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": "1940Office",3 "view_id": "l104_r004",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/1940Office/l104_r004/lit.png",5 "camera": {6 "location": [7 1478,8 -333,9 75510 ],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 1478,38 -333,39 755,40 141 ]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 "pillar": [54 {55 "object_id": "SM_Pillar01_50",56 "bbox_2d": [57 1027,58 358,59 1159,60 107961 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 1311.9058837890625,66 -697.6285400390625,67 655.000045776367268 ],69 "extent": [70 30.05077600479126,71 48.0811767578125,72 165.0001373291015673 ]74 },75 "obb": {76 "center": [77 1311.9058837890625,78 -697.6285400390625,79 655.000045776367280 ],81 "extent": [82 30.05077600479126,83 48.0811767578125,84 165.0001373291015685 ],86 "rotation": [87 0,88 0,89 090 ]91 },92 "location": [93 1311.9058837890625,94 -697.6285400390625,95 49096 ],97 "rotation": [98 0,99 0,100 0101 ],102 "scale": [103 0.625,104 1,105 1106 ]107 },108 "color": [109 255,110 63,111 0112 ]113 }114 ],115 "floor planks corner": [116 {117 "object_id": "SM_Floor_4x4m99",118 "bbox_2d": [119 1713,120 365,121 1919,122 448123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 1800,128 -1020,129 834.9999980926514130 ],131 "extent": [132 200,133 200,134 15.000001907348633135 ]136 },137 "obb": {138 "center": [139 1800,140 -1020,141 834.9999980926514142 ],143 "extent": [144 200,145 200,146 15.000001907348633147 ],148 "rotation": [149 0,150 0,151 0152 ]153 },154 "location": [155 1600,156 -820,157 850158 ],159 "rotation": [160 0,161 0,162 0163 ],164 "scale": [165 1,166 1,167 1168 ]169 },170 "color": [171 127,172 127,173 95174 ]175 },176 {177 "object_id": "SM_Floor_4x4m100",178 "bbox_2d": [179 1200,180 367,181 1887,182 462183 ],184 "bbox_3d": {185 "aabb": {186 "center": [187 1400,188 -1020,189 834.9999980926514190 ],191 "extent": [192 200,193 200,194 15.000001907348633195 ]196 },197 "obb": {198 "center": [199 1400,200 -1020,201 834.9999980926514202 ],203 "extent": [204 200,205 200,206 15.000001907348633207 ],208 "rotation": [209 0,210 0,211 0212 ]213 },214 "location": [215 1200,216 -820,217 850218 ],219 "rotation": [220 0,221 0,222 0223 ],224 "scale": [225 1,226 1,227 1228 ]229 },230 "color": [231 127,232 63,233 95234 ]235 },236 {237 "object_id": "SM_Floor_4x4m92_3",238 "bbox_2d": [239 173,240 0,241 740,242 109243 ],244 "bbox_3d": {245 "aabb": {246 "center": [247 1300,248 -220,249 834.9999980926514250 ],251 "extent": [252 100,253 200,254 15.000001907348633255 ]256 },257 "obb": {258 "center": [259 1300,260 -220,261 834.9999980926514262 ],263 "extent": [264 100,265 200,266 15.000001907348633267 ],268 "rotation": [269 0,270 0,271 0272 ]273 },274 "location": [275 1200,276 -20,277 850278 ],279 "rotation": [280 0,281 0,282 0283 ],284 "scale": [285 1,286 1,287 1288 ]289 },290 "color": [291 191,292 191,293 159294 ]295 },296 {297 "object_id": "SM_Floor_4x4m96_11",298 "bbox_2d": [299 447,300 0,301 1326,302 412303 ],304 "bbox_3d": {305 "aabb": {306 "center": [307 1300,308 -620,309 834.9999980926514310 ],311 "extent": [312 100,313 200,314 15.000001907348633315 ]316 },317 "obb": {318 "center": [319 1300,320 -620,321 834.9999980926514322 ],323 "extent": [324 100,325 200,326 15.000001907348633327 ],328 "rotation": [329 0,330 0,331 0332 ]333 },334 "location": [335 1200,336 -420,337 850338 ],339 "rotation": [340 0,341 0,342 0343 ],344 "scale": [345 1,346 1,347 1348 ]349 },350 "color": [351 191,352 31,353 159354 ]355 },356 {357 "object_id": "SM_Floor_4x4m104",358 "bbox_2d": [359 767,360 