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": "l028_off0_r002",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/JapaneseRestaurant_02/l028_off0_r002/lit.png",5 "camera": {6 "location": [7 949,8 -533,9 9710 ],11 "rotation": [12 0,13 119.99999999999999,14 015 ],16 "fov": 90,17 "c2w": [18 [19 -0.4999999999999998,20 0.8660254037844384,21 0,22 023 ],24 [25 -0.8660254037844384,26 -0.4999999999999998,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 949,38 -533,39 97,40 141 ]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 "door frame": [54 {55 "object_id": "SM_Doorframe_01_313",56 "bbox_2d": [57 962,58 384,59 1021,60 41561 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 525.000002861023,66 125,67 110.0180969238281268 ],69 "extent": [70 45.03559970855713,71 3.8105356693267822,72 110.0180969238281273 ]74 },75 "obb": {76 "center": [77 525.000002861023,78 125,79 110.0180969238281280 ],81 "extent": [82 45.03559970855713,83 3.8105356693267822,84 110.0180969238281285 ],86 "rotation": [87 0,88 0,89 090 ]91 },92 "location": [93 480,94 125,95 096 ],97 "rotation": [98 0,99 0,100 0101 ],102 "scale": [103 0.75,104 1,105 1106 ]107 },108 "color": [109 223,110 31,111 255112 ]113 },114 {115 "object_id": "SM_Doorframe_2",116 "bbox_2d": [117 248,118 336,119 248,120 336121 ],122 "bbox_3d": {123 "aabb": {124 "center": [125 1034.9999041261947,126 215.0000028609208,127 110.01809692382812128 ],129 "extent": [130 3.810631618963498,131 45.035607826911175,132 110.01809692382812133 ]134 },135 "obb": {136 "center": [137 1034.9999041261947,138 215.0000028609208,139 110.01809692382812140 ],141 "extent": [142 3.810631618963498,143 45.035607826911175,144 110.01809692382812145 ],146 "rotation": [147 0,148 90.00012207031251,149 0150 ]151 },152 "location": [153 1035,154 170,155 0156 ],157 "rotation": [158 0,159 90.00012207031251,160 0161 ],162 "scale": [163 0.75,164 1,165 1166 ]167 },168 "color": [169 223,170 31,171 127172 ]173 },174 {175 "object_id": "SM_Doorframe_3",176 "bbox_2d": [177 248,178 337,179 372,180 514181 ],182 "bbox_3d": {183 "aabb": {184 "center": [185 1002.1334449000738,186 197.33835840559442,187 108.27146911621094188 ],189 "extent": [190 39.43860224900294,191 35.45908083700675,192 108.87620544433594193 ]194 },195 "obb": {196 "center": [197 1002.1334449000738,198 197.33835840559442,199 108.27146911621094200 ],201 "extent": [202 39.43860224900294,203 35.45908083700675,204 108.87620544433594205 ],206 "rotation": [207 0,208 140.00001525878906,209 0210 ]211 },212 "location": [213 1035,214 170,215 0216 ],217 "rotation": [218 0,219 140.00001525878906,220 0221 ],222 "scale": [223 0.75,224 1,225 1226 ]227 },228 "color": [229 223,230 31,231 63232 ]233 }234 ]235 },236 "foreground": {237 "plane": [238 {239 "object_id": "Plane_243",240 "bbox_2d": [241 291,242 853,243 1597,244 1079245 ],246 "bbox_3d": {247 "aabb": {248 "center": [249 890,250 -460,251 0252 ],253 "extent": [254 150,255 150,256 2.4121840694324697e-14257 ]258 },259 "obb": {260 "center": [261 890,262 -460,263 0264 ],265 "extent": [266 150,267 150,268 2.4121840694324697e-14269 ],270 "rotation": [271 0,272 0,273 0274 ]275 },276 "location": [277 890,278 -460,279 0280 ],281 "rotation": [282 0,283 0,284 0285 ],286 "scale": [287 3,288 3,289 3290 ]291 },292 "color": [293 0,294 31,295 191296 ]297 }298 ],299 "bar stool": [300 {301 "object_id": "SM_Barstool_01_Small_45",302 "bbox_2d": [303 1247,304 714,305 1402,306 908307 ],308 "bbox_3d": {309 "aabb": {310 "center": [311 725.0137140279497,312 -350.0092285159917,313 22.542636655631668314 ],315 "extent": [316 18.46397396977636,317 18.183465535778396,318 22.60599171834542319 ]320 },321 "obb": {322 "center": [323 725.0137140279497,324 -350.0092285159917,325 22.542636655631668326 ],327 "extent": [328 18.46397396977636,329 18.183465535778396,330 