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": "ManagerOffice",3 "view_id": "l002_r005",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/ManagerOffice/l002_r005/lit.png",5 "camera": {6 "location": [7 38,8 43,9 18510 ],11 "rotation": [12 0,13 -59.999999999999986,14 015 ],16 "fov": 90,17 "c2w": [18 [19 0.5000000000000002,20 -0.8660254037844384,21 0,22 023 ],24 [25 0.8660254037844384,26 0.5000000000000002,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 38,38 43,39 185,40 141 ]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 "ceiling": [54 {55 "object_id": "SM_Silling_57",56 "bbox_2d": [57 580,58 0,59 928,60 7761 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 -3.5792999267578125,66 231.85098266601562,67 349.0250854492187568 ],69 "extent": [70 176.71539306640625,71 496.9198303222656,72 10.16056823730468873 ]74 },75 "obb": {76 "center": [77 -3.5792999267578125,78 231.85098266601562,79 349.0250854492187580 ],81 "extent": [82 176.71539306640625,83 496.9198303222656,84 10.16056823730468885 ],86 "rotation": [87 0,88 0,89 090 ]91 },92 "location": [93 0,94 0,95 096 ],97 "rotation": [98 0,99 0,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 127,110 255,111 127112 ]113 }114 ],115 "ceiling lamp": [116 {117 "object_id": "SM_SillingLamp2",118 "bbox_2d": [119 177,120 0,121 234,122 28123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 -6.130724676588379,128 -257.49718661139474,129 330.37402153015137130 ],131 "extent": [132 7.192038678185117,133 11.378019827732814,134 15.387605667114258135 ]136 },137 "obb": {138 "center": [139 -6.130724676588379,140 -257.49718661139474,141 330.37402153015137142 ],143 "extent": [144 7.192038678185117,145 11.378019827732814,146 15.387605667114258147 ],148 "rotation": [149 0,150 3.4332275390625e-05,151 0152 ]153 },154 "location": [155 -6.2131195068359375,156 -257.11279296875,157 345.7616271972656158 ],159 "rotation": [160 0,161 3.4332275390625e-05,162 0163 ],164 "scale": [165 1,166 1,167 1168 ]169 },170 "color": [171 31,172 31,173 255174 ]175 },176 {177 "object_id": "SM_SillingLamp3",178 "bbox_2d": [179 532,180 0,181 600,182 102183 ],184 "bbox_3d": {185 "aabb": {186 "center": [187 78.66053193308672,188 -257.5021244623304,189 330.37402153015137190 ],191 "extent": [192 10.649809765922015,193 13.151656989309473,194 15.387605667114258195 ]196 },197 "obb": {198 "center": [199 78.66053193308672,200 -257.5021244623304,201 330.37402153015137202 ],203 "extent": [204 10.649809765922015,205 13.151656989309473,206 15.387605667114258207 ],208 "rotation": [209 0,210 -20,211 0212 ]213 },214 "location": [215 78.7145767211914,216 -257.11273193359375,217 345.7616271972656218 ],219 "rotation": [220 0,221 -20,222 0223 ],224 "scale": [225 1,226 1,227 1228 ]229 },230 "color": [231 31,232 31,233 127234 ]235 }236 ]237 },238 "foreground": {239 "closet": [240 {241 "object_id": "SM_Closet_29",242 "bbox_2d": [243 0,244 0,245 913,246 767247 ],248 "bbox_3d": {249 "aabb": {250 "center": [251 -5.889900207519531,252 -347.92909240722656,253 225.49037170410156254 ],255 "extent": [256 236.4459686279297,257 20.030471801757812,258 133.37185668945312259 ]260 },261 "obb": {262 "center": [263 -5.889900207519531,264 -347.92909240722656,265 225.49037170410156266 ],267 "extent": [268 236.4459686279297,269 20.030471801757812,270 