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": "Diner50",3 "view_id": "l004_off2_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/Diner50/l004_off2_r000/lit.png",5 "camera": {6 "location": [7 -239,8 -665,9 19510 ],11 "rotation": [12 0,13 0,14 015 ],16 "fov": 90,17 "c2w": [18 [19 1,20 0,21 0,22 023 ],24 [25 0,26 1,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 -239,38 -665,39 195,40 141 ]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 "walls": [54 {55 "object_id": "SM_Walls",56 "bbox_2d": [57 0,58 232,59 1919,60 98261 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 -217.06695556640625,66 -300.78192138671875,67 259.984344482421968 ],69 "extent": [70 559.015869140625,71 1006.7079467773438,72 260.0156860351562573 ]74 },75 "obb": {76 "center": [77 -217.06695556640625,78 -300.78192138671875,79 259.984344482421980 ],81 "extent": [82 559.015869140625,83 1006.7079467773438,84 260.0156860351562585 ],86 "rotation": [87 0,88 0,89 090 ]91 },92 "location": [93 150,94 380,95 096 ],97 "rotation": [98 0,99 0,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 255,110 255,111 0112 ]113 }114 ],115 "floor planks corner": [116 {117 "object_id": "SM_Floor_20",118 "bbox_2d": [119 0,120 875,121 1806,122 1079123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 -216.60736083984375,128 -297.8223876953125,129 -3.0517578125e-05130 ],131 "extent": [132 536.977783203125,133 987.1641845703125,134 0135 ]136 },137 "obb": {138 "center": [139 -216.60736083984375,140 -297.8223876953125,141 -3.0517578125e-05142 ],143 "extent": [144 536.977783203125,145 987.1641845703125,146 0147 ],148 "rotation": [149 0,150 0,151 0152 ]153 },154 "location": [155 150,156 380,157 0158 ],159 "rotation": [160 0,161 0,162 0163 ],164 "scale": [165 1,166 1,167 1168 ]169 },170 "color": [171 191,172 63,173 63174 ]175 }176 ],177 "window divided": [178 {179 "object_id": "SM_Window_1",180 "bbox_2d": [181 1643,182 449,183 1919,184 687185 ],186 "bbox_3d": {187 "aabb": {188 "center": [189 339.0000343322754,190 -144.00001525878906,191 178.4435043334961192 ],193 "extent": [194 3.814697265625e-06,195 131.2500457763672,196 77.44352722167969197 ]198 },199 "obb": {200 "center": [201 339.0000343322754,202 -144.00001525878906,203 178.4435043334961204 ],205 "extent": [206 3.814697265625e-06,207 131.2500457763672,208 77.44352722167969209 ],210 "rotation": [211 0,212 0,213 0214 ]215 },216 "location": [217 339,218 -144,219 101220 ],221 "rotation": [222 0,223 0,224 0225 ],226 "scale": [227 1,228 1,229 1230 ]231 },232 "color": [233 191,234 0,235 191236 ]237 }238 ],239 "window": [240 {241 "object_id": "SM_WinShutter1_28",242 "bbox_2d": [243 1643,244 443,245 1919,246 535247 ],248 "bbox_3d": {249 "aabb": {250 "center": [251 326.50428533554077,252 -142.00052642822266,253 224.45570182800293254 ],255 "extent": [256 6.501795291900635,257 122.3687973022461,258 26.948427200317383259 ]260 },261 "obb": {262 "center": [263 326.50428533554077,264 -142.00052642822266,265 224.45570182800293266 ],267 "extent": [268 6.501795291900635,269 122.3687973022461,270 26.948427200317383271 ],272 "rotation": [273 0,274 0,275 0276 ]277 },278 "location": [279 326.3326110839844,280 -142,281 251.4041748046875282 ],283 "rotation": [284 0,285 0,286 0287 ],288 "scale": [289 1,290 1,291 1292 ]293 },294 "color": [295 191,296 127,297 31298 ]299 }300 ],301 "ceiling planks corner": [302 {303 "object_id": "SM_Ceiling_02",304 "bbox_2d": [305 0,306 0,307 1919,308 236309 ],310 "bbox_3d": {311 "aabb": {312 "center": [313 178.00003051757812,314 -304,315 445.28614807128906316 ],317 "extent": [318 