22.60599171834542331 ],332 "rotation": [333 0,334 0,335 0336 ]337 },338 "location": [339 725,340 -350,341 0342 ],343 "rotation": [344 0,345 0,346 0347 ],348 "scale": [349 0.9000000357627869,350 0.9000000357627869,351 0.8999999761581421352 ]353 },354 "color": [355 159,356 95,357 0358 ]359 },360 {361 "object_id": "SM_Barstool_01_Small2",362 "bbox_2d": [363 1440,364 691,365 1579,366 852367 ],368 "bbox_3d": {369 "aabb": {370 "center": [371 635.0137140270415,372 -350.0092285153805,373 22.542636655631668374 ],375 "extent": [376 18.463972746955733,377 18.183464331535106,378 22.60599171834542379 ]380 },381 "obb": {382 "center": [383 635.0137140270415,384 -350.0092285153805,385 22.542636655631668386 ],387 "extent": [388 18.463972746955733,389 18.183464331535106,390 22.60599171834542391 ],392 "rotation": [393 0,394 0,395 0396 ]397 },398 "location": [399 635,400 -350,401 0402 ],403 "rotation": [404 0,405 0,406 0407 ],408 "scale": [409 0.8999999761581421,410 0.8999999761581421,411 0.8999999761581421412 ]413 },414 "color": [415 159,416 95,417 255418 ]419 },420 {421 "object_id": "SM_Barstool_01_Small3",422 "bbox_2d": [423 1003,424 665,425 1105,426 794427 ],428 "bbox_3d": {429 "aabb": {430 "center": [431 725.0137140270415,432 -220.00922851538053,433 22.542636655631668434 ],435 "extent": [436 18.463972746955733,437 18.183464331535106,438 22.60599171834542439 ]440 },441 "obb": {442 "center": [443 725.0137140270415,444 -220.00922851538053,445 22.542636655631668446 ],447 "extent": [448 18.463972746955733,449 18.183464331535106,450 22.60599171834542451 ],452 "rotation": [453 0,454 0,455 0456 ]457 },458 "location": [459 725,460 -220,461 0462 ],463 "rotation": [464 0,465 0,466 0467 ],468 "scale": [469 0.8999999761581421,470 0.8999999761581421,471 0.8999999761581421472 ]473 },474 "color": [475 159,476 95,477 127478 ]479 },480 {481 "object_id": "SM_Barstool_01_Small4",482 "bbox_2d": [483 1172,484 652,485 1255,486 766487 ],488 "bbox_3d": {489 "aabb": {490 "center": [491 635.0137140270415,492 -220.00922851538053,493 22.542636655631668494 ],495 "extent": [496 18.463972746955733,497 18.183464331535106,498 22.60599171834542499 ]500 },501 "obb": {502 "center": [503 635.0137140270415,504 -220.00922851538053,505 22.542636655631668506 ],507 "extent": [508 18.463972746955733,509 18.183464331535106,510 22.60599171834542511 ],512 "rotation": [513 0,514 0,515 0516 ]517 },518 "location": [519 635,520 -220,521 0522 ],523 "rotation": [524 0,525 0,526 0527 ],528 "scale": [529 0.8999999761581421,530 0.8999999761581421,531 0.8999999761581421532 ]533 },534 "color": [535 159,536 95,537 63538 ]539 }540 ],541 "chair": [542 {543 "object_id": "SM_Chair_01_53",544 "bbox_2d": [545 1525,546 665,547 1597,548 774549 ],550 "bbox_3d": {551 "aabb": {552 "center": [553 530.0000038146973,554 -324.99999809265137,555 40.022247314453125556 ],557 "extent": [558 21.862672805786133,559 20.488967895507812,560 40.022247314453125561 ]562 },563 "obb": {564 "center": [565 530.0000038146973,566 -324.99999809265137,567 40.022247314453125568 ],569 "extent": [570 21.862672805786133,571 20.488967895507812,572 40.022247314453125573 ],574 "rotation": [575 0,576 0,577 0578 ]579 },580 "location": [581 530,582 -325,583 0584 ],585 "rotation": [586 0,587 0,588 0589 ],590 "scale": [591 1,592 1,593 1594 ]595 },596 "color": [597 159,598 95,599 95600 ]601 },602 {603 "object_id": "SM_Chair_2",604 "bbox_2d": [605 1329,606 573,607 1437,608 745609 ],610 "bbox_3d": {611 "aabb": {612 "center": [613 529.9999961853027,614 -225.00000190734863,615 40.022247314453125616 ],617 "extent": [618 21.862672805786133,619 20.488967895507812,620 40.022247314453125621 ]622 },623 "obb": {624 "center": [625 529.9999961853027,626 -225.00000190734863,627 40.022247314453125628 ],629 "extent": [630 21.862672805786133,631 