0,361 1919,362 322363 ],364 "bbox_3d": {365 "aabb": {366 "center": [367 1500,368 -520,369 834.9999980926514370 ],371 "extent": [372 100,373 100,374 15.000001907348633375 ]376 },377 "obb": {378 "center": [379 1500,380 -520,381 834.9999980926514382 ],383 "extent": [384 100,385 100,386 15.000001907348633387 ],388 "rotation": [389 0,390 0,391 0392 ]393 },394 "location": [395 1400,396 -420,397 850398 ],399 "rotation": [400 0,401 0,402 0403 ],404 "scale": [405 1,406 1,407 1408 ]409 },410 "color": [411 31,412 0,413 159414 ]415 },416 {417 "object_id": "SM_Floor_4x4m105",418 "bbox_2d": [419 1214,420 243,421 1919,422 404423 ],424 "bbox_3d": {425 "aabb": {426 "center": [427 1500,428 -720,429 834.9999980926514430 ],431 "extent": [432 100,433 100,434 15.000001907348633435 ]436 },437 "obb": {438 "center": [439 1500,440 -720,441 834.9999980926514442 ],443 "extent": [444 100,445 100,446 15.000001907348633447 ],448 "rotation": [449 0,450 0,451 0452 ]453 },454 "location": [455 1400,456 -620,457 850458 ],459 "rotation": [460 0,461 0,462 0463 ],464 "scale": [465 1,466 1,467 1468 ]469 },470 "color": [471 31,472 255,473 159474 ]475 },476 {477 "object_id": "SM_Floor_4x4m79_7",478 "bbox_2d": [479 1158,480 821,481 1185,482 983483 ],484 "bbox_3d": {485 "aabb": {486 "center": [487 1199.9993075787158,488 -1020.0003462121404,489 474.99999809265137490 ],491 "extent": [492 100.00069242128416,493 200.000346209743,494 15.000001907348633495 ]496 },497 "obb": {498 "center": [499 1199.9993075787158,500 -1020.0003462121404,501 474.99999809265137502 ],503 "extent": [504 100.00069242128416,505 200.000346209743,506 15.000001907348633507 ],508 "rotation": [509 0,510 -179.9998016357422,511 0512 ]513 },514 "location": [515 1300,516 -1220,517 490518 ],519 "rotation": [520 0,521 -179.9998016357422,522 0523 ],524 "scale": [525 1,526 1,527 1528 ]529 },530 "color": [531 127,532 159,533 159534 ]535 },536 {537 "object_id": "SM_Floor_4x4m211",538 "bbox_2d": [539 1332,540 941,541 1777,542 1079543 ],544 "bbox_3d": {545 "aabb": {546 "center": [547 1600.0001687016638,548 -820.0003195790755,549 474.99999809265137550 ],551 "extent": [552 200.0003195790755,553 200.0003195790755,554 15.000001907348633555 ]556 },557 "obb": {558 "center": [559 1600.0001687016638,560 -820.0003195790755,561 474.99999809265137562 ],563 "extent": [564 200.0003195790755,565 200.0003195790755,566 15.000001907348633567 ],568 "rotation": [569 0,570 -9.1552734375e-05,571 0572 ]573 },574 "location": [575 1400.00048828125,576 -620,577 490578 ],579 "rotation": [580 0,581 -9.1552734375e-05,582 0583 ],584 "scale": [585 1,586 1,587 1588 ]589 },590 "color": [591 159,592 0,593 255594 ]595 },596 {597 "object_id": "SM_Floor_4x4m242_34",598 "bbox_2d": [599 1378,600 872,601 1766,602 1015603 ],604 "bbox_3d": {605 "aabb": {606 "center": [607 1500.0002985308424,608 -1120.0001897500476,609 474.99999809265137610 ],611 "extent": [612 100.00018975004764,613 100.00018975004764,614 15.000001907348633615 ]616 },617 "obb": {618 "center": [619 1500.0002985308424,620 -1120.0001897500476,621 474.99999809265137622 ],623 "extent": [624 100.00018975004764,625 100.00018975004764,626 15.000001907348633627 ],628 "rotation": [629 0,630 -0.0001087188720703125,631 0632 ]633 },634 "location": [635 1400.00048828125,636 -1020,637 490638 ],639 "rotation": [640 0,641 -0.0001087188720703125,642 0643 ],644 "scale": [645 1,646 1,647 1648 ]649 },650 "color": [651 159,652 0,653 127654 ]655 },656 {657 "object_id": "SM_Floor_4x4m106",658 "bbox_2d": [659 1890,660 353,661 1919,662 366663 ],664 "bbox_3d": {665 "aabb": {666 "center": [667 1700,668 -720,669 