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": "l030_off1_r003",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/JapaneseRestaurant_02/l030_off1_r003/lit.png",5 "camera": {6 "location": [7 860,8 -272,9 18010 ],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 [37 860,38 -272,39 180,40 141 ]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 "chair": [55 {56 "object_id": "SM_Chair_01_53",57 "bbox_2d": [58 1050,59 815,60 1175,61 107962 ],63 "bbox_3d": {64 "aabb": {65 "center": [66 530.0000038146973,67 -324.99999809265137,68 40.02224731445312569 ],70 "extent": [71 21.862672805786133,72 20.488967895507812,73 40.02224731445312574 ]75 },76 "obb": {77 "center": [78 530.0000038146973,79 -324.99999809265137,80 40.02224731445312581 ],82 "extent": [83 21.862672805786133,84 20.488967895507812,85 40.02224731445312586 ],87 "rotation": [88 0,89 0,90 091 ]92 },93 "location": [94 530,95 -325,96 097 ],98 "rotation": [99 0,100 0,101 0102 ],103 "scale": [104 1,105 1,106 1107 ]108 },109 "color": [110 159,111 95,112 95113 ]114 },115 {116 "object_id": "SM_Chair_2",117 "bbox_2d": [118 762,119 815,120 885,121 1011122 ],123 "bbox_3d": {124 "aabb": {125 "center": [126 529.9999961853027,127 -225.00000190734863,128 40.022247314453125129 ],130 "extent": [131 21.862672805786133,132 20.488967895507812,133 40.022247314453125134 ]135 },136 "obb": {137 "center": [138 529.9999961853027,139 -225.00000190734863,140 40.022247314453125141 ],142 "extent": [143 21.862672805786133,144 20.488967895507812,145 40.022247314453125146 ],147 "rotation": [148 0,149 180,150 0151 ]152 },153 "location": [154 530,155 -225,156 0157 ],158 "rotation": [159 0,160 180,161 0162 ],163 "scale": [164 1,165 1,166 1167 ]168 },169 "color": [170 159,171 0,172 159173 ]174 },175 {176 "object_id": "SM_Chair_3",177 "bbox_2d": [178 1606,179 815,180 1787,181 1079182 ],183 "bbox_3d": {184 "aabb": {185 "center": [186 530.0000038146973,187 -524.9999980926514,188 40.022247314453125189 ],190 "extent": [191 21.862672805786133,192 20.488967895507812,193 40.022247314453125194 ]195 },196 "obb": {197 "center": [198 530.0000038146973,199 -524.9999980926514,200 40.022247314453125201 ],202 "extent": [203 21.862672805786133,204 20.488967895507812,205 40.022247314453125206 ],207 "rotation": [208 0,209 0,210 0211 ]212 },213 "location": [214 530,215 -525,216 0217 ],218 "rotation": [219 0,220 0,221 0222 ],223 "scale": [224 1,225 1,226 1227 ]228 },229 "color": [230 159,231 255,232 159233 ]234 },235 {236 "object_id": "SM_Chair_4",237 "bbox_2d": [238 1338,239 815,240 1488,241 1011242 ],243 "bbox_3d": {244 "aabb": {245 "center": [246 529.9999961853027,247 -425.00000190734863,248 40.022247314453125249 ],250 "extent": [251 21.862672805786133,252 20.488967895507812,253 40.022247314453125254 ]255 },256 "obb": {257 "center": [258 529.9999961853027,259 -425.00000190734863,260 40.022247314453125261 ],262 "extent": [263 21.862672805786133,264 20.488967895507812,265 40.022247314453125266 ],267 "rotation": [268 0,269 180,270 0271 ]272 },273 "location": [274 530,275 -425,276 0277 ],278 "rotation": [279 0,280 180,281 0282 ],283 "scale": [284 1,285 1,286 1287 ]288 },289 "color": [290 159,291 127,292 159293 ]294 }295 ],296 "folding": [297 {298 "object_id": "SM_Folding_Closed_193",299 "bbox_2d": [300 421,301 787,302 589,303 1028304 ],305 "bbox_3d": {306 "aabb": {307 "center": [308 563.0454411043925,309 -130.0000126586815,310 50.90002023748582311 ],312 "extent": [313 14.748420726222093,314 24.495208003608745,315 51.49888812606113316 ]317 },318 "obb": {319 "center": [320 563.0454411043925,321 -130.0000126586815,322 50.90002023748581323 ],324 "extent": [325 14.748420726222093,326 24.495208003608745,327 51.49888812606113328 ],329 "rotation": [330 -3.0517578125552415e-05,331 -90.0000991821289,332 -10.000030517578125333 ]334 },335 "location": [336 571.394287109375,337 -130,338 0339 ],340 "rotation": [341 -3.0517578125552415e-05,342 -90.0000991821289,343 -10.000030517578125344 ],345 "scale": [346 1,347 1,348 1349 ]350 },351 "color": [352 63,353 223,354 191355 ]356 },357 {358 "object_id": "SM_Folding_Closed5",359 "bbox_2d": [360 1886,361 801,362 1919,363 1004364 ],365 "bbox_3d": {366 "aabb": {367 "center": [368 562.4636840820312,369 -586.0146183365416,370 50.90002009852853371 ],372 "extent": [373 24.49518585205078,374 14.748379146541879,375 51.49887502838979376 ]377 },378 "obb": {379 "center": [380 562.4636840820312,381 -586.0146183365416,382 50.90002009852852383 ],384 "extent": [385 24.49518585205078,386 14.748379146541879,387 51.49887502838979388 ],389 "rotation": [390 0,391 0,392 -10.000031471252441393 ]394 },395 "location": [396 562.4636840820312,397 -577.665771484375,398 0399 ],400 "rotation": [401 0,402 0,403 -10.000031471252441404 ],405 "scale": [406 1,407 1,408 1409 ]410 },411 "color": [412 191,413 223,414 191415 ]416 }417 ],418 "beer crate": [419 {420 "object_id": "SM_Beercrate_02_196",421 "bbox_2d": [422 389,423 1065,424 502,425 1079426 ],427 "bbox_3d": {428 "aabb": {429 "center": [430 591.910888671875,431 -127.89835357666016,432 12.455690383911133433 ],434 "extent": [435 16.99475471831613,436 21.9947441556898,437 12.544294357299805438 ]439 },440 "obb": {441 "center": [442 591.910888671875,443 -127.89835357666016,444 12.455690383911133445 ],446 "extent": [447 16.99475471831613,448 21.9947441556898,449 12.544294357299805450 ],451 "rotation": [452 0,453 -90.00009918212892,454 0455 ]456 },457 "location": [458 591.910888671875,459 -127.89835357666016,460 -1.52587890625e-05461 ],462 "rotation": [463 0,464 -90.00009918212892,465 0466 ],467 "scale": [468 1,469 1,470 1471 ]472 },473 "color": [474 63,475 223,476 31477 ]478 },479 {480 "object_id": "SM_Beercrate_4",481 "bbox_2d": [482 345,483 978,484 540,485 1079486 ],487 "bbox_3d": {488 "aabb": {489 "center": [490 591.910888671875,491 -127.89835357666016,492 37.52694129943848493 ],494 "extent": [495 16.99475471831613,496 21.9947441556898,497 12.544294357299805498 ]499 },500 "obb": {501 "center": [502 591.910888671875,503 -127.89835357666016,504 37.52694129943848505 ],506 "extent": [507 16.99475471831613,508 21.9947441556898,509 12.544294357299805510 ],511 "rotation": [512 0,513 -90.00009918212892,514 0515 ]516 },517 "location": [518 591.910888671875,519 -127.89835357666016,520 25.07123565673828521 ],522 "rotation": [523 0,524 -90.00009918212892,525 0526 ],527 "scale": [528 1,529 1,530 1531 ]532 },533 "color": [534 63,535 223,536 159537 ]538 },539 {540 "object_id": "SM_Beercrate_5",541 "bbox_2d": [542 270,543 1041,544 479,545 1079546 ],547 "bbox_3d": {548 "aabb": {549 "center": [550 627.9992065429688,551 -127.89835357666016,552 37.52694129943848553 ],554 "extent": [555 16.99475471831613,556 21.9947441556898,557 12.544294357299805558 ]559 },560 "obb": {561 "center": [562 627.9992065429688,563 -127.89835357666016,564 37.52694129943848565 ],566 "extent": [567 16.99475471831613,568 21.9947441556898,569 12.544294357299805570 ],571 "rotation": [572 0,573 -90.00009918212892,574 0575 ]576 },577 "location": [578 627.9992065429688,579 -127.89835357666016,580 25.07123565673828581 ],582 "rotation": [583 0,584 -90.00009918212892,585 0586 ],587 "scale": [588 1,589 1,590 1591 ]592 },593 "color": [594 191,595 223,596 0597 ]598 },599 {600 "object_id": "SM_BeerCrate_01_302",601 "bbox_2d": [602 329,603 899,604 526,605 1052606 ],607 "bbox_3d": {608 "aabb": {609 "center": [610 594,611 -127.00000190734863,612 60.99999809265137613 ],614 "extent": [615 22.500003814697266,616 15.00000286102295,617 11.000004768371582618 ]619 },620 "obb": {621 "center": [622 594,623 -127.00000190734863,624 60.99999809265137625 ],626 "extent": [627 22.500003814697266,628 15.00000286102295,629 11.000004768371582630 ],631 "rotation": [632 0,633 0,634 0635 ]636 },637 "location": [638 594,639 -127,640 50641 ],642 "rotation": [643 0,644 0,645 0646 ],647 "scale": [648 1,649 1,650 1651 ]652 },653 "color": [654 223,655 191,656 0657 ]658 }659 ],660 "chopstick stand": [661 {662 "object_id": "SM_ChopstickStand_208",663 "bbox_2d": [664 1829,665 967,666 1912,667 998668 ],669 "bbox_3d": {670 "aabb": {671 "center": [672 666.3295193233147,673 -455.5632950685806,674 82.75994300842285675 ],676 "extent": [677 6.685890457922596,678 5.78266473468193,679 9.759943008422852680 ]681 },682 "obb": {683 "center": [684 666.3295193233147,685 -455.5632950685806,686 82.75994300842285687 ],688 "extent": [689 6.685890457922596,690 5.78266473468193,691 9.759943008422852692 ],693 "rotation": [694 0,695 -99.99993896484378,696 0697 ]698 },699 "location": [700 668.0160522460938,701 -454.51544189453125,702 73703 ],704 "rotation": [705 0,706 -99.99993896484378,707 0708 ],709 "scale": [710 1,711 1,712 1713 ]714 },715 "color": [716 191,717 223,718 31719 ]720 },721 {722 "object_id": "SM_ChopstickStand2",723 "bbox_2d": [724 1225,725 970,726 1274,727 1079728 ],729 "bbox_3d": {730 "aabb": {731 "center": [732 669.8083425419895,733 -329.6758147638004,734 82.75994300842285735 ],736 "extent": [737 6.685903833459065,738 5.782682747893148,739 9.759943008422852740 ]741 },742 "obb": {743 "center": [744 669.8083425419895,745 -329.6758147638004,746 82.75994300842285747 ],748 "extent": [749 6.685903833459065,750 5.782682747893148,751 9.759943008422852752 ],753 "rotation": [754 0,755 100.00014495849612,756 0757 ]758 },759 "location": [760 668.5819091796875,761 -331.2373046875,762 73763 ],764 "rotation": [765 0,766 100.00014495849612,767 0768 ],769 "scale": [770 1,771 1,772 1773 ]774 },775 "color": [776 191,777 223,778 95779 ]780 },781 {782 "object_id": "SM_ChopstickStand3",783 "bbox_2d": [784 570,785 974,786 620,787 1079788 ],789 "bbox_3d": {790 "aabb": {791 "center": [792 671.572136487302,793 -199.585864202277,794 82.75994300842285795 ],796 "extent": [797 6.685903833459065,798 5.782682747893119,799 9.759943008422852800 ]801 },802 "obb": {803 "center": [804 671.572136487302,805 -199.585864202277,806 82.75994300842285807 ],808 "extent": [809 6.685903833459065,810 5.782682747893119,811 9.759943008422852812 ],813 "rotation": [814 0,815 100.00014495849612,816 0817 ]818 },819 "location": [820 670.345703125,821 -201.14735412597656,822 73823 ],824 "rotation": [825 0,826 100.00014495849612,827 0828 ],829 "scale": [830 1,831 1,832 1833 ]834 },835 "color": [836 191,837 223,838 159839 ]840 },841 {842 "object_id": "SM_ChopstickStand4",843 "bbox_2d": [844 980,845 769,846 1005,847 819848 ],849 "bbox_3d": {850 "aabb": {851 "center": [852 498.11653956347396,853 -284.3640471856754,854 82.75994300842285855 ],856 "extent": [857 6.685903833459065,858 5.782682747893148,859 9.759943008422852860 ]861 },862 "obb": {863 "center": [864 498.11653956347396,865 -284.3640471856754,866 82.75994300842285867 ],868 "extent": [869 6.685903833459065,870 5.782682747893148,871 9.759943008422852872 ],873 "rotation": [874 0,875 100.00014495849612,876 0877 ]878 },879 "location": [880 496.8901062011719,881 -285.925537109375,882 73883 ],884 "rotation": [885 0,886 100.00014495849612,887 0888 ],889 "scale": [890 1,891 1,892 1893 ]894 },895 "color": [896 31,897 223,898 0899 ]900 },901 {902 "object_id": "SM_ChopstickStand5",903 "bbox_2d": [904 1513,905 767,906 1542,907 817908 ],909 "bbox_3d": {910 "aabb": {911 "center": [912 495.20186671191146,913 -488.4879180352848,914 82.75994300842285915 ],916 "extent": [917 