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_2",3 "view_id": "combo0_0_l020_r002",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/placement/ConferenceRoomVol1_2/combo0_0_l020_r002/lit.png",5 "camera": {6 "location": [7 5,8 -289,9 10010 ],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 5,38 -289,39 100,40 141 ]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 "background": [54 {55 "object_id": "SM_BackgroundBL",56 "bbox_2d": [57 0,58 217,59 56,60 61561 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 220.6057321258496,66 366.0860253082789,67 130.000335672335668 ],69 "extent": [70 61.8200303741379,71 5.650050481795915,72 130.000064270361873 ]74 },75 "obb": {76 "center": [77 220.6057321258496,78 366.0860253082789,79 130.0003356723356480 ],81 "extent": [82 61.8200303741379,83 5.650050481795915,84 130.000064270361885 ],86 "rotation": [87 -2.99844009532535e-06,88 1.001790042209905e-05,89 090 ]91 },92 "location": [93 220.20399475097656,94 371.7359924316406,95 096 ],97 "rotation": [98 -2.99844009532535e-06,99 1.001790042209905e-05,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 255,110 0,111 127112 ]113 },114 {115 "object_id": "SM_BackgroundB",116 "bbox_2d": [117 57,118 228,119 681,120 644121 ],122 "bbox_3d": {123 "aabb": {124 "center": [125 1.426069974899292,126 370.5859885215759,127 130.00021362304688128 ],129 "extent": [130 167.3599395751953,131 1.1500039100646973,132 130.00021362304688133 ]134 },135 "obb": {136 "center": [137 1.426069974899292,138 370.5859885215759,139 130.00021362304688140 ],141 "extent": [142 167.3599395751953,143 1.1500039100646973,144 130.00021362304688145 ],146 "rotation": [147 0,148 0,149 0150 ]151 },152 "location": [153 1.426069974899292,154 371.7359924316406,155 0156 ],157 "rotation": [158 0,159 0,160 0161 ],162 "scale": [163 1,164 1,165 1166 ]167 },168 "color": [169 255,170 255,171 127172 ]173 },174 {175 "object_id": "SM_BackgroundBR",176 "bbox_2d": [177 682,178 301,179 852,180 646181 ],182 "bbox_3d": {183 "aabb": {184 "center": [185 -217.75371834196508,186 366.08603422770534,187 130.00033569335938188 ],189 "extent": [190 61.820012126809985,191 5.650117715832039,192 130.00006103515625193 ]194 },195 "obb": {196 "center": [197 -217.75371834196508,198 366.08603422770534,199 130.00033569335938200 ],201 "extent": [202 61.820012126809985,203 5.650117715832039,204 130.00006103515625205 ],206 "rotation": [207 0,208 1.0017900422099046e-05,209 0210 ]211 },212 "location": [213 -217.3520050048828,214 371.7359924316406,215 0216 ],217 "rotation": [218 0,219 1.0017900422099046e-05,220 0221 ],222 "scale": [223 1,224 1,225 1226 ]227 },228 "color": [229 191,230 255,231 0232 ]233 }234 ],235 "window divided": [236 {237 "object_id": "SM_Window",238 "bbox_2d": [239 853,240 50,241 1919,242 1000243 ],244 "bbox_3d": {245 "aabb": {246 "center": [247 -290.9998779296875,248 -6.103515625e-05,249 149.56552124023438250 ],251 "extent": [252 11.925933837890625,253 391.7356872558594,254 150.43450927734375255 ]256 },257 "obb": {258 "center": [259 -290.9998779296875,260 -6.103515625e-05,261 