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": "l136_r003",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/1940Office/l136_r003/lit.png",5 "camera": {6 "location": [7 1037,8 -1118,9 85410 ],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 1037,38 -1118,39 854,40 141 ]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 "window": [54 {55 "object_id": "SM_Wall01_2m52",56 "bbox_2d": [57 598,58 115,59 681,60 27161 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 150.00002580240175,66 -819.9997213751408,67 1015.000045776367268 ],69 "extent": [70 150.00021339111737,71 38.081518325303364,72 165.0001373291015673 ]74 },75 "obb": {76 "center": [77 150.00002580240175,78 -819.9997213751408,79 1015.000045776367280 ],81 "extent": [82 150.00021339111737,83 38.081518325303364,84 165.0001373291015685 ],86 "rotation": [87 0,88 90.00011444091797,89 090 ]91 },92 "location": [93 0,94 -830,95 85096 ],97 "rotation": [98 0,99 90.00011444091797,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 255,110 63,111 63112 ]113 },114 {115 "object_id": "SM_Wall01_2m19",116 "bbox_2d": [117 1057,118 0,119 1076,120 49121 ],122 "bbox_3d": {123 "aabb": {124 "center": [125 100.00003243361658,126 -1220.9600858879437,127 1360.0001068115234128 ],129 "extent": [130 100.00021059257779,131 29.04172506252098,132 180.00010681152344133 ]134 },135 "obb": {136 "center": [137 100.00003243361658,138 -1220.9600858879437,139 1360.0001068115234140 ],141 "extent": [142 100.00021059257779,143 29.04172506252098,144 180.00010681152344145 ],146 "rotation": [147 0,148 90.00011444091797,149 0150 ]151 },152 "location": [153 0,154 -1220,155 1210156 ],157 "rotation": [158 0,159 90.00011444091797,160 0161 ],162 "scale": [163 1,164 1,165 1166 ]167 },168 "color": [169 15,170 143,171 111172 ]173 },174 {175 "object_id": "SM_Wall01_2m50",176 "bbox_2d": [177 607,178 239,179 630,180 271181 ],182 "bbox_3d": {183 "aabb": {184 "center": [185 -0.9611910993825923,186 -620.0000305175781,187 1000.0001068115234188 ],189 "extent": [190 29.042430799699975,191 200.00015258789062,192 180.00010681152344193 ]194 },195 "obb": {196 "center": [197 -0.9611910993825923,198 -620.0000305175781,199 1000.0001068115234200 ],201 "extent": [202 29.042430799699975,203 200.00015258789062,204 180.00010681152344205 ],206 "rotation": [207 0,208 0,209 0210 ]211 },212 "location": [213 0,214 -420,215 850216 ],217 "rotation": [218 0,219 0,220 0221 ],222 "scale": [223 1,224 1,225 1226 ]227 },228 "color": [229 79,230 143,231 127232 ]233 }234 ],235 "pillar": [236 {237 "object_id": "SM_Pillar11",238 "bbox_2d": [239 560,240 86,241 624,242 333243 ],244 "bbox_3d": {245 "aabb": {246 "center": [247 305,248 -820,249 1015.0000457763672250 ],251 "extent": [252 42.32736068178906,253 36.060882568359375,254 165.00013732910156255 ]256 },257 "obb": {258 "center": [259 305,260 -820,261 1015.0000457763672262 ],263 "extent": [264 42.32736068178906,265 36.060882568359375,266 165.00013732910156267 ],268 "rotation": [269 0,270 0,271 0272 ]273 },274 "location": [275 305,276 -820,277 850278 ],279 "rotation": [280 0,281 0,282 0283 ],284 "scale": [285 0.8803300261497498,286 0.75,287 1288 ]289 },290 "color": [291 63,292 63,293 63294 ]295 },296 {297 "object_id": "SM_Pillar14",298 "bbox_2d": [299 215,300 0,301 312,302 546303 ],304 "bbox_3d": {305 "aabb": {306 "center": [307 645,308 -820,309 1015.0000457763672310 ],311 "extent": [312 42.32736068178906,313 36.060882568359375,314 165.00013732910156315 ]316 },317 "obb": {318 "center": [319 645,320 -820,321 1015.0000457763672322 ],323 "extent": [324 42.32736068178906,325 36.060882568359375,326 165.00013732910156327 ],328 "rotation": [329 0,330 0,331 