20.488967895507812,632 40.022247314453125633 ],634 "rotation": [635 0,636 180,637 0638 ]639 },640 "location": [641 530,642 -225,643 0644 ],645 "rotation": [646 0,647 180,648 0649 ],650 "scale": [651 1,652 1,653 1654 ]655 },656 "color": [657 159,658 0,659 159660 ]661 },662 {663 "object_id": "SM_Chair_6",664 "bbox_2d": [665 0,666 899,667 308,668 1079669 ],670 "bbox_3d": {671 "aabb": {672 "center": [673 971.6390950331421,674 -493.59936645032934,675 40.02226257324219676 ],677 "extent": [678 25.088410343233022,679 23.97411729918059,680 40.022247314453125681 ]682 },683 "obb": {684 "center": [685 971.6390950331421,686 -493.59936645032934,687 40.02226257324219688 ],689 "extent": [690 25.088410343233022,691 23.97411729918059,692 40.022247314453125693 ],694 "rotation": [695 0,696 169.99996948242188,697 0698 ]699 },700 "location": [701 971.6390991210938,702 -493.599365234375,703 1.52587890625e-05704 ],705 "rotation": [706 0,707 169.99996948242188,708 0709 ],710 "scale": [711 1,712 1,713 1714 ]715 },716 "color": [717 159,718 63,719 159720 ]721 },722 {723 "object_id": "SM_Chair_9",724 "bbox_2d": [725 361,726 626,727 669,728 1079729 ],730 "bbox_3d": {731 "aabb": {732 "center": [733 930.4258401842941,734 -341.2888831061714,735 40.02226257324219736 ],737 "extent": [738 29.575940657640103,739 29.202731953769387,740 40.022247314453125741 ]742 },743 "obb": {744 "center": [745 930.4258401842941,746 -341.2888831061714,747 40.02226257324219748 ],749 "extent": [750 29.575940657640103,751 29.202731953769387,752 40.022247314453125753 ],754 "rotation": [755 0,756 -146.07577514648438,757 0758 ]759 },760 "location": [761 930.4258422851562,762 -341.28887939453125,763 1.52587890625e-05764 ],765 "rotation": [766 0,767 -146.07577514648438,768 0769 ],770 "scale": [771 1,772 1,773 1774 ]775 },776 "color": [777 127,778 223,779 95780 ]781 },782 {783 "object_id": "SM_Chair_11",784 "bbox_2d": [785 757,786 569,787 848,788 722789 ],790 "bbox_3d": {791 "aabb": {792 "center": [793 756.8013265712542,794 -27.384492459664706,795 40.02226257324219796 ],797 "extent": [798 23.908516694612672,799 22.68792813890059,800 40.022247314453125801 ]802 },803 "obb": {804 "center": [805 756.8013265712542,806 -27.384492459664706,807 40.02226257324219808 ],809 "extent": [810 23.908516694612672,811 22.68792813890059,812 40.022247314453125813 ],814 "rotation": [815 0,816 173.9241485595703,817 0818 ]819 },820 "location": [821 756.8013305664062,822 -27.384490966796875,823 1.52587890625e-05824 ],825 "rotation": [826 0,827 173.9241485595703,828 0829 ],830 "scale": [831 1,832 1,833 1834 ]835 },836 "color": [837 223,838 191,839 127840 ]841 },842 {843 "object_id": "SM_Chair_12",844 "bbox_2d": [845 831,846 576,847 933,848 753849 ],850 "bbox_3d": {851 "aabb": {852 "center": [853 753.7443884906567,854 -117.27447302063119,855 40.02226257324219856 ],857 "extent": [858 22.762253080915684,859 21.45173615042866,860 40.022247314453125861 ]862 },863 "obb": {864 "center": [865 753.7443884906567,866 -117.27447302063119,867 40.02226257324219868 ],869 "extent": [870 22.762253080915684,871 21.45173615042866,872 40.022247314453125873 ],874 "rotation": [875 0,876 2.578369140625,877 0878 ]879 },880 "location": [881 753.744384765625,882 -117.27447509765625,883 1.52587890625e-05884 ],885 "rotation": [886 0,887 2.578369140625,888 0889 ],890 "scale": [891 1,892 1,893 1894 ]895 },896 "color": [897 223,898 191,899 191900 ]901 }902 ],903 "folding": [904 {905 "object_id": "SM_Folding_Closed_193",906 "bbox_2d": [907 1166,908 532,909 1238,910 712911 ],912 "bbox_3d": {913 "aabb": {914 "center": [915 563.0454411043925,916 -130.0000126586815,917 50.90002023748582918 ],919 "extent": [920 14.748420726222093,921 24.495208003608745,922 51.49888812606113923 ]924 },925 "obb": {926 "center": [927 563.0454411043925,928 -130.0000126586815,929 