149.56552124023438262 ],263 "extent": [264 11.925933837890625,265 391.7356872558594,266 150.43450927734375267 ],268 "rotation": [269 0,270 0,271 0272 ]273 },274 "location": [275 0,276 0,277 0278 ],279 "rotation": [280 0,281 0,282 0283 ],284 "scale": [285 1,286 1,287 1288 ]289 },290 "color": [291 255,292 127,293 0294 ]295 }296 ],297 "ceiling planks corner": [298 {299 "object_id": "SM_Ceiling",300 "bbox_2d": [301 0,302 0,303 1513,304 321305 ],306 "bbox_3d": {307 "aabb": {308 "center": [309 1.42608642578125,310 0,311 276.0003662109375312 ],313 "extent": [314 280.9999694824219,315 371.7356872558594,316 16.000015258789062317 ]318 },319 "obb": {320 "center": [321 1.42608642578125,322 0,323 276.0003662109375324 ],325 "extent": [326 280.9999694824219,327 371.7356872558594,328 16.000015258789062329 ],330 "rotation": [331 0,332 0,333 0334 ]335 },336 "location": [337 0,338 0,339 0340 ],341 "rotation": [342 0,343 0,344 0345 ],346 "scale": [347 1,348 1,349 1350 ]351 },352 "color": [353 127,354 0,355 0356 ]357 }358 ],359 "floor planks corner": [360 {361 "object_id": "SM_Floor",362 "bbox_2d": [363 826,364 772,365 1919,366 1079367 ],368 "bbox_3d": {369 "aabb": {370 "center": [371 11.426055908203125,372 -3.0517578125e-05,373 0374 ],375 "extent": [376 290.99993896484375,377 371.7356872558594,378 2.2762245240797244e-14379 ]380 },381 "obb": {382 "center": [383 11.426055908203125,384 -3.0517578125e-05,385 0386 ],387 "extent": [388 290.99993896484375,389 371.7356872558594,390 2.2762245240797244e-14391 ],392 "rotation": [393 0,394 0,395 0396 ]397 },398 "location": [399 0,400 0,401 0402 ],403 "rotation": [404 0,405 0,406 0407 ],408 "scale": [409 1,410 1,411 1412 ]413 },414 "color": [415 127,416 255,417 0418 ]419 }420 ]421 },422 "foreground": {423 "whiteboard": [424 {425 "object_id": "SM_Whiteboard",426 "bbox_2d": [427 201,428 339,429 590,430 557431 ],432 "bbox_3d": {433 "aabb": {434 "center": [435 1.426069974899292,436 368.235967874527,437 150438 ],439 "extent": [440 100,441 0.6000003814697266,442 60443 ]444 },445 "obb": {446 "center": [447 1.426069974899292,448 368.235967874527,449 150450 ],451 "extent": [452 100,453 0.6000003814697266,454 60455 ],456 "rotation": [457 0,458 0,459 0460 ]461 },462 "location": [463 1.426069974899292,464 368.8359680175781,465 150466 ],467 "rotation": [468 0,469 0,470 0471 ],472 "scale": [473 1,474 1,475 1476 ]477 },478 "color": [479 0,480 127,481 255482 ]483 }484 ],485 "downlight": [486 {487 "object_id": "SM_Downlight",488 "bbox_2d": [489 1123,490 131,491 1140,492 139493 ],494 "bbox_3d": {495 "aabb": {496 "center": [497 -243.08077998558545,498 5,499 259.50000005960464500 ],501 "extent": [502 3.500000043711424,503 3.5,504 0.5000006040031622505 ]506 },507 "obb": {508 "center": [509 -243.08077998558545,510 5,511 259.50000005960464512 ],513 "extent": [514 3.500000043711424,515 3.5,516 0.5000006040031622517 ],518 "rotation": [519 5.008960215491242e-06,520 0,521 0522 ]523 },524 "location": [525 -243.08078002929688,526 5,527 260528 ],529 "rotation": [530 5.008960215491242e-06,531 0,532 0533 ],534 "scale": [535 1,536 