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": "l012_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/Diner50/l012_r000/lit.png",5 "camera": {6 "location": [7 -355,8 -348,9 10510 ],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 -355,38 -348,39 105,40 141 ]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 0,58 189,59 1040,60 70261 ],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 0,120 689,121 1040,122 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 "ceiling planks corner": [178 {179 "object_id": "SM_Ceiling_02",180 "bbox_2d": [181 0,182 0,183 1040,184 158185 ],186 "bbox_3d": {187 "aabb": {188 "center": [189 178.00003051757812,190 -304,191 445.28614807128906192 ],193 "extent": [194 165.3131103515625,195 1002.5983276367188,196 79.28627014160156197 ]198 },199 "obb": {200 "center": [201 178.00003051757812,202 -304,203 445.28614807128906204 ],205 "extent": [206 165.3131103515625,207 1002.5983276367188,208 79.28627014160156209 ],210 "rotation": [211 0,212 0,213 0214 ]215 },216 "location": [217 178,218 -304,219 366220 ],221 "rotation": [222 0,223 0,224 0225 ],226 "scale": [227 1,228 1,229 1230 ]231 },232 "color": [233 255,234 31,235 63236 ]237 }238 ],239 "door": [240 {241 "object_id": "SM_Door_57",242 "bbox_2d": [243 606,244 365,245 727,246 689247 ],248 "bbox_3d": {249 "aabb": {250 "center": [251 321.78557947741746,252 -554.0661953729391,253 113.88773345947266254 ],255 "extent": [256 12.160967077169914,257 42.50270116398357,258 113.88756561279297259 ]260 },261 "obb": {262 "center": [263 321.78557947741746,264 -554.0661953729391,265 113.88773345947266266 ],267 "extent": [268 12.160967077169914,269 42.50270116398357,270 113.88756561279297271 ],272 "rotation": [273 0,274 179.99990844726562,275 0276 ]277 },278 "location": [279 322.4544372558594,280 -511.56353759765625,281 0.00016021728515625282 ],283 "rotation": [284 0,285 179.99990844726562,286 0287 ],288 "scale": [289 1,290 1,291 1292 ]293 },294 "color": [295 191,296 31,297 0298 ]299 },300 {301 "object_id": "SM_Door2",302 "bbox_2d": [303 484,304 346,305 541,306 705307 ],308 "bbox_3d": {309 "aabb": {310 "center": [311 289.4453620420575,312 -648.4473343121691,313 113.8875732421875314 ],315 "extent": [316 41.791381110530665,317 34.34012876724,318 113.88756561279297319 ]320 },321 "obb": {322 "center": [323 289.4453620420575,324 -648.4473343121691,325 113.8875732421875326 ],327 "extent": [328 41.791381110530665,329 34.34012876724,330 113.88756561279297331 ],332 "rotation": [333 0,334 55.000068664550774,335 0336 ]337 },338 "location": [339 323.8779296875,340 -673.3736572265625,341 0342 ],343 "rotation": [344 0,345 55.000068664550774,346 0347 ],348 "scale": [349 1,350 1,351 1352 ]353 },354 "color": [355 191,356 31,357 255358 ]359 }360 ],361 "doorway": [362 {363 "object_id": "SM_DoorWay_3",364 "bbox_2d": [365 490,366 362,367 731,368 688369 ],370 "bbox_3d": {371 "aabb": {372 "center": [373 329.1935787200928,374 -593.7975769042969,375 114.06618118286133376 ],377 "extent": [378 8.544652938842773,379 85.39633178710938,380 115.9334487915039381 ]382 },383 "obb": {384 "center": [385 329.1935787200928,386 -593.7975769042969,387 114.06618118286133388 ],389 "extent": [390 8.544652938842773,391 85.39633178710938,392 