50.90002023748581930 ],931 "extent": [932 14.748420726222093,933 24.495208003608745,934 51.49888812606113935 ],936 "rotation": [937 -3.0517578125552415e-05,938 -90.0000991821289,939 -10.000030517578125940 ]941 },942 "location": [943 571.394287109375,944 -130,945 0946 ],947 "rotation": [948 -3.0517578125552415e-05,949 -90.0000991821289,950 -10.000030517578125951 ],952 "scale": [953 1,954 1,955 1956 ]957 },958 "color": [959 63,960 223,961 191962 ]963 }964 ],965 "beer crate": [966 {967 "object_id": "SM_Beercrate_02_196",968 "bbox_2d": [969 1112,970 675,971 1197,972 723973 ],974 "bbox_3d": {975 "aabb": {976 "center": [977 591.910888671875,978 -127.89835357666016,979 12.455690383911133980 ],981 "extent": [982 16.99475471831613,983 21.9947441556898,984 12.544294357299805985 ]986 },987 "obb": {988 "center": [989 591.910888671875,990 -127.89835357666016,991 12.455690383911133992 ],993 "extent": [994 16.99475471831613,995 21.9947441556898,996 12.544294357299805997 ],998 "rotation": [999 0,1000 -90.00009918212892,1001 01002 ]1003 },1004 "location": [1005 591.910888671875,1006 -127.89835357666016,1007 -1.52587890625e-051008 ],1009 "rotation": [1010 0,1011 -90.00009918212892,1012 01013 ],1014 "scale": [1015 1,1016 1,1017 11018 ]1019 },1020 "color": [1021 63,1022 223,1023 311024 ]1025 },1026 {1027 "object_id": "SM_Beercrate_3",1028 "bbox_2d": [1029 1064,1030 678,1031 1148,1032 7301033 ],1034 "bbox_3d": {1035 "aabb": {1036 "center": [1037 627.9992065429688,1038 -127.89835357666016,1039 12.4556906427005741040 ],1041 "extent": [1042 16.99475471831613,1043 21.9947441556898,1044 12.5442943572998051045 ]1046 },1047 "obb": {1048 "center": [1049 627.9992065429688,1050 -127.89835357666016,1051 12.4556906427005741052 ],1053 "extent": [1054 16.99475471831613,1055 21.9947441556898,1056 12.5442943572998051057 ],1058 "rotation": [1059 0,1060 -90.00009918212892,1061 01062 ]1063 },1064 "location": [1065 627.9992065429688,1066 -127.89835357666016,1067 -1.4999999621068127e-051068 ],1069 "rotation": [1070 0,1071 -90.00009918212892,1072 01073 ],1074 "scale": [1075 1,1076 1,1077 11078 ]1079 },1080 "color": [1081 63,1082 223,1083 951084 ]1085 },1086 {1087 "object_id": "SM_Beercrate_4",1088 "bbox_2d": [1089 1110,1090 630,1091 1197,1092 6761093 ],1094 "bbox_3d": {1095 "aabb": {1096 "center": [1097 591.910888671875,1098 -127.89835357666016,1099 37.526941299438481100 ],1101 "extent": [1102 16.99475471831613,1103 21.9947441556898,1104 12.5442943572998051105 ]1106 },1107 "obb": {1108 "center": [1109 591.910888671875,1110 -127.89835357666016,1111 37.526941299438481112 ],1113 "extent": [1114 16.99475471831613,1115 21.9947441556898,1116 12.5442943572998051117 ],1118 "rotation": [1119 0,1120 -90.00009918212892,1121 01122 ]1123 },1124 "location": [1125 591.910888671875,1126 -127.89835357666016,1127 25.071235656738281128 ],1129 "rotation": [1130 0,1131 -90.00009918212892,1132 01133 ],1134 "scale": [1135 1,1136 1,1137 11138 ]1139 },1140 "color": [1141 63,1142 223,1143 1591144 ]1145 },1146 {1147 "object_id": "SM_Beercrate_5",1148 "bbox_2d": [1149 1056,1150 625,1151 1133,1152 6811153 ],1154 "bbox_3d": {1155 "aabb": {1156 "center": [1157 627.9992065429688,1158 -127.89835357666016,1159 37.526941299438481160 ],1161 "extent": [1162 16.99475471831613,1163 21.9947441556898,1164 12.5442943572998051165 ]1166 },1167 "obb": {1168 "center": [1169 627.9992065429688,1170 -127.89835357666016,1171 37.526941299438481172 ],1173 "extent": [1174 16.99475471831613,1175 21.9947441556898,1176 12.5442943572998051177 ],1178 "rotation": [1179 0,1180 -90.00009918212892,1181 01182 ]1183 },1184 "location": [1185 627.9992065429688,1186 -127.89835357666016,1187 25.071235656738281188 ],1189 "rotation": [1190 0,1191 -90.00009918212892,1192 01193 ],1194 "scale": [1195 1,1196 1,1197 11198 ]1199 },1200 "color": [