1,537 1538 ]539 },540 "color": [541 255,542 127,543 255544 ]545 },546 {547 "object_id": "SM_Downlight2",548 "bbox_2d": [549 949,550 231,551 962,552 236553 ],554 "bbox_3d": {555 "aabb": {556 "center": [557 -243.08077998566364,558 145,559 259.50000005960464560 ],561 "extent": [562 3.5000000436332357,563 3.5,564 0.5000006034558169565 ]566 },567 "obb": {568 "center": [569 -243.08077998566364,570 145,571 259.50000005960464572 ],573 "extent": [574 3.5000000436332357,575 3.5,576 0.5000006034558169577 ],578 "rotation": [579 4.999999873689375e-06,580 0,581 0582 ]583 },584 "location": [585 -243.08078002929688,586 145,587 260588 ],589 "rotation": [590 4.999999873689375e-06,591 0,592 0593 ],594 "scale": [595 1,596 1,597 1598 ]599 },600 "color": [601 255,602 63,603 255604 ]605 },606 {607 "object_id": "SM_Downlight3",608 "bbox_2d": [609 843,610 291,611 853,612 295613 ],614 "bbox_3d": {615 "aabb": {616 "center": [617 -243.08077998566364,618 285,619 259.50000005960464620 ],621 "extent": [622 3.5000000436332357,623 3.5,624 0.5000006034558169625 ]626 },627 "obb": {628 "center": [629 -243.08077998566364,630 285,631 259.50000005960464632 ],633 "extent": [634 3.5000000436332357,635 3.5,636 0.5000006034558169637 ],638 "rotation": [639 4.999999873689375e-06,640 0,641 0642 ]643 },644 "location": [645 -243.08078002929688,646 285,647 260648 ],649 "rotation": [650 4.999999873689375e-06,651 0,652 0653 ],654 "scale": [655 1,656 1,657 1658 ]659 },660 "color": [661 255,662 63,663 127664 ]665 }666 ],667 "light": [668 {669 "object_id": "SM_Ceiling_Light",670 "bbox_2d": [671 1,672 0,673 800,674 169675 ],676 "bbox_3d": {677 "aabb": {678 "center": [679 1.425872802734375,680 14.999984741210938,681 289.5000305175781682 ],683 "extent": [684 130.2046661376953,685 184.45401000976562,686 0.5687 ]688 },689 "obb": {690 "center": [691 1.425872802734375,692 14.999984741210938,693 289.5000305175781694 ],695 "extent": [696 130.2046661376953,697 184.45401000976562,698 0.5699 ],700 "rotation": [701 0,702 0,703 0704 ]705 },706 "location": [707 0,708 0,709 0710 ],711 "rotation": [712 0,713 0,714 0715 ],716 "scale": [717 1,718 1,719 1720 ]721 },722 "color": [723 127,724 0,725 255726 ]727 }728 ],729 "table": [730 {731 "object_id": "SM_Table",732 "bbox_2d": [733 0,734 598,735 1087,736 1079737 ],738 "bbox_3d": {739 "aabb": {740 "center": [741 6.866455078125e-05,742 15.000076293945312,743 35.63624954223633744 ],745 "extent": [746 86.55204772949219,747 205.9636993408203,748 35.63626480102539749 ]750 },751 "obb": {752 "center": [753 6.866455078125e-05,754 15.000076293945312,755 35.63624954223633756 ],757 "extent": [758 86.55204772949219,759 205.9636993408203,760 35.63626480102539761 ],762 "rotation": [763 0,764 0,765 0766 ]767 },768 "location": [769 0,770 15,771 0772 ],773 "rotation": [774 0,775 0,776 0777 ],778 "scale": [779 1,780 1,781 1782 ]783 },784 "color": [785 127,786 255,787 255788 ]789 }790 ],791 "chair": [792 {793 "object_id": "SM_ChairA",794 "bbox_2d": [795 388,796 513,797 524,798 602799 ],800 "bbox_3d": {801 "aabb": {802 "center": [803 -16.809508499895117,804 