chair_9",721 "bbox_2d": [722 1552,723 308,724 1634,725 848726 ],727 "bbox_3d": {728 "aabb": {729 "center": [730 930.4258401842941,731 -341.2888831061714,732 40.02226257324219733 ],734 "extent": [735 29.575940657640103,736 29.202731953769387,737 40.022247314453125738 ]739 },740 "obb": {741 "center": [742 930.4258401842941,743 -341.2888831061714,744 40.02226257324219745 ],746 "extent": [747 29.575940657640103,748 29.202731953769387,749 40.022247314453125750 ],751 "rotation": [752 0,753 -146.07577514648438,754 0755 ]756 },757 "location": [758 930.4258422851562,759 -341.28887939453125,760 1.52587890625e-05761 ],762 "rotation": [763 0,764 -146.07577514648438,765 0766 ],767 "scale": [768 1,769 1,770 1771 ]772 },773 "color": [774 127,775 223,776 95777 ]778 }779 ],780 "folding": [781 {782 "object_id": "SM_Folding_Closed2_202",783 "bbox_2d": [784 864,785 436,786 952,787 631788 ],789 "bbox_3d": {790 "aabb": {791 "center": [792 623.0215454101562,793 -586.7859187588545,794 50.90002023749304795 ],796 "extent": [797 24.49518585205078,798 14.748378323691782,799 51.498875079143275800 ]801 },802 "obb": {803 "center": [804 623.0215454101562,805 -586.7859187588545,806 50.90002023749304807 ],808 "extent": [809 24.49518585205078,810 14.748378323691782,811 51.498875079143275812 ],813 "rotation": [814 0,815 0,816 -10.000030517578125817 ]818 },819 "location": [820 623.0215454101562,821 -578.4370727539062,822 0823 ],824 "rotation": [825 0,826 0,827 -10.000030517578125828 ],829 "scale": [830 1,831 1,832 1833 ]834 },835 "color": [836 191,837 223,838 255839 ]840 },841 {842 "object_id": "SM_Folding_Closed3",843 "bbox_2d": [844 849,845 434,846 944,847 633848 ],849 "bbox_3d": {850 "aabb": {851 "center": [852 623.0215454101562,853 -578.7832340591979,854 50.90002009852853855 ],856 "extent": [857 24.49518585205078,858 14.748379146541879,859 51.49887502838979860 ]861 },862 "obb": {863 "center": [864 623.0215454101562,865 -578.7832340591979,866 50.90002009852852867 ],868 "extent": [869 24.49518585205078,870 14.748379146541879,871 51.49887502838979872 ],873 "rotation": [874 0,875 0,876 -10.000031471252441877 ]878 },879 "location": [880 623.0215454101562,881 -570.4343872070312,882 0883 ],884 "rotation": [885 0,886 0,887 -10.000031471252441888 ],889 "scale": [890 1,891 1,892 1893 ]894 },895 "color": [896 191,897 223,898 127899 ]900 },901 {902 "object_id": "SM_Folding_Closed4",903 "bbox_2d": [904 841,905 433,906 937,907 634908 ],909 "bbox_3d": {910 "aabb": {911 "center": [912 623.0215454101562,913 -571.6513370865416,914 50.90002009852853915 ],916 "extent": [917 24.49518585205078,918 14.748379146541879,919 51.49887502838979920 ]921 },922 "obb": {923 "center": [924 623.0215454101562,925 -571.6513370865416,926 50.90002009852852927 ],928 "extent": [929 24.49518585205078,930 14.748379146541879,931 51.49887502838979932 ],933 "rotation": [934 0,935 0,936 -10.000031471252441937 ]938 },939 "location": [940 623.0215454101562,941 -563.302490234375,942 0943 ],944 "rotation": [945 0,946 0,947 -10.000031471252441948 ],949 "scale": [950 1,951 1,952 1953 ]954 },955 "color": [956 191,957 223,958 63959 ]960 },961 {962 "object_id": "SM_Folding_Closed5",963 "bbox_2d": [964 770,965 445,966 