6.685903833459065,918 5.782682747893148,919 9.759943008422852920 ]921 },922 "obb": {923 "center": [924 495.20186671191146,925 -488.4879180352848,926 82.75994300842285927 ],928 "extent": [929 6.685903833459065,930 5.782682747893148,931 9.759943008422852932 ],933 "rotation": [934 0,935 100.00014495849612,936 0937 ]938 },939 "location": [940 493.9754333496094,941 -490.0494079589844,942 73943 ],944 "rotation": [945 0,946 100.00014495849612,947 0948 ],949 "scale": [950 1,951 1,952 1953 ]954 },955 "color": [956 31,957 223,958 255959 ]960 }961 ],962 "coat hanger": [963 {964 "object_id": "SM_CoatHanger_350",965 "bbox_2d": [966 799,967 659,968 893,969 746970 ],971 "bbox_3d": {972 "aabb": {973 "center": [974 453.5434946528736,975 -224.02277366279895,976 111.35374069213867977 ],978 "extent": [979 3.5435377197342177,980 19.967594066807465,981 18.870166778564453982 ]983 },984 "obb": {985 "center": [986 453.5434946528736,987 -224.02277366279895,988 111.35374069213867989 ],990 "extent": [991 3.5435377197342177,992 19.967594066807465,993 18.870166778564453994 ],995 "rotation": [996 0,997 -90.00012207031251,998 0999 ]1000 },1001 "location": [1002 450,1003 -224,1004 1181005 ],1006 "rotation": [1007 0,1008 -90.00012207031251,1009 01010 ],1011 "scale": [1012 1,1013 1,1014 11015 ]1016 },1017 "color": [1018 0,1019 255,1020 151021 ]1022 },1023 {1024 "object_id": "SM_CoatHanger2",1025 "bbox_2d": [1026 1050,1027 658,1028 1143,1029 7461030 ],1031 "bbox_3d": {1032 "aabb": {1033 "center": [1034 453.5434946528736,1035 -330.02277366279895,1036 111.353740692138671037 ],1038 "extent": [1039 3.5435377197342177,1040 19.967594066807465,1041 18.8701667785644531042 ]1043 },1044 "obb": {1045 "center": [1046 453.5434946528736,1047 -330.02277366279895,1048 111.353740692138671049 ],1050 "extent": [1051 3.5435377197342177,1052 19.967594066807465,1053 18.8701667785644531054 ],1055 "rotation": [1056 0,1057 -90.00012207031251,1058 01059 ]1060 },1061 "location": [1062 450,1063 -330,1064 1181065 ],1066 "rotation": [1067 0,1068 -90.00012207031251,1069 01070 ],1071 "scale": [1072 1,1073 1,1074 11075 ]1076 },1077 "color": [1078 0,1079 127,1080 151081 ]1082 },1083 {1084 "object_id": "SM_CoatHanger3",1085 "bbox_2d": [1086 1261,1087 658,1088 1356,1089 7461090 ],1091 "bbox_3d": {1092 "aabb": {1093 "center": [1094 453.5434946528736,1095 -420.02277366279895,1096 111.353740692138671097 ],1098 "extent": [1099 3.5435377197342177,1100 19.967594066807465,1101 18.8701667785644531102 ]1103 },1104 "obb": {1105 "center": [1106 453.5434946528736,1107 -420.02277366279895,1108 111.353740692138671109 ],1110 "extent": [1111 3.5435377197342177,1112 19.967594066807465,1113 18.8701667785644531114 ],1115 "rotation": [1116 0,1117 -90.00012207031251,1118 01119 ]1120 },1121 "location": [1122 450,1123 -420,1124 1181125 ],1126 "rotation": [1127 0,1128 -90.00012207031251,1129 01130 ],1131 "scale": [1132 1,1133 1,1134 11135 ]1136 },1137 "color": [1138 0,1139 63,1140 151141 ]1142 },1143 {1144 "object_id": "SM_CoatHanger4",1145 "bbox_2d": [1146 1565,1147 658,1148 1661,1149 7461150 ],1151 "bbox_3d": {1152 "aabb": {1153 "center": [1154 453.5434946528736,1155 -549.022773662799,1156 111.353740692138671157 ],1158 "extent": [1159 3.5435377197342177,1160 19.967594066807465,1161 18.8701667785644531162 ]1163 },1164 "obb": {1165 "center": [1166 453.5434946528736,1167 -549.022773662799,1168 111.353740692138671169 ],1170 "extent": [1171 3.5435377197342177,1172 19.967594066807465,1173 18.8701667785644531174 ],1175 "rotation": [1176 0,1177 -90.00012207031251,1178 01179 ]1180 },1181 "location": [1182 450,1183 -549,1184 1181185 ],1186 "rotation": [1187 0,1188 -90.00012207031251,1189 01190 ],1191 "scale": [1192 1,1193 1,1194 11195 ]1196 },1197 "color": [1198 0,1199 191,1200 15