115.9334487915039393 ],394 "rotation": [395 0,396 0,397 0398 ]399 },400 "location": [401 329.19354248046875,402 -508.4012451171875,403 -0.000370025634765625404 ],405 "rotation": [406 0,407 0,408 0409 ],410 "scale": [411 1,412 1,413 1414 ]415 },416 "color": [417 255,418 127,419 95420 ]421 }422 ],423 "skybox": [424 {425 "object_id": "SM_SkyDome_01_2",426 "bbox_2d": [427 532,428 370,429 605,430 679431 ],432 "bbox_3d": {433 "aabb": {434 "center": [435 342,436 353,437 34999.98779296875438 ],439 "extent": [440 129789.81816362508,441 129789.81816362508,442 50000.01525878906443 ]444 },445 "obb": {446 "center": [447 342,448 353,449 34999.98779296875450 ],451 "extent": [452 129789.81816362508,453 129789.81816362508,454 50000.01525878906455 ],456 "rotation": [457 0,458 111.5997085571289,459 0460 ]461 },462 "location": [463 342,464 353,465 -15000466 ],467 "rotation": [468 0,469 111.5997085571289,470 0471 ],472 "scale": [473 100,474 100,475 100476 ]477 },478 "color": [479 255,480 255,481 159482 ]483 }484 ]485 },486 "foreground": {487 "chair": [488 {489 "object_id": "SM_Chair_26",490 "bbox_2d": [491 495,492 590,493 669,494 808495 ],496 "bbox_3d": {497 "aabb": {498 "center": [499 47.23103568343166,500 -505.9242872415484,501 41.25320053100586502 ],503 "extent": [504 31.910812967505702,505 35.20566343355742,506 41.51362991333008507 ]508 },509 "obb": {510 "center": [511 47.23103568343166,512 -505.9242872415484,513 41.25320053100586514 ],515 "extent": [516 31.910812967505702,517 35.20566343355742,518 41.51362991333008519 ],520 "rotation": [521 0,522 110.0001449584961,523 0524 ]525 },526 "location": [527 45.25779724121094,528 -498.7556457519531,529 0530 ],531 "rotation": [532 0,533 110.0001449584961,534 0535 ],536 "scale": [537 1,538 1,539 1540 ]541 },542 "color": [543 127,544 0,545 0546 ]547 },548 {549 "object_id": "SM_Chair4",550 "bbox_2d": [551 673,552 621,553 847,554 925555 ],556 "bbox_3d": {557 "aabb": {558 "center": [559 -70.74255210261028,560 -406.0360260718968,561 41.25320053100586562 ],563 "extent": [564 32.56696532728661,565 28.09518599635254,566 41.51362991333008567 ]568 },569 "obb": {570 "center": [571 -70.74255210261028,572 -406.0360260718968,573 41.25320053100586574 ],575 "extent": [576 32.56696532728661,577 28.09518599635254,578 41.51362991333008579 ],580 "rotation": [581 0,582 -10.00006866455078,583 0584 ]585 },586 "location": [587 -63.54771423339844,588 -407.9114990234375,589 0590 ],591 "rotation": [592 0,593 -10.00006866455078,594 0595 ],596 "scale": [597 1,598 1,599 1600 ]601 },602 "color": [603 0,604 63,605 255606 ]607 },608 {609 "object_id": "SM_Chair5",610 "bbox_2d": [611 832,612 586,613 917,614 791615 ],616 "bbox_3d": {617 "aabb": {618 "center": [619 78.76814929287588,620 -399.155336624571,621 41.25320053100586622 ],623 "extent": [624 36.774601029115374,625 34.75674418009845,626 41.51362991333008627 ]628 },629 "obb": {630 "center": [631 78.76814929287588,632 -399.155336624571,633 41.25320053100586634 ],635 "extent": [636 36.774601029115374,637 34.75674418009845,638 41.51362991333008639 ],640 "rotation": [641 0,642 -150.00015258789065,643 0644 ]645 },646 "location": [647 72.0510482788086,648 -402.3433837890625,649 0650 ],651 "rotation": [652 0,653 -150.00015258789065,654 0655 ],656 "scale": [657 1,658 1,659 1660 ]661 },662 "color": [663 0,664 63,665 127666 ]667 },668 {669 "object_id": "SM_Chair6",670 "bbox_2d": [671 104,672 578,673 256,674 737675 ],676 "bbox_3d": {677 "aabb": {678 "center": [679 186.22878664375753,680 -784.6879983039133,681 41.25320053100586682 ],683 "extent": [684 35.20569408549909,685 31.910861496146367,686 41.51362991333008687 ]688 },689 "obb": {690 "center": [691 186.22878664375753,692 -784.6879983039133,693 41.25320053100586694 ],695 "extent": [696 35.20569408549909,697 31.910861496146367,698 41.51362991333008699 ],700 "rotation": [701 0,702 -159.9997100830078,703 0704 ]705 },706 "location": [707 179.06015014648438,708 -786.6612548828125,709 0710 ],711 "rotation": [712 0,713 -159.9997100830078,714 0715 ],716 "scale": [717 1,718 1,719 1720 ]721 },722 "color": [723 255,724 63,725 0726 ]727 },728 {729 "object_id": "SM_Chair7",730 "bbox_2d": [731 17,732 622,733 44,734 727735 ],736 "bbox_3d": {737 "aabb": {738 "center": [739 185.63075481528634,740 -896.417324196396,741 41.25320053100586742 ],743 "extent": [744 36.5467524741002,745 37.22621987973241,746 41.51362991333008747 ]748 },749 "obb": {750 "center": [751 185.63075481528634,752 -896.417324196396,753 41.25320053100586754 ],755 "extent": [756 36.5467524741002,757 37.22621987973241,758 41.51362991333008759 ],760 "rotation": [761 0,762 130.00019836425778,763 0764 ]765 },766 "location": [767 181.32469177246094,768 -890.3558959960938,769 0770 ],771 "rotation": [772 0,773 130.00019836425778,774 0775 ],776 "scale": [777 1,778 1,779 1780 ]781 },782 "color": [783 255,784 63,785 255786 ]787 }788 ],789 "table": [790 {791 "object_id": "SM_RoundTable_29",792 "bbox_2d": [793 633,794 609,795 899,796 827797 ],798 "bbox_3d": {799 "aabb": {800 "center": [801 14,802 -421,803 37.5000114440918804 ],805 "extent": [806 50,807 50,808 37.499996185302734809 ]810 },811 "obb": {812 "center": [813 14,814 -421,815 37.5000114440918816 ],817 "extent": [818 50,819 50,820 37.499996185302734821 ],822 "rotation": [823 0,824 0,825 0826 ]827 },828 "location": [829 14,830 -421,831 0832 ],833 "rotation": [834 0,835 0,836 0837 ],838 "scale": [839 1,840 1,841 1842 ]843 },844 "color": [845 127,846 0,847 255848 ]849 },850 {851 "object_id": "SM_RoundTable2",852 "bbox_2d": [853 0,854 595,855 128,856 757857 ],858 "bbox_3d": {859 "aabb": {860 "center": [861 119,862 -824,863 37.5000114440918864 ],865 "extent": [866 50,867 50,868 37.499996185302734869 ]870 },871 "obb": {872 "center": [873 119,874 -824,875 37.5000114440918876 ],877 "extent": [878 50,879 50,880 37.499996185302734881 ],882 "rotation": [883 0,884 0,885 0886 ]887 },888 "location": [889 119,890 -824,891 0892 ],893 "rotation": [894 0,895 0,896 0897 ],898 "scale": [899 1,900 1,901 1902 ]903 },904 "color": [905 127,906 255,907 0908 ]909 }910 ],911 "can": [912 {913 "object_id": "SM_MetalCan_33",914 "bbox_2d": [915 243,916 613,917 326,918 702919 ],920 "bbox_3d": {921 "aabb": {922 "center": [923 289,924 -799,925 28.001554489135742926 ],927 "extent": [928 31.028506712452725,929 32.47509179950339,930 28.001554489135742931 ]932 },933 "obb": {934 "center": [935 289,936 -799,937 28.001554489135742938 ],939 "extent": [940 31.028506712452725,941 32.47509179950339,942 28.001554489135742943 ],944 "rotation": [945 0,946 -162.4591979980469,947 0948 ]949 },950 "location": [951 289,952 -799,953 0954 ],955 "rotation": [956 0,957 -162.4591979980469,958 0959 ],960 "scale": [961 1,962 1,963 1964 ]965 },966 "color": [967 127,968 255,969 255970 ]971 },972 {973 "object_id": "SM_MetalCan12",974 "bbox_2d": [975 321,976 612,977 404,978 702979 ],980 "bbox_3d": {981 "aabb": {982 "center": [983 289,984 -748,985 28.001554489135742986 ],987 "extent": [988 30.093724917543682,989 28.278711950204638,990 28.001554489135742991 ]992 },993 "obb": {994 "center": [995 289,996 -748,997 28.001554489135742998 ],999 "extent": [1000 30.093724917543682,1001 28.278711950204638,1002 28.0015544891357421003 ],1004 "rotation": [1005 0,1006 99.65083312988283,1007 01008 ]1009 },1010 "location": [1011 289,1012 -748,1013 01014 ],1015 "rotation": [1016 0,1017 99.65083312988283,1018 01019 ],1020 "scale": [1021 1,1022 1,1023 11024 ]1025 },1026 "color": [1027 31,1028 127,1029 631030 ]1031 }1032 ],1033 "cakebox": [1034 {1035 "object_id": "SM_CakeBox",1036 "bbox_2d": [1037 779,1038 435,1039 861,1040 6981041 ],1042 "bbox_3d": {1043 "aabb": {1044 "center": [1045 300.06517601013184,1046 -444.00817489624023,1047 88.319908142089841048 ],1049 "extent": [1050 21.665559768676758,1051 29.559612274169922,1052 88.319908142089841053 ]1054 },1055 "obb": {1056 "center": [1057 300.06517601013184,1058 -444.00817489624023,1059 88.319908142089841060 ],1061 "extent": [1062 21.665559768676758,1063 29.559612274169922,1064 88.319908142089841065 ],1066 "rotation": [1067 0,1068 0,1069 01070 ]1071 },1072 "location": [1073 300,1074 -444,1075 01076 ],1077 "rotation": [1078 0,1079 0,1080 01081 ],1082 "scale": [1083 1,1084 1,1085 11086 ]1087 },1088 "color": [1089 0,1090 0,1091 631092 ]1093 }1094 ],1095 "car": [1096 {1097 "object_id": "SM_Car_72",1098 "bbox_2d": [1099 1009,1100 609,1101 1040,1102 6971103 ],1104 "bbox_3d": {1105 "aabb": {1106 "center": [1107 255.8927447254198,1108 -256.6601868247054,1109 33.4398841857910161110 ],1111 "extent": [1112 63.51548806078995,1113 58.02783915873971,1114 34.378669738769531115 ]1116 },1117 "obb": {1118 "center": [1119 255.8927447254198,1120 -256.6601868247054,1121 33.4398841857910161122 ],1123 "extent": [1124 63.51548806078995,1125 58.02783915873971,1126 34.378669738769531127 ],1128 "rotation": [1129 0,1130 -179.99996948242188,1131 01132 ]1133 },1134 "location": [1135 256,1136 -259,1137 -11138 ],1139 "rotation": [1140 0,1141 -179.99996948242188,1142 01143 ],1144 "scale": [1145 1,1146 1,1147 11148 ]1149 },1150 "color": [1151 127,1152 0,1153 631154 ]1155 },1156 {1157 "object_id": "SM_Neon_Car_91",1158 "bbox_2d": [1159 871,1160 238,1161 1023,1162 3771163 ],1164 "bbox_3d": {1165 "aabb": {1166 "center": [1167 318.90237219380697,1168 -356.8652306643038,1169 267.486946105957031170 ],1171 "extent": [1172 0.9024274761439415,1173 53.97730351250152,1174 49.7865295410156251175 ]1176 },1177 "obb": {1178 "center": [1179 318.90237219380697,1180 -356.8652306643038,1181 267.486946105957031182 ],1183 "extent": [1184 0.9024274761439415,1185 53.97730351250152,1186 49.7865295410156251187 ],1188 "rotation": [1189 0,1190 6.103515625e-05,1191 01192 ]1193 },1194 "location": [1195 319,1196 -354,1197 2651198 ],1199 "rotation": [1200 0,