243.8478024681101,805 56.49450428890417806 ],807 "extent": [808 41.769079566028196,809 42.297435696472746,810 57.30998234797566811 ]812 },813 "obb": {814 "center": [815 -16.809508499895117,816 243.8478024681101,817 56.49450428890416818 ],819 "extent": [820 41.769079566028196,821 42.297435696472746,822 57.30998234797566823 ],824 "rotation": [825 -7.583033279093544e-22,826 -159.99971008300778,827 3.2329702662536874e-05828 ]829 },830 "location": [831 -16.805219650268555,832 243.83599853515625,833 -0.8154370188713074834 ],835 "rotation": [836 -7.583033279093544e-22,837 -159.99971008300778,838 3.2329702662536874e-05839 ],840 "scale": [841 0.9235389828681946,842 0.9235389828681946,843 1.1688100099563599844 ]845 },846 "color": [847 127,848 0,849 127850 ]851 },852 {853 "object_id": "SM_ChairA2",854 "bbox_2d": [855 880,856 474,857 1222,858 1079859 ],860 "bbox_3d": {861 "aabb": {862 "center": [863 -106.81778082900883,864 -126.16399439371496,865 56.49450428883189866 ],867 "extent": [868 33.236603305148044,869 32.35257295188812,870 57.309982156719755871 ]872 },873 "obb": {874 "center": [875 -106.81778082900883,876 -126.16399439371496,877 56.4945042888319878 ],879 "extent": [880 33.236603305148044,881 32.35257295188812,882 57.309982156719755883 ],884 "rotation": [885 0,886 -90.00011444091795,887 3.199999991920776e-05888 ]889 },890 "location": [891 -106.80522155761719,892 -126.16400146484375,893 -0.8154370188713074894 ],895 "rotation": [896 0,897 -90.00011444091795,898 3.199999991920776e-05899 ],900 "scale": [901 0.9235389828681946,902 0.9235389828681946,903 1.1688100099563599904 ]905 },906 "color": [907 0,908 255,909 63910 ]911 },912 {913 "object_id": "SM_ChairA3",914 "bbox_2d": [915 808,916 489,917 1029,918 957919 ],920 "bbox_3d": {921 "aabb": {922 "center": [923 -106.81778082900883,924 -56.16399439371496,925 56.49450428883189926 ],927 "extent": [928 33.236603305148044,929 32.35257295188812,930 57.309982156719755931 ]932 },933 "obb": {934 "center": [935 -106.81778082900883,936 -56.16399439371496,937 56.4945042888319938 ],939 "extent": [940 33.236603305148044,941 32.35257295188812,942 57.309982156719755943 ],944 "rotation": [945 0,946 -90.00011444091795,947 3.199999991920776e-05948 ]949 },950 "location": [951 -106.80522155761719,952 -56.16400146484375,953 -0.8154370188713074954 ],955 "rotation": [956 0,957 -90.00011444091795,958 3.199999991920776e-05959 ],960 "scale": [961 0.9235389828681946,962 0.9235389828681946,963 1.1688100099563599964 ]965 },966 "color": [967 0,968 127,969 63970 ]971 },972 {973 "object_id": "SM_ChairA4",974 "bbox_2d": [975 735,976 499,977 910,978 855979 ],980 "bbox_3d": {981 "aabb": {982 "center": [983 -106.81778082900883,984 13.83600560628504,985 56.49450428883189986 ],987 "extent": [988 33.236603305148044,989 32.35257295188812,990 57.309982156719755991 ]992 },993 "obb": {994 "center": [995 -106.81778082900883,996 13.836005606285038,997 56.4945042888319998 ],999 "extent": [1000 33.236603305148044,1001 32.35257295188812,1002 57.3099821567197551003 ],1004 "rotation": [1005 0,1006 -90.00011444091795,1007 