0332 ]333 },334 "location": [335 645,336 -820,337 850338 ],339 "rotation": [340 0,341 0,342 0343 ],344 "scale": [345 0.8803300261497498,346 0.75,347 1348 ]349 },350 "color": [351 127,352 127,353 191354 ]355 },356 {357 "object_id": "SM_Pillar21",358 "bbox_2d": [359 1034,360 0,361 1056,362 49363 ],364 "bbox_3d": {365 "aabb": {366 "center": [367 6.7024078369140625,368 -1214.1737060546875,369 1375.0000457763672370 ],371 "extent": [372 38.46499385930588,373 38.46494197942229,374 165.00013732910156375 ]376 },377 "obb": {378 "center": [379 6.7024078369140625,380 -1214.1737060546875,381 1375.0000457763672382 ],383 "extent": [384 38.46499385930588,385 38.46494197942229,386 165.00013732910156387 ],388 "rotation": [389 0,390 0,391 0392 ]393 },394 "location": [395 6.7024078369140625,396 -1214.1737060546875,397 1210398 ],399 "rotation": [400 0,401 0,402 0403 ],404 "scale": [405 0.800000011920929,406 0.800000011920929,407 1408 ]409 },410 "color": [411 31,412 191,413 159414 ]415 }416 ],417 "stairs floor": [418 {419 "object_id": "SM_StairsFloor2",420 "bbox_2d": [421 0,422 555,423 1919,424 1079425 ],426 "bbox_3d": {427 "aabb": {428 "center": [429 600,430 -1019.9999999999999,431 834.8743591308594432 ],433 "extent": [434 400.0000000000002,435 200.0000000000001,436 16.424835205078125437 ]438 },439 "obb": {440 "center": [441 600,442 -1019.9999999999999,443 834.8743591308594444 ],445 "extent": [446 400.0000000000002,447 200.0000000000001,448 16.424835205078125449 ],450 "rotation": [451 0,452 90.00000000000001,453 0454 ]455 },456 "location": [457 200,458 -1220,459 850460 ],461 "rotation": [462 0,463 90.00000000000001,464 0465 ],466 "scale": [467 1,468 1,469 1470 ]471 },472 "color": [473 255,474 191,475 127476 ]477 },478 {479 "object_id": "SM_StairsFloor3",480 "bbox_2d": [481 484,482 0,483 824,484 165485 ],486 "bbox_3d": {487 "aabb": {488 "center": [489 600,490 -1019.9999999999999,491 1194.8743591308594492 ],493 "extent": [494 400.0000000000002,495 200.0000000000001,496 16.424835205078125497 ]498 },499 "obb": {500 "center": [501 600,502 -1019.9999999999999,503 1194.8743591308594504 ],505 "extent": [506 400.0000000000002,507 200.0000000000001,508 16.424835205078125509 ],510 "rotation": [511 0,512 90.00000000000001,513 0514 ]515 },516 "location": [517 200,518 -1220,519 1210520 ],521 "rotation": [522 0,523 90.00000000000001,524 0525 ],526 "scale": [527 1,528 1,529 1530 ]531 },532 "color": [533 127,534 191,535 127536 ]537 }538 ],539 "railing": [540 {541 "object_id": "SM_Railing3",542 "bbox_2d": [543 183,544 28,545 590,546 557547 ],548 "bbox_3d": {549 "aabb": {550 "center": [551 799.9105682370749,552 -1009.9997851827576,553 889.3813171386719554 ],555 "extent": [556 100.00001222994808,557 6.1233229060148915,558 39.38128662109375559 ]560 },561 "obb": {562 "center": [563 799.9105682370749,564 -1009.9997851827576,565 889.3813171386719566 ],567 "extent": [568 100.00001222994808,569 6.1233229060148915,570 39.38128662109375571 ],572 "rotation": [573 0,574 90.00011444091797,575 0576 ]577 },578 "location": [579 700,580 -1010,581 850582 ],583 "rotation": [584 0,585 90.00011444091797,586 0587 ],588 "scale": [589 1,590 1,591 1592 ]593 },594 "color": [595 63,596 191,597 255598 ]599 },600 {601 "object_id": "SM_Railing4_25",602 "bbox_2d": [603 814,604 0,605 814,606 2607 ],608 "bbox_3d": {609 "aabb": {610 "center": [611 399.9105682370749,612 -1009.9997851827576,613 1249.3813171386719614 ],615 "extent": [616 100.00001222994808,617 6.1233229060148915,618 39.38128662109375619 ]620 },621 "obb": {622 "center": [623 399.9105682370749,624 -1009.9997851827576,625 1249.3813171386719626 ],627 "extent": [628 100.00001222994808,629 6.1233229060148915,630 