850,967 626968 ],969 "bbox_3d": {970 "aabb": {971 "center": [972 562.4636840820312,973 -586.0146183365416,974 50.90002009852853975 ],976 "extent": [977 24.49518585205078,978 14.748379146541879,979 51.49887502838979980 ]981 },982 "obb": {983 "center": [984 562.4636840820312,985 -586.0146183365416,986 50.90002009852852987 ],988 "extent": [989 24.49518585205078,990 14.748379146541879,991 51.49887502838979992 ],993 "rotation": [994 0,995 0,996 -10.000031471252441997 ]998 },999 "location": [1000 562.4636840820312,1001 -577.665771484375,1002 01003 ],1004 "rotation": [1005 0,1006 0,1007 -10.0000314712524411008 ],1009 "scale": [1010 1,1011 1,1012 11013 ]1014 },1015 "color": [1016 191,1017 223,1018 1911019 ]1020 }1021 ],1022 "chopstick stand": [1023 {1024 "object_id": "SM_ChopstickStand_208",1025 "bbox_2d": [1026 793,1027 426,1028 807,1029 4681030 ],1031 "bbox_3d": {1032 "aabb": {1033 "center": [1034 666.3295193233147,1035 -455.5632950685806,1036 82.759943008422851037 ],1038 "extent": [1039 6.685890457922596,1040 5.78266473468193,1041 9.7599430084228521042 ]1043 },1044 "obb": {1045 "center": [1046 666.3295193233147,1047 -455.5632950685806,1048 82.759943008422851049 ],1050 "extent": [1051 6.685890457922596,1052 5.78266473468193,1053 9.7599430084228521054 ],1055 "rotation": [1056 0,1057 -99.99993896484378,1058 01059 ]1060 },1061 "location": [1062 668.0160522460938,1063 -454.51544189453125,1064 731065 ],1066 "rotation": [1067 0,1068 -99.99993896484378,1069 01070 ],1071 "scale": [1072 1,1073 1,1074 11075 ]1076 },1077 "color": [1078 191,1079 223,1080 311081 ]1082 }1083 ],1084 "coat hanger": [1085 {1086 "object_id": "SM_CoatHanger2",1087 "bbox_2d": [1088 147,1089 319,1090 162,1091 3691092 ],1093 "bbox_3d": {1094 "aabb": {1095 "center": [1096 453.5434946528736,1097 -330.02277366279895,1098 111.353740692138671099 ],1100 "extent": [1101 3.5435377197342177,1102 19.967594066807465,1103 18.8701667785644531104 ]1105 },1106 "obb": {1107 "center": [1108 453.5434946528736,1109 -330.02277366279895,1110 111.353740692138671111 ],1112 "extent": [1113 3.5435377197342177,1114 19.967594066807465,1115 18.8701667785644531116 ],1117 "rotation": [1118 0,1119 -90.00012207031251,1120 01121 ]1122 },1123 "location": [1124 450,1125 -330,1126 1181127 ],1128 "rotation": [1129 0,1130 -90.00012207031251,1131 01132 ],1133 "scale": [1134 1,1135 1,1136 11137 ]1138 },1139 "color": [1140 0,1141 127,1142 151143 ]1144 },1145 {1146 "object_id": "SM_CoatHanger3",1147 "bbox_2d": [1148 350,1149 358,1150 438,1151 4421152 ],1153 "bbox_3d": {1154 "aabb": {1155 "center": [1156 453.5434946528736,1157 -420.02277366279895,1158 111.353740692138671159 ],1160 "extent": [1161 3.5435377197342177,1162 19.967594066807465,1163 18.8701667785644531164 ]1165 },1166 "obb": {1167 "center": [1168 453.5434946528736,1169 -420.02277366279895,1170 111.353740692138671171 ],1172 "extent": [1173 3.5435377197342177,1174 19.967594066807465,1175 18.8701667785644531176 ],1177 "rotation": [1178 0,1179 -90.00012207031251,1180 01181 ]1182 },1183 "location": [1184 450,1185 -420,1186 1181187 ],1188 "rotation": [1189 0,1190 -90.00012207031251,1191 01192 ],1193 "scale": [1194 1,1195 1,1196 11197 ]1198 },1199 "color": [1200 0,