3.199999991920776e-051008 ]1009 },1010 "location": [1011 -106.80522155761719,1012 13.83599853515625,1013 -0.81543701887130741014 ],1015 "rotation": [1016 0,1017 -90.00011444091795,1018 3.199999991920776e-051019 ],1020 "scale": [1021 0.9235389828681946,1022 0.9235389828681946,1023 1.16881000995635991024 ]1025 },1026 "color": [1027 255,1028 0,1029 631030 ]1031 },1032 {1033 "object_id": "SM_ChairA5",1034 "bbox_2d": [1035 685,1036 506,1037 829,1038 6461039 ],1040 "bbox_3d": {1041 "aabb": {1042 "center": [1043 -106.81778082900883,1044 83.83600560628504,1045 56.494504288831891046 ],1047 "extent": [1048 33.236603305148044,1049 32.35257295188812,1050 57.3099821567197551051 ]1052 },1053 "obb": {1054 "center": [1055 -106.81778082900883,1056 83.83600560628504,1057 56.49450428883191058 ],1059 "extent": [1060 33.236603305148044,1061 32.35257295188812,1062 57.3099821567197551063 ],1064 "rotation": [1065 0,1066 -90.00011444091795,1067 3.199999991920776e-051068 ]1069 },1070 "location": [1071 -106.80522155761719,1072 83.83599853515625,1073 -0.81543701887130741074 ],1075 "rotation": [1076 0,1077 -90.00011444091795,1078 3.199999991920776e-051079 ],1080 "scale": [1081 0.9235389828681946,1082 0.9235389828681946,1083 1.16881000995635991084 ]1085 },1086 "color": [1087 255,1088 255,1089 631090 ]1091 },1092 {1093 "object_id": "SM_ChairA6",1094 "bbox_2d": [1095 648,1096 510,1097 770,1098 6291099 ],1100 "bbox_3d": {1101 "aabb": {1102 "center": [1103 -106.81778082900883,1104 153.83600560628503,1105 56.494504288831891106 ],1107 "extent": [1108 33.236603305148044,1109 32.35257295188813,1110 57.3099821567197551111 ]1112 },1113 "obb": {1114 "center": [1115 -106.81778082900883,1116 153.83600560628503,1117 56.49450428883191118 ],1119 "extent": [1120 33.236603305148044,1121 32.35257295188813,1122 57.3099821567197551123 ],1124 "rotation": [1125 0,1126 -90.00011444091795,1127 3.199999991920776e-051128 ]1129 },1130 "location": [1131 -106.80522155761719,1132 153.83599853515625,1133 -0.81543701887130741134 ],1135 "rotation": [1136 0,1137 -90.00011444091795,1138 3.199999991920776e-051139 ],1140 "scale": [1141 0.9235389828681946,1142 0.9235389828681946,1143 1.16881000995635991144 ]1145 },1146 "color": [1147 255,1148 127,1149 631150 ]1151 },1152 {1153 "object_id": "SM_ChairA7",1154 "bbox_2d": [1155 0,1156 513,1157 143,1158 6631159 ],1160 "bbox_3d": {1161 "aabb": {1162 "center": [1163 103.20610175189692,1164 153.83620515229669,1165 56.494504288831891166 ],1167 "extent": [1168 33.2366420770161,1169 32.352612783202915,1170 57.3099821567197551171 ]1172 },1173 "obb": {1174 "center": [1175 103.20610175189692,1176 153.83620515229669,1177 56.49450428883191178 ],1179 "extent": [1180 33.2366420770161,1181 32.352612783202915,1182 57.3099821567197551183 ],1184 "rotation": [1185 3.0332133116374176e-21,1186 90.00018310546875,1187 3.199999991920776e-051188 ]1189 },1190 "location": [1191 103.19354248046875,1192 153.83621215820312,1193 -0.81543701887130741194 ],1195 "rotation": [1196 3.0332133116374176e-21,1197 90.00018310546875,1198 3.199999991920776e-051199 ],1200 "scale": [