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": "ConferenceRoomVol1",3 "view_id": "l033_r001",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/NEW/ConferenceRoomVol1/l033_r001/lit.png",5 "camera": {6 "location": [7 85,8 -107,9 17010 ],11 "rotation": [12 0,13 59.99999999999999,14 015 ],16 "fov": 90,17 "c2w": [18 [19 0.5,20 0.8660254037844385,21 0,22 023 ],24 [25 -0.8660254037844385,26 0.5,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 85,38 -107,39 170,40 141 ]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": [54 {55 "object_id": "SM_Door",56 "bbox_2d": [57 829,58 270,59 1026,60 98461 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 289.584997177124,66 222.5250015258789,67 130.0110931396484468 ],69 "extent": [70 8.073522567749023,71 74.9992446899414,72 129.9892425537109473 ]74 },75 "obb": {76 "center": [77 289.584997177124,78 222.5250015258789,79 130.0110931396484480 ],81 "extent": [82 8.073522567749023,83 74.9992446899414,84 129.9892425537109485 ],86 "rotation": [87 0,88 0,89 090 ]91 },92 "location": [93 289.5849914550781,94 222.52499389648438,95 096 ],97 "rotation": [98 0,99 0,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 0,110 255,111 127112 ]113 }114 ],115 "background": [116 {117 "object_id": "SM_BackgroundBL",118 "bbox_2d": [119 1080,120 345,121 1329,122 885123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 220.6057321258496,128 366.0860253082789,129 130.0003356723356130 ],131 "extent": [132 61.8200303741379,133 5.650050481795915,134 130.0000642703618135 ]136 },137 "obb": {138 "center": [139 220.6057321258496,140 366.0860253082789,141 130.00033567233564142 ],143 "extent": [144 61.8200303741379,145 5.650050481795915,146 130.0000642703618147 ],148 "rotation": [149 -2.99844009532535e-06,150 1.001790042209905e-05,151 0152 ]153 },154 "location": [155 220.20399475097656,156 371.7359924316406,157 0158 ],159 "rotation": [160 -2.99844009532535e-06,161 1.001790042209905e-05,162 0163 ],164 "scale": [165 1,166 1,167 1168 ]169 },170 "color": [171 255,172 0,173 127174 ]175 },176 {177 "object_id": "SM_BackgroundB",178 "bbox_2d": [179 1330,180 292,181 1919,182 924183 ],184 "bbox_3d": {185 "aabb": {186 "center": [187 1.426069974899292,188 370.5859885215759,189 130.00021362304688190 ],191 "extent": [192 167.3599395751953,193 1.1500039100646973,194 130.00021362304688195 ]196 },197 "obb": {198 "center": [199 1.426069974899292,200 370.5859885215759,201 130.00021362304688202 ],203 "extent": [204 167.3599395751953,205 1.1500039100646973,206 130.00021362304688207 ],208 "rotation": [209 0,210 0,211 0212 ]213 },214 "location": [215 1.426069974899292,216 371.7359924316406,217 0218 ],219 "rotation": [220 0,221 0,222 0223 ],224 "scale": [225 1,226 1,227 1228 ]229 },230 "color": [231 255,232 255,233 127234 ]235 }236 ],237 "baseboard": [238 {239 "object_id": "SM_Baseboard",240 "bbox_2d": [241 1027,242 849,243 1537,244 938245 ],246 "bbox_3d": {247 "aabb": {248 "center": [249 1.626556396484375,250 -0.800201416015625,251 3.999999523162842252 ],253 "extent": [254 281.200439453125,255 370.935546875,256 4.000194549560547257 ]258 },259 "obb": {260 "center": [261 1.626556396484375,262 -0.800201416015625,263 3.999999523162842264 ],265 "extent": [266 281.200439453125,267 370.935546875,268 4.000194549560547269 ],270 "rotation": [271 0,272 0,273 0274 ]275 },276 "location": [277 0,278 0,279 0280 ],281 "rotation": [282 0,283 0,284 0285 ],286 "scale": [287 1,288 1,289 1290 ]291 },292 "color": [293 0,294 127,295 0296 ]297 }298 ],299 "window": [300 {301 "object_id": "SM_Wall",302 "bbox_2d": [303 0,304 0,305 1079,306 1079307 ],308 "bbox_3d": {309 "aabb": {310 "center": [311 11.426239013671875,312 0,313 150.00003051757812314 ],315 "extent": [316 290.9999694824219,317 391.7356872558594,318 150.00003051757812319 ]320 },321 "obb": {322 "center": [323 