834.9999980926514670 ],671 "extent": [672 100,673 100,674 15.000001907348633675 ]676 },677 "obb": {678 "center": [679 1700,680 -720,681 834.9999980926514682 ],683 "extent": [684 100,685 100,686 15.000001907348633687 ],688 "rotation": [689 0,690 0,691 0692 ]693 },694 "location": [695 1600,696 -620,697 850698 ],699 "rotation": [700 0,701 0,702 0703 ],704 "scale": [705 1,706 1,707 1708 ]709 },710 "color": [711 159,712 255,713 255714 ]715 },716 {717 "object_id": "SM_Floor_4x4m195",718 "bbox_2d": [719 1134,720 968,721 1355,722 1079723 ],724 "bbox_3d": {725 "aabb": {726 "center": [727 1350.0002545872849,728 -820.0001797903705,729 474.99999809265137730 ],731 "extent": [732 50.000372842205024,733 100.00018642058126,734 15.000001907348633735 ]736 },737 "obb": {738 "center": [739 1350.0002545872849,740 -820.0001797903705,741 474.99999809265137742 ],743 "extent": [744 50.000372842205024,745 100.00018642058126,746 15.000001907348633747 ],748 "rotation": [749 0,750 179.99978637695312,751 0752 ]753 },754 "location": [755 1399.9998779296875,756 -920.0003662109375,757 490758 ],759 "rotation": [760 0,761 179.99978637695312,762 0763 ],764 "scale": [765 1,766 1,767 1768 ]769 },770 "color": [771 159,772 191,773 0774 ]775 },776 {777 "object_id": "SM_Floor_4x4m196_20",778 "bbox_2d": [779 1191,780 882,781 1392,782 1004783 ],784 "bbox_3d": {785 "aabb": {786 "center": [787 1349.9995221654099,788 -1020.0001797903703,789 474.99999809265137790 ],791 "extent": [792 50.000372842205024,793 100.0001864205812,794 15.000001907348633795 ]796 },797 "obb": {798 "center": [799 1349.9995221654099,800 -1020.0001797903703,801 474.99999809265137802 ],803 "extent": [804 50.000372842205024,805 100.0001864205812,806 15.000001907348633807 ],808 "rotation": [809 0,810 179.99978637695312,811 0812 ]813 },814 "location": [815 1399.9991455078125,816 -1120.0003662109375,817 490818 ],819 "rotation": [820 0,821 179.99978637695312,822 0823 ],824 "scale": [825 1,826 1,827 1828 ]829 },830 "color": [831 159,832 191,833 255834 ]835 },836 {837 "object_id": "SM_Floor_4x4m200_30",838 "bbox_2d": [839 1370,840 867,841 1400,842 888843 ],844 "bbox_3d": {845 "aabb": {846 "center": [847 1349.998969533196,848 -1170.000179790023,849 474.99999809265137850 ],851 "extent": [852 50.000186420928685,853 50.000186420928685,854 15.000001907348633855 ]856 },857 "obb": {858 "center": [859 1349.998969533196,860 -1170.000179790023,861 474.99999809265137862 ],863 "extent": [864 50.000186420928685,865 50.000186420928685,866 15.000001907348633867 ],868 "rotation": [869 0,870 179.99978637695312,871 0872 ]873 },874 "location": [875 1399.998779296875,876 -1220.0003662109375,877 490878 ],879 "rotation": [880 0,881 179.99978637695312,882 0883 ],884 "scale": [885 1,886 1,887 1888 ]889 },890 "color": [891 159,892 191,893 31894 ]895 },896 {897 "object_id": "SM_Floor_4x4m249",898 "bbox_2d": [899 1712,900 912,901 1919,902 1018903 ],904 "bbox_3d": {905 "aabb": {906 "center": [907 1700.0002980401796,908 -1120.000556451646,909 474.99999809265137910 ],911 "extent": [912 100.00019024070843,913 100.00019024070843,914 15.000001907348633915 ]916 },917 "obb": {918 "center": [919 1700.0002980401796,920 -1120.000556451646,921 474.99999809265137922 ],923 "extent": [924 100.00019024070843,925 100.00019024070843,926 15.000001907348633927 ],928 "rotation": [929 0,930 -0.0001090000005206093,931 0932 ]933 },934 "location": [935 1600.00048828125,936 -1020.0003662109375,937 490938 ],939 "rotation": [940 0,941 -0.0001090000005206093,942 0943 ],944 "scale": [945 1,946 1,947 1948 ]949 },950 "color": [951 159,952 191,953 95954 ]955 }956 ],957 "broad frame": [958 {959 "object_id": "SM_BroadFrame4_5",960 "bbox_2d": [961 1840,962 847,963 1858,964 953965 ],966 "bbox_3d": {967 "aabb": {968 "center": [969 1664.9165521866666,970 -1176.1213183104542,971 521.3261964704471972 ],973 "extent": [974 3.8757432316224367,975 23.70040256156358,976 31.274695263561398977 ]978 },979 "obb": {980 "center": [981 1664.9165521866666,982 -1176.1213183104542,983 521.3261964704471984 ],985 "extent": [986 3.8757432316224367,987 23.70040256156358,988 31.274695263561398989 ],990 "rotation": [991 -4.047561645507813,992 -179.999755859375,993 1.467923838036322e-10994 ]995 },996 "location": [997 1666.588134765625,998 -1176.1094970703125,999 521.43591308593751000 ],1001 "rotation": [1002 -4.047561645507813,1003 -179.999755859375,1004 1.467923838036322e-101005 ],1006 "scale": [1007 1,1008 1,1009 11010 ]1011 },1012 "color": [1013 159,1014 79,1015 01016 ]1017 },1018 {1019 "object_id": "SM_BroadFrame5",1020 "bbox_2d": [1021 1840,1022 845,1023 1889,1024 9531025 ],1026 "bbox_3d": {1027 "aabb": {1028 "center": [1029 1675.144276696279,1030 -1184.8628264428403,1031 520.13097671471611032 ],1033 "extent": [1034 10.903199263853821,1035 23.700548960474634,1036 30.315538159703381037 ]1038 },1039 "obb": {1040 "center": [1041 1675.144276696279,1042 -1184.8628264428403,1043 520.13097671471611044 ],1045 "extent": [1046 10.903199263853821,1047 23.700548960474634,1048 30.315538159703381049 ],1050 "rotation": [1051 -17.330060958862305,1052 -179.999755859375,1053 -179.999786376953121054 ]1055 },1056 "location": [1057 1676.7408447265625,1058 -1184.8746337890625,1059 520.63812255859381060 ],1061 "rotation": [1062 -17.330060958862305,1063 -179.999755859375,1064 -179.999786376953121065 ],1066 "scale": [1067 1,1068 1,1069 11070 ]1071 },1072 "color": [1073 159,1074 79,1075 2551076 ]1077 }1078 ],1079 "small stairs": [1080 {1081 "object_id": "SM_SmallStairs_20",1082 "bbox_2d": [1083 1445,1084 824,1085 1548,1086 9331087 ],1088 "bbox_3d": {1089 "aabb": {1090 "center": [1091 1465.8977602616117,1092 -1103.6669508662762,1093 520.59367561340331094 ],1095 "extent": [1096 33.80218427969248,1097 34.86468041461558,1098 30.409145355224611099 ]1100 },1101 "obb": {1102 "center": [1103 1465.8977602616117,1104 -1103.6669508662762,1105 520.59367561340331106 ],1107 "extent": [1108 33.80218427969248,1109 34.86468041461558,1110 30.409145355224611111 ],1112 "rotation": [1113 0,1114 55.166748046875,1115 01116 ]1117 },1118 "location": [1119 1465.908203125,1120 -1103.6519775390625,1121 4901122 ],1123 "rotation": [1124 0,1125 55.166748046875,1126 01127 ],1128 "scale": [1129 1,1130 1,1131 11132 ]1133 },1134 "color": [1135 79,1136 63,1137 2231138 ]1139 }1140 ],1141 "floor separator": [1142 {1143 "object_id": "SM_FloorSeparator02_8",1144 "bbox_2d": [1145 1158,1146 948,1147 1201,1148 10101149 ],1150 "bbox_3d": {1151 "aabb": {1152 "center": [1153 1299.3640153630363,1154 -945.5773114772906,1155 490.66049751637591156 ],1157 "extent": [1158 5.254843374285883,1159 113.00401385230384,1160 0.66049751637592641161 ]1162 },1163 "obb": {1164 "center": [1165 1299.3640153630363,1166 -945.5773114772906,1167 490.66049751637591168 ],1169 "extent": [1170 5.254843374285883,1171 113.00401385230384,1172 0.66049751637592641173 ],1174 "rotation": [1175 0,1176 -90.00006103515625,1177 01178 ]1179 },1180 "location": [1181 1299.3641357421875,1182 -832.5733032226562,1183 4901184 ],1185 "rotation": [1186 0,1187 -90.00006103515625,1188 01189 ],1190 "scale": [1191 1.130040168762207,1192 1.130040168762207,1193 1.1300401687622071194 ]1195 },1196 "color": [1197 255,1198 63,1199 1431200 ]