165.3131103515625,319 1002.5983276367188,320 79.28627014160156321 ]322 },323 "obb": {324 "center": [325 178.00003051757812,326 -304,327 445.28614807128906328 ],329 "extent": [330 165.3131103515625,331 1002.5983276367188,332 79.28627014160156333 ],334 "rotation": [335 0,336 0,337 0338 ]339 },340 "location": [341 178,342 -304,343 366344 ],345 "rotation": [346 0,347 0,348 0349 ],350 "scale": [351 1,352 1,353 1354 ]355 },356 "color": [357 255,358 31,359 63360 ]361 }362 ],363 "door": [364 {365 "object_id": "SM_Door_57",366 "bbox_2d": [367 1076,368 484,369 1223,370 875371 ],372 "bbox_3d": {373 "aabb": {374 "center": [375 321.78557947741746,376 -554.0661953729391,377 113.88773345947266378 ],379 "extent": [380 12.160967077169914,381 42.50270116398357,382 113.88756561279297383 ]384 },385 "obb": {386 "center": [387 321.78557947741746,388 -554.0661953729391,389 113.88773345947266390 ],391 "extent": [392 12.160967077169914,393 42.50270116398357,394 113.88756561279297395 ],396 "rotation": [397 0,398 179.99990844726562,399 0400 ]401 },402 "location": [403 322.4544372558594,404 -511.56353759765625,405 0.00016021728515625406 ],407 "rotation": [408 0,409 179.99990844726562,410 0411 ],412 "scale": [413 1,414 1,415 1416 ]417 },418 "color": [419 191,420 31,421 0422 ]423 },424 {425 "object_id": "SM_Door2",426 "bbox_2d": [427 937,428 476,429 1046,430 919431 ],432 "bbox_3d": {433 "aabb": {434 "center": [435 289.4453620420575,436 -648.4473343121691,437 113.8875732421875438 ],439 "extent": [440 41.791381110530665,441 34.34012876724,442 113.88756561279297443 ]444 },445 "obb": {446 "center": [447 289.4453620420575,448 -648.4473343121691,449 113.8875732421875450 ],451 "extent": [452 41.791381110530665,453 34.34012876724,454 113.88756561279297455 ],456 "rotation": [457 0,458 55.000068664550774,459 0460 ]461 },462 "location": [463 323.8779296875,464 -673.3736572265625,465 0466 ],467 "rotation": [468 0,469 55.000068664550774,470 0471 ],472 "scale": [473 1,474 1,475 1476 ]477 },478 "color": [479 191,480 31,481 255482 ]483 }484 ],485 "doorway": [486 {487 "object_id": "SM_DoorWay_3",488 "bbox_2d": [489 937,490 480,491 1227,492 874493 ],494 "bbox_3d": {495 "aabb": {496 "center": [497 329.1935787200928,498 -593.7975769042969,499 114.06618118286133500 ],501 "extent": [502 8.544652938842773,503 85.39633178710938,504 115.9334487915039505 ]506 },507 "obb": {508 "center": [509 329.1935787200928,510 -593.7975769042969,511 114.06618118286133512 ],513 "extent": [514 8.544652938842773,515 85.39633178710938,516 115.9334487915039517 ],518 "rotation": [519 0,520 0,521 0522 ]523 },524 "location": [525 329.19354248046875,526 -508.4012451171875,527 -0.000370025634765625528 ],529 "rotation": [530 0,531 0,532 0533 ],534 "scale": [535 1,536 1,537 1538 ]539 },540 "color": [541 255,542 127,543 95544 ]545 }546 ],547 "skybox": [548 {549 "object_id": "SM_SkyDome_01_2",550 "bbox_2d": [551 1044,552 485,553 1075,554 685555 ],556 "bbox_3d": {557 "aabb": {558 "center": [559 342,560 353,561 34999.98779296875562 ],563 "extent": [564 129789.81816362508,565 129789.81816362508,566 50000.01525878906567 ]568 },569 "obb": {570 "center": [571 342,572 353,573 34999.98779296875574 ],575 "extent": [576 129789.81816362508,577 129789.81816362508,578 50000.01525878906579 ],580 "rotation": [581 0,582 111.5997085571289,583 0584 ]585 },586 "location": [587 342,588 353,589 -15000590 ],591 "rotation": [592 0,593 111.5997085571289,594 0595 ],596 "scale": [597 100,598 100,599 100600 ]601 },602 "color": [603 255,604 255,605 159606 ]607 }608 ]609 },610 "foreground": {611 "chair": [612 {613 "object_id": "SM_Chair_26",614 "bbox_2d": [615 1387,616 884,617 1614,618 1079619 ],620 "bbox_3d": {621 "aabb": {622 "center": [623 47.23103568343166,624 -505.9242872415484,625 41.25320053100586626 ],627 "extent": [628 31.910812967505702,629 35.20566343355742,630 41.51362991333008631 ]632 },633 "obb": {634 "center": [635 47.23103568343166,636 -505.9242872415484,637 41.25320053100586638 ],639 "extent": [640 31.910812967505702,641 35.20566343355742,642 41.51362991333008643 ],644 "rotation": [645 0,646 110.0001449584961,647 0648 ]649 },650 "location": [651 45.25779724121094,652 -498.7556457519531,653 0654 ],655 "rotation": [656 0,657 110.0001449584961,658 0659 ],660 "scale": [661 1,662 1,663 1664 ]665 },666 "color": [667 127,668 0,669 0670 ]671 },672 {673 "object_id": "SM_Chair5",674 "bbox_2d": [675 1666,676 850,677 1772,678 1079679 ],680 "bbox_3d": {681 "aabb": {682 "center": [683 78.76814929287588,684 -399.155336624571,685 41.25320053100586686 ],687 "extent": [688 36.774601029115374,689 34.75674418009845,690 41.51362991333008691 ]692 },693 "obb": {694 "center": [695 78.76814929287588,696 -399.155336624571,697 41.25320053100586698 ],699 "extent": [700 36.774601029115374,701 34.75674418009845,702 41.51362991333008703 ],704 "rotation": [705 0,706 -150.00015258789065,707 0708 ]709 },710 "location": [711 72.0510482788086,712 -402.3433837890625,713 0714 ],715 "rotation": [716 0,717 -150.00015258789065,718 0719 ],720 "scale": [721 1,722 1,723 1724 ]725 },726 "color": [727 0,728 63,729 127730 ]731 },732 {733 "object_id": "SM_Chair6",734 "bbox_2d": [735 611,736 778,737 763,738 1017739 ],740 "bbox_3d": {741 "aabb": {742 "center": [743 186.22878664375753,744 -784.6879983039133,745 41.25320053100586746 ],747 "extent": [748 35.20569408549909,749 31.910861496146367,750 41.51362991333008751 ]752 },753 "obb": {754 "center": [755 186.22878664375753,756 -784.6879983039133,757 41.25320053100586758 ],759 "extent": [760 35.20569408549909,761 31.910861496146367,762 41.51362991333008763 ],764 "rotation": [765 0,766 -159.9997100830078,767 0768 ]769 },770 "location": [771 179.06015014648438,772 -786.6612548828125,773 0774 ],775 "rotation": [776 0,777 -159.9997100830078,778 0779 ],780 "scale": [781 1,782 1,783 1784 ]785 },786 "color": [787 255,788 63,789 0790 ]791 },792 {793 "object_id": "SM_Chair7",794 "bbox_2d": [795 358,796 779,797 511,798 1015799 ],800 "bbox_3d": {801 "aabb": {802 "center": [803 185.63075481528634,804 -896.417324196396,805 41.25320053100586806 ],807 "extent": [808 36.5467524741002,809 37.22621987973241,810 41.51362991333008811 ]812 },813 "obb": {814 "center": [815 185.63075481528634,816 -896.417324196396,817 41.25320053100586818 ],819 "extent": [820 36.5467524741002,821 37.22621987973241,822 41.51362991333008823 ],824 "rotation": [825 0,826 130.00019836425778,827 0828 ]829 },830 "location": [831 181.32469177246094,832 -890.3558959960938,833 0834 ],835 "rotation": [836 0,837 130.00019836425778,838 0839 ],840 "scale": [841 1,842 1,843 1844 ]845 },846 "color": [847 255,848 63,849 255850 ]851 },852 {853 "object_id": "SM_Chair8",854 "bbox_2d": [855 233,856 970,857 506,858 1079859 ],860 "bbox_3d": {861 "aabb": {862 "center": [863 29.759624890730244,864 -826.9418835815294,865 41.25320053100586866 ],867 "extent": [868 32.56692928505646,869 28.095137198164252,870 41.51362991333008871 ]872 },873 "obb": {874 "center": [875 29.759624890730244,876 -826.9418835815294,877 41.25320053100586878 ],879 "extent": [880 32.56692928505646,881 28.095137198164252,882 41.51362991333008883 ],884 "rotation": [885 0,886 9.999954223632812,887 0888 ]889 },890 "location": [891 37.162010192871094,892 -826.2434692382812,893 0894 ],895 "rotation": [896 0,897 9.999954223632812,898 0899 ],900 "scale": [901 1,902 1,903 1904 ]905 },906 "color": [907 255,908 63,909 127910 ]911 }912 ],913 "table": [914 {915 "object_id": "SM_RoundTable_29",916 "bbox_2d": [917 1653,918 920,919 1919,920 1079921 ],922 "bbox_3d": {923 "aabb": {924 "center": [925 14,926 -421,927 37.5000114440918928 ],929 "extent": [930 50,931 50,932 37.499996185302734933 ]934 },935 "obb": {936 "center": [937 14,938 -421,939 37.5000114440918940 ],941 "extent": [942 50,943 50,944 37.499996185302734945 ],946 "rotation": [947 0,948 0,949 0950 ]951 },952 "location": [953 14,954 -421,955 0956 ],957 "rotation": [958 0,959 0,960 0961 ],962 "scale": [963 1,964 1,965 1966 ]967 },968 "color": [969 127,970 0,971 255972 ]973 },974 {975 "object_id": "SM_RoundTable2",976 "bbox_2d": [977 377,978 822,979 672,980 1079981 ],982 "bbox_3d": {983 "aabb": {984 "center": [985 119,986 -824,987 37.5000114440918988 ],989 "extent": [990 50,991 50,992 37.499996185302734993 ]994 },995 "obb": {996 "center": [997 119,998 -824,999 37.50001144409181000 ],1001 "extent": [1002 50,1003 50,1004 37.4999961853027341005 ],1006 "rotation": [1007 0,1008 0,1009 01010 ]1011 },1012 "location": [1013 119,1014 -824,1015 01016 ],1017 "rotation": [1018 0,1019 0,1020 01021 ],1022 "scale": [1023 1,1024 1,1025 11026 ]1027 },1028 "color": [1029 127,1030 255,1031 01032 ]1033 }1034 ],1035 "can": [1036 {1037 "object_id": "SM_MetalCan_33",1038 "bbox_2d": [1039 668,1040 793,1041 763,1042 9101043 ],1044 "bbox_3d": {1045 "aabb": {1046 "center": [1047 289,1048 -799,1049 28.0015544891357421050 ],1051 "extent": [1052 31.028506712452725,1053 32.47509179950339,1054 28.0015544891357421055 ]1056 },1057 "obb": {1058 "center": [1059 289,1060 -799,1061 28.0015544891357421062 ],1063 "extent": [1064 31.028506712452725,1065 32.47509179950339,1066 28.0015544891357421067 ],1068 "rotation": [1069 0,1070 -162.4591979980469,1071 01072 ]1073 },1074 "location": [1075 289,1076 -799,1077 01078 ],1079 "rotation": [1080 0,1081 -162.4591979980469,1082 01083 ],1084 "scale": [1085 1,1086 1,1087 11088 ]1089 },1090 "color": [1091 127,1092 255,1093 2551094 ]1095 },1096 {1097 "object_id": "SM_MetalCan2",1098 "bbox_2d": [1099 0,1100 895,1101 19,1102 10291103 ],1104 "bbox_3d": {1105 "aabb": {1106 "center": [1107 141,1108 -1071,1109 28.0015544891357421110 ],1111 "extent": [1112 35.552373752761554,1113 35.79664531498065,1114 28.0015544891357421115 ]1116 },1117 "obb": {1118 "center": [1119 141,1120 -1071,1121 28.0015544891357421122 ],1123 "extent": [1124 35.552373752761554,1125 35.79664531498065,1126 28.0015544891357421127 ],1128 "rotation": [1129 0,1130 40.53416824340821,1131 01132 ]1133 },1134 "location": [1135 141,1136 -1071,1137 01138 ],1139 "rotation": [1140 0,1141 40.53416824340821,1142 01143 ],1144 "scale": [1145 1,1146 1,1147 11148 ]1149 },1150 "color": [1151 127,1152 0,1153 1271154 ]1155 },1156 {1157 "object_id": "SM_MetalCan12",1158 "bbox_2d": [1159 765,1160 784,1161 852,1162 9101163 ],1164 "bbox_3d": {1165 "aabb": {1166 "center": [1167 289,1168 -748,1169 28.0015544891357421170 ],1171 "extent": [1172 30.093724917543682,1173 28.278711950204638,1174 28.0015544891357421175 ]1176 },1177 "obb": {1178 "center": [1179 289,1180 -748,1181 28.0015544891357421182 ],1183 "extent": [1184 30.093724917543682,1185 28.278711950204638,1186 28.0015544891357421187 ],1188 "rotation": [1189 0,1190 99.65083312988283,1191 01192 ]1193 },1194 "location": [1195 289,1196 -748,1197 01198 ],1199 "rotation": [1200 0,