39.38128662109375631 ],632 "rotation": [633 0,634 90.00011444091797,635 0636 ]637 },638 "location": [639 300,640 -1010,641 1210642 ],643 "rotation": [644 0,645 90.00011444091797,646 0647 ],648 "scale": [649 1,650 1,651 1652 ]653 },654 "color": [655 63,656 191,657 127658 ]659 }660 ],661 "exterior small window": [662 {663 "object_id": "SM_ExteriorSmallWindow_4m_81",664 "bbox_2d": [665 841,666 0,667 1033,668 56669 ],670 "bbox_3d": {671 "aabb": {672 "center": [673 -0.9585269848045215,674 -1020.0000416902127,675 1360.0000915527344676 ],677 "extent": [678 29.0414711079646,679 200.0001695183056,680 180.00009155273438681 ]682 },683 "obb": {684 "center": [685 -0.9585269848045215,686 -1020.0000416902127,687 1360.0000915527344688 ],689 "extent": [690 29.0414711079646,691 200.0001695183056,692 180.00009155273438693 ],694 "rotation": [695 0,696 179.999755859375,697 0698 ]699 },700 "location": [701 0,702 -1220,703 1180704 ],705 "rotation": [706 0,707 179.999755859375,708 0709 ],710 "scale": [711 1,712 1,713 1714 ]715 },716 "color": [717 63,718 95,719 63720 ]721 }722 ],723 "floor planks corner": [724 {725 "object_id": "SM_Floor_4x4m251_100",726 "bbox_2d": [727 663,728 166,729 734,730 193731 ],732 "bbox_3d": {733 "aabb": {734 "center": [735 100.00074568580033,736 -1019.9996271588375,737 1194.9999980926514738 ],739 "extent": [740 100.00074568441016,741 200.00037284116252,742 15.000001907348633743 ]744 },745 "obb": {746 "center": [747 100.00074568580033,748 -1019.9996271588375,749 1194.9999980926514750 ],751 "extent": [752 100.00074568441016,753 200.00037284116252,754 15.000001907348633755 ],756 "rotation": [757 0,758 179.99978637695312,759 0760 ]761 },762 "location": [763 200,764 -1220,765 1210766 ],767 "rotation": [768 0,769 179.99978637695312,770 0771 ],772 "scale": [773 1,774 1,775 1776 ]777 },778 "color": [779 31,780 159,781 191782 ]783 },784 {785 "object_id": "SM_Floor_4x4m317",786 "bbox_2d": [787 0,788 644,789 1919,790 923791 ],792 "bbox_3d": {793 "aabb": {794 "center": [795 1100,796 -1020,797 834.9999980926514798 ],799 "extent": [800 100,801 200,802 15.000001907348633803 ]804 },805 "obb": {806 "center": [807 1100,808 -1020,809 834.9999980926514810 ],811 "extent": [812 100,813 200,814 15.000001907348633815 ],816 "rotation": [817 0,818 0,819 0820 ]821 },822 "location": [823 1000,824 -820,825 850826 ],827 "rotation": [828 0,829 0,830 0831 ],832 "scale": [833 1,834 1,835 1836 ]837 },838 "color": [839 143,840 127,841 47842 ]843 }844 ],845 "railing curve": [846 {847 "object_id": "SM_RailingCurveA2_29",848 "bbox_2d": [849 822,850 0,851 861,852 61853 ],854 "bbox_3d": {855 "aabb": {856 "center": [857 286.88106718373876,858 -1028.7568867759912,859 1255.791030883789860 ],861 "extent": [862 13.029601652542453,863 24.880025013191073,864 32.99739074707031865 ]866 },867 "obb": {868 "center": [869 286.88106718373876,870 -1028.7568867759912,871 1255.791030883789872 ],873 "extent": [874 13.029601652542453,875 24.880025013191073,876 32.99739074707031877 ],878 "rotation": [879 0,880 90.00012207031251,881 0882 ]883 },884 "location": [885 300,886 -1010,887 1210888 ],889 "rotation": [890 0,891 90.00012207031251,892 0893 ],894 "scale": [895 1,896 1,897 1898 ]899 },900 "color": [901 95,902 159,903 0904 ]905 },906 {907 "object_id": "SM_RailingCurveB4",908 "bbox_2d": [909 104,910 0,911 487,912 477913 ],914 "bbox_3d": {915 "aabb": {916 "center": [917 911.8282258093037,918 -1028.6686607127517,919 909.0355453491211920 ],921 "extent": [922 14.135184655017838,923 24.79157979786737,924 46.260459899902344925 ]926 },927 "obb": {928 "center": [929 911.8282258093037,930 -1028.6686607127517,931 909.0355453491211932 ],933 "extent": [934 14.135184655017838,935 24.79157979786737,936 46.260459899902344937 ],938 "rotation": [939 0,940 90.00012207031251,941 0942 ]943 },944 "location": [945 900,946 -1010,947 850948 ],949 "rotation": [950 0,951 90.00012207031251,952 0953 ],954 "scale": [955 1,956 1,957 1958 ]959 },960 "color": [961 0,962 159,963 159964 ]965 }966 ],967 "railing stairs": [968 {969 "object_id": "SM_RailingStairs3",970 "bbox_2d": [971 461,972 0,973 870,974 291975 ],976 "bbox_3d": {977 "aabb": {978 "center": [979 600.9956054681345,980 -1047.5030532801418,981 1089.1114959716797982 ],983 "extent": [984 301.0850342021881,985 6.123716917975116,986 199.6510772705078987 ]988 },989 "obb": {990 "center": [991 600.9956054681345,992 -1047.5030532801418,993 1089.1114959716797994 ],995 "extent": [996 301.0850342021881,997 6.123716917975116,998 199.6510772705078999 ],1000 "rotation": [1001 0,1002 90.00011444091797,1003 01004 ]1005 },1006 "location": [1007 300,1008 -1047.503662109375,1009 12101010 ],1011 "rotation": [1012 0,1013 90.00011444091797,1014 01015 ],1016 "scale": [1017 1,1018 1,1019 11020 ]1021 },1022 "color": [1023 95,1024 159,1025 1911026 ]1027 }1028 ],1029 "floor info board": [1030 {1031 "object_id": "SM_FloorInfoBoard_6",1032 "bbox_2d": [1033 1068,1034 0,1035 1071,1036 81037 ],1038 "bbox_3d": {1039 "aabb": {1040 "center": [1041 171.56748555224698,1042 -1218.302536010747,1043 1380.50085449218751044 ],1045 "extent": [1046 25.500004071703216,1047 1.6988678822374368,1048 34.019592285156251049 ]1050 },1051 "obb": {1052 "center": [1053 171.56748555224698,1054 -1218.302536010747,1055 1380.50085449218751056 ],1057 "extent": [1058 25.500004071703216,1059 1.6988678822374368,1060 34.019592285156251061 ],1062 "rotation": [1063 0,1064 90.00013732910156,1065 01066 ]1067 },1068 "location": [1069 171.56748962402344,1070 -1220.0013427734375,1071 1380.50085449218751072 ],1073 "rotation": [1074 0,1075 90.00013732910156,1076 01077 ],1078 "scale": [1079 1,1080 1,1081 11082 ]1083 },1084 "color": [1085 95,1086 111,1087 1911088 ]1089 }1090 ]1091 },1092 "foreground": {1093 "hall carpet": [1094 {1095 "object_id": "SM_HallCarpetB_68",1096 "bbox_2d": [1097 0,1098 545,1099 412,1100 5671101 ],1102 "bbox_3d": {1103 "aabb": {1104 "center": [1105 639.1900391851377,1106 -917.4138561053437,1107 850.70370292663571108 ],1109 "extent": [1110 403.64592318455107,1111 67.6255724508951,1112 0.70370292663574221113 ]1114 },1115 "obb": {1116 "center": [1117 639.1900391851377,1118 -917.4138561053437,1119 850.70370292663571120 ],1121 "extent": [1122 403.64592318455107,1123 67.6255724508951,1124 0.70370292663574221125 ],1126 "rotation": [1127 0,1128 0,1129 01130 ]1131 },1132 "location": [1133 235.54385375976562,1134 -852.4649047851562,1135 8501136 ],1137 "rotation": [1138 0,1139 0,1140 01141 ],1142 "scale": [1143 1.0741384029388428,1144 0.8730069994926453,1145 11146 ]1147 },1148 "color": [1149 47,1150 111,1151 631152 ]1153 }1154 ],1155 "plane": [1156 {1157 "object_id": "Plane_2",1158 "bbox_2d": [1159 299,1160 43,1161 436,1162 3461163 ],1164 "bbox_3d": {1165 "aabb": {1166 "center": [1167 548.1759033203125,1168 -820.8758544921875,1169 1020.42401123046881170 ],1171 "extent": [1172 57.01070427926945,1173 0.0004403031990705131,1174 57.010704278604241175 ]1176 },1177 "obb": {1178 "center": [1179 548.1759033203125,1180 -820.8758544921875,1181 1020.42401123046881182 ],1183 "extent": [1184 57.01070427926945,1185 0.0004403031990705131,1186 57.010704278604241187 ],1188 "rotation": [1189 0,1190 -179.999755859375,1191 90.000198364257831192 ]1193 },1194 "location": [1195 548.1759033203125,1196 -820.8758544921875,1197 1020.42401123046881198 ],1199 "rotation": [1200 0,