11.426239013671875,324 0,325 150.00003051757812326 ],327 "extent": [328 290.9999694824219,329 391.7356872558594,330 150.00003051757812331 ],332 "rotation": [333 0,334 0,335 0336 ]337 },338 "location": [339 0,340 0,341 0342 ],343 "rotation": [344 0,345 0,346 0347 ],348 "scale": [349 1,350 1,351 1352 ]353 },354 "color": [355 255,356 127,357 127358 ]359 }360 ],361 "ceiling planks corner": [362 {363 "object_id": "SM_Ceiling",364 "bbox_2d": [365 148,366 0,367 1919,368 367369 ],370 "bbox_3d": {371 "aabb": {372 "center": [373 1.42608642578125,374 0,375 276.0003662109375376 ],377 "extent": [378 280.9999694824219,379 371.7356872558594,380 16.000015258789062381 ]382 },383 "obb": {384 "center": [385 1.42608642578125,386 0,387 276.0003662109375388 ],389 "extent": [390 280.9999694824219,391 371.7356872558594,392 16.000015258789062393 ],394 "rotation": [395 0,396 0,397 0398 ]399 },400 "location": [401 0,402 0,403 0404 ],405 "rotation": [406 0,407 0,408 0409 ],410 "scale": [411 1,412 1,413 1414 ]415 },416 "color": [417 127,418 0,419 0420 ]421 }422 ],423 "floor planks corner": [424 {425 "object_id": "SM_Floor",426 "bbox_2d": [427 860,428 864,429 1532,430 1079431 ],432 "bbox_3d": {433 "aabb": {434 "center": [435 11.426055908203125,436 -3.0517578125e-05,437 0438 ],439 "extent": [440 290.99993896484375,441 371.7356872558594,442 2.2762245240797244e-14443 ]444 },445 "obb": {446 "center": [447 11.426055908203125,448 -3.0517578125e-05,449 0450 ],451 "extent": [452 290.99993896484375,453 371.7356872558594,454 2.2762245240797244e-14455 ],456 "rotation": [457 0,458 0,459 0460 ]461 },462 "location": [463 0,464 0,465 0466 ],467 "rotation": [468 0,469 0,470 0471 ],472 "scale": [473 1,474 1,475 1476 ]477 },478 "color": [479 127,480 255,481 0482 ]483 }484 ]485 },486 "foreground": {487 "whiteboard": [488 {489 "object_id": "SM_Whiteboard",490 "bbox_2d": [491 1471,492 430,493 1919,494 756495 ],496 "bbox_3d": {497 "aabb": {498 "center": [499 1.426069974899292,500 368.235967874527,501 150502 ],503 "extent": [504 100,505 0.6000003814697266,506 60507 ]508 },509 "obb": {510 "center": [511 1.426069974899292,512 368.235967874527,513 150514 ],515 "extent": [516 100,517 0.6000003814697266,518 60519 ],520 "rotation": [521 0,522 0,523 0524 ]525 },526 "location": [527 1.426069974899292,528 368.8359680175781,529 150530 ],531 "rotation": [532 0,533 0,534 0535 ],536 "scale": [537 1,538 1,539 1540 ]541 },542 "color": [543 0,544 127,545 255546 ]547 }548 ],549 "light": [550 {551 "object_id": "SM_Ceiling_Light",552 "bbox_2d": [553 1327,554 0,555 1919,556 143557 ],558 "bbox_3d": {559 "aabb": {560 "center": [561 1.425872802734375,562 14.999984741210938,563 289.5000305175781564 ],565 "extent": [566 130.2046661376953,567 184.45401000976562,568 0.5569 ]570 },571 "obb": {572 "center": [573 1.425872802734375,574 14.999984741210938,575 289.5000305175781576 ],577 "extent": [578 130.2046661376953,579 184.45401000976562,580 0.5581 ],582 "rotation": [583 0,584 0,585 0586 ]587 },588 "location": [589 0,590 0,591 0592 ],593 "rotation": [594 0,595 0,596 0597 ],598 "scale": [599 1,600 1,601 1602 ]603 },604 "color": [605 127,606 0,607 255608 ]609 }610 ],611 "table": [612 {613 "object_id": "SM_Table",614 "bbox_2d": [615 1511,616 886,617 1919,618 1079619 ],620 "bbox_3d": {621 "aabb": {622 "center": [623 6.866455078125e-05,624 15.000076293945312,625 35.63624954223633626 ],627 "extent": [628 86.55204772949219,629 205.9636993408203,630 35.63626480102539631 ]632 },633 "obb": {634 "center": [635 6.866455078125e-05,636 15.000076293945312,637 35.63624954223633638 ],639 "extent": [640 86.55204772949219,641 205.9636993408203,642 35.63626480102539643 ],644 "rotation": [645 0,646 0,647 0648 ]649 },650 "location": [651 0,652 15,653 0654 ],655 "rotation": [656 0,657 0,658 0659 ],660 "scale": [661 1,662 1,663 1664 ]665 },666 "color": [667 127,668 255,669 255670 ]671 }672 ],673 "chair": [674 {675 "object_id": "SM_ChairA",676 "bbox_2d": [677 1817,678 730,679 1919,680 934681 ],682 "bbox_3d": {683 "aabb": {684 "center": [685 -16.809508499895117,686 243.8478024681101,687 56.49450428890417688 ],689 "extent": [690 41.769079566028196,691 42.297435696472746,692 57.30998234797566693 ]694 },695 "obb": {696 "center": [697 -16.809508499895117,698 243.8478024681101,699 56.49450428890416700 ],701 "extent": [702 41.769079566028196,703 42.297435696472746,704 57.30998234797566705 ],706 "rotation": [707 -7.583033279093544e-22,708 -159.99971008300778,709 3.2329702662536874e-05710 ]711 },712 "location": [713 -16.805219650268555,714 243.83599853515625,715 -0.8154370188713074716 ],717 "rotation": [718 -7.583033279093544e-22,719 -159.99971008300778,720 3.2329702662536874e-05721 ],722 "scale": [723 0.9235389828681946,724 0.9235389828681946,725 1.1688100099563599726 ]727 },728 "color": [729 127,730 0,731 127732 ]733 },734 {735 "object_id": "SM_ChairA7",736 "bbox_2d": [737 1272,738 746,739 1526,740 1079741 ],742 "bbox_3d": {743 "aabb": {744 "center": [745 103.20610175189692,746 153.83620515229669,747 56.49450428883189748 ],749 "extent": [750 33.2366420770161,751 32.352612783202915,752 57.309982156719755753 ]754 },755 "obb": {756 "center": [757 103.20610175189692,758 153.83620515229669,759 56.4945042888319760 ],761 "extent": [762 33.2366420770161,763 32.352612783202915,764 57.309982156719755765 ],766 "rotation": [767 3.0332133116374176e-21,768 90.00018310546875,769 3.199999991920776e-05770 ]771 },772 "location": [773 103.19354248046875,774 153.83621215820312,775 -0.8154370188713074776 ],777 "rotation": [778 3.0332133116374176e-21,779 90.00018310546875,780 3.199999991920776e-05781 ],782 "scale": [783 0.9235389828681946,784 0.9235389828681946,785 1.1688100099563599786 ]787 },788 "color": [789 127,790 255,791 63792 ]793 },794 {795 "object_id": "SM_ChairA8",796 "bbox_2d": [797 1187,798 807,799 1480,800 1079801 ],802 "bbox_3d": {803 "aabb": {804 "center": [805 103.20639166888911,806 83.83611359956232,807 56.49450428883189808 ],809 "extent": [810 33.2366420770161,811 32.352612783202915,812 57.309982156719755813 ]814 },815 "obb": {816 "center": [817 103.20639166888911,818 83.83611359956232,819 56.4945042888319820 ],821 "extent": [822 33.2366420770161,823 32.352612783202915,824 57.309982156719755825 ],826 "rotation": [827 3.0332133116374176e-21,828 90.00018310546875,829 3.199999991920776e-05830 ]831 },832 "location": [833 103.19383239746094,834 83.83612060546875,835 -0.8154370188713074836 ],837 "rotation": [838 3.0332133116374176e-21,839 90.00018310546875,840 3.199999991920776e-05841 ],842 "scale": [843 0.9235389828681946,844 0.9235389828681946,845 1.1688100099563599846 ]847 },848 "color": [849 127,850 127,851 63852 ]853 },854 {855 "object_id": "SM_ChairA9",856 "bbox_2d": [857 1013,858 920,859 1209,860 1079861 ],862 "bbox_3d": {863 "aabb": {864 "center": [865 103.20674262103755,866 13.836113599562323,867 56.49450428883189868 ],869 "extent": [870 33.2366420770161,871 32.352612783202915,872 57.309982156719755873 ]874 },875 "obb": {876 "center": [877 103.20674262103755,878 13.83611359956232,879 56.4945042888319880 ],881 "extent": [882 33.2366420770161,883 32.352612783202915,884 57.309982156719755885 ],886 "rotation": [887 3.0332133116374176e-21,888 90.00018310546875,889 3.199999991920776e-05890 ]891 },892 "location": [893 103.19418334960938,894 13.83612060546875,895 -0.8154370188713074896 ],897 "rotation": [898 3.0332133116374176e-21,899 90.00018310546875,900 3.199999991920776e-05901 ],902 "scale": [903 0.9235389828681946,904 0.9235389828681946,905 1.1688100099563599906 ]907 },908 "color": [909 0,910 63,911 0912 ]913 },914 {915 "object_id": "SM_ChairB10",916 "bbox_2d": [917 0,918 1028,919 99,920 1079921 ],922 "bbox_3d": {923 "aabb": {924 "center": [925 250.00067901611328,926 -70.00012207038564,927 48.06242370605469928 ],929 "extent": [930 29.05023242368219,931 30.591876361629303,932 48.062225341796875933 ]934 },935 "obb": {936 "center": [937 250.00067901611328,938 -70.00012207038564,939 48.06242370605469940 ],941 "extent": [942 29.05023242368219,943 30.591876361629303,944 48.062225341796875945 ],946 "rotation": [947 0,948 90.00018310546875,949 0950 ]951 },952 "location": [953 250.00070190429688,954 -70.0001220703125,955 0956 ],957 "rotation": [958 0,959 90.00018310546875,960 0961 ],962 "scale": [963 1,964 1,965 1966 ]967 },968 "color": [969 255,970 191,971 63972 ]973 },974 {975 "object_id": "SM_ChairB11",976 "bbox_2d": [977 309,978 873,979 718,980 1079981 ],982 "bbox_3d": {983 "aabb": {984 "center": [985 250.00031280517578,986 9.999969482348728,987 48.06242370605469988 ],989 "extent": [990 29.05023242368219,991 30.5918763616293,992 48.062225341796875993 ]994 },995 "obb": {996 "center": [997 250.00031280517578,998 9.999969482348728,999 48.062423706054691000 ],1001 "extent": [1002 29.05023242368219,1003 30.5918763616293,1004 48.0622253417968751005 ],1006 "rotation": [1007 0,1008 90.00018310546875,1009 01010 ]1011 },1012 "location": [1013 250.00033569335938,1014 9.999969482421875,1015 01016 ],1017 "rotation": [1018 0,1019 90.00018310546875,1020 01021 ],1022 "scale": [1023 1,1024 1,1025 11026 ]1027 },1028 "color": [1029 127,1030 191,1031 01032 ]1033 },1034 {1035 "object_id": "SM_ChairB12",1036 "bbox_2d": [1037 650,1038 793,1039 934,1040 10791041 ],1042 "bbox_3d": {1043 "aabb": {1044 "center": [1045 249.9999771118164,1046 89.99999999992686,1047 48.062423706054691048 ],1049 "extent": [1050 29.05023242368219,1051 30.591876361629303,1052 48.0622253417968751053 ]1054 },1055 "obb": {1056 "center": [1057 249.9999771118164,1058 89.99999999992686,1059 48.062423706054691060 ],1061 "extent": [1062 29.05023242368219,1063 30.591876361629303,1064 48.0622253417968751065 ],1066 "rotation": [1067 0,1068 90.00018310546875,1069 01070 ]1071 },1072 "location": [1073 250,1074 90,1075 01076 ],1077 "rotation": [1078 0,1079 90.00018310546875,1080 01081 ],1082 "scale": [1083 1,1084 1,1085 11086 ]1087 },1088 "color": [1089 127,1090 191,1091 2551092 ]1093 }1094 ],1095 "air conditioning": [1096 {1097 "object_id": "SM_Air_Conditioning",1098 "bbox_2d": [1099 418,1100 0,1101 1010,1102 2681103 ],1104 "bbox_3d": {1105 "aabb": {1106 "center": [1107 232.05331230163574,1108 15.000246047973633,1109 259.267407238483431110 ],1111 "extent": [1112 8.791104316711426,1113 150.00003051757812,1114 0.73268383741378781115 ]1116 },1117 "obb": {1118 "center": [1119 232.05331230163574,1120 15.000246047973633,1121 259.267407238483431122 ],1123 "extent": [1124 8.791104316711426,1125 150.00003051757812,1126 0.73268383741378781127 ],1128 "rotation": [1129 0,1130 0,1131 01132 ]1133 },1134 "location": [1135 232.05331420898438,1136 15.000215530395508,1137 2601138 ],1139 "rotation": [1140 0,1141 0,1142 01143 ],1144 "scale": [1145 1,1146 1,1147 11148 ]1149 },1150 "color": [1151 127,1152 127,1153 01154 ]1155 },1156 {1157 "object_id": "SM_Air_Conditioning2",1158 "bbox_2d": [1159 752,1160 0,1161 1026,1162 1941163 ],1164 "bbox_3d": {1165 "aabb": {1166 "center": [1167 218.5720337033113,1168 15.000230398982069,1169 279.974123098637051170 ],1171 "extent": [1172 0.7327649027231473,1173 150.0000309262852,1174 8.7911047295250461175 ]1176 },1177 "obb": {1178 "center": [1179 218.5720337033113,1180 15.000230398982069,1181 279.974123098637051182 ],1183 "extent": [1184 0.7327649027231473,1185 150.0000309262852,1186 8.7911047295250461187 ],1188 "rotation": [1189 -90,1190 3.063800379171721e-05,1191 01192 ]1193 },1194 "location": [1195 219.30462646484375,1196 15.000200271606445,1197 279.974121093751198 ],1199 "rotation": [1200 -90,