133.37185668945312271 ],272 "rotation": [273 0,274 0,275 0276 ]277 },278 "location": [279 -6.054466247558594,280 -367.9595642089844,281 92.11851501464844282 ],283 "rotation": [284 0,285 0,286 0287 ],288 "scale": [289 1,290 1,291 1292 ]293 },294 "color": [295 255,296 127,297 0298 ]299 }300 ],301 "armchair": [302 {303 "object_id": "SM_ArmchairManager_32",304 "bbox_2d": [305 207,306 418,307 415,308 484309 ],310 "bbox_3d": {311 "aabb": {312 "center": [313 -2.0084305367577002,314 -266.9637446004958,315 156.8519277990954316 ],317 "extent": [318 54.566865723696466,319 55.92745020578518,320 63.54718651223584321 ]322 },323 "obb": {324 "center": [325 -2.0084305367577002,326 -266.9637446004958,327 156.8519277990954328 ],329 "extent": [330 54.566865723696466,331 55.92745020578518,332 63.54718651223584333 ],334 "rotation": [335 0,336 30.00005722045899,337 0338 ]339 },340 "location": [341 -2.4702606201171875,342 -266.4104919433594,343 93.3218994140625344 ],345 "rotation": [346 0,347 30.00005722045899,348 0349 ],350 "scale": [351 1.100000023841858,352 1.100000023841858,353 1.100000023841858354 ]355 },356 "color": [357 255,358 127,359 255360 ]361 },362 {363 "object_id": "SM_ArmchairSingle_38",364 "bbox_2d": [365 438,366 358,367 815,368 1079369 ],370 "bbox_3d": {371 "aabb": {372 "center": [373 51.21592908139999,374 -90.84782646696817,375 151.32426071166992376 ],377 "extent": [378 33.26026436641297,379 30.065236720987457,380 57.94956588745117381 ]382 },383 "obb": {384 "center": [385 51.21592908139999,386 -90.84782646696817,387 151.32426071166992388 ],389 "extent": [390 33.26026436641297,391 30.065236720987457,392 57.94956588745117393 ],394 "rotation": [395 0,396 90.00011444091797,397 0398 ]399 },400 "location": [401 50.492774963378906,402 -91.7777099609375,403 93.3218994140625404 ],405 "rotation": [406 0,407 90.00011444091797,408 0409 ],410 "scale": [411 1,412 1,413 1414 ]415 },416 "color": [417 255,418 127,419 127420 ]421 },422 {423 "object_id": "SM_ArmchairSingle2",424 "bbox_2d": [425 481,426 108,427 1586,428 1079429 ],430 "bbox_3d": {431 "aabb": {432 "center": [433 58.77065231685211,434 2.298390028352408,435 151.32426071166992436 ],437 "extent": [438 37.97565641399365,439 35.3839719979233,440 57.94956588745117441 ]442 },443 "obb": {444 "center": [445 58.770652316852114,446 2.298390028352408,447 151.32426071166992448 ],449 "extent": [450 37.97565641399365,451 35.3839719979233,452 57.94956588745117453 ],454 "rotation": [455 0,456 80.00003051757812,457 0458 ]459 },460 "location": [461 57.897010803222656,462 1.508209228515625,463 93.3218994140625464 ],465 "rotation": [466 0,467 80.00003051757812,468 0469 ],470 "scale": [471 1,472 1,473 1474 ]475 },476 "color": [477 127,478 0,479 0480 ]481 }482 ],483 "manager desk": [484 {485 "object_id": "SM_ManagerDesk_35",486 "bbox_2d": [487 0,488 583,489 764,490 1079491 ],492 "bbox_3d": {493 "aabb": {494 "center": [495 0.9649276733398438,496 -103.14732360839844,497 133.83098220825195498 ],499 "extent": [500 101.42112731933594,501 175.46688842773438,502 40.50908660888672503 ]504 },505 "obb": {506 "center": [507 0.9649276733398438,508 -103.14732360839844,509 133.83098220825195510 ],511 "extent": [512 101.42112731933594,513 175.46688842773438,514 40.50908660888672515 ],516 "rotation": [517 0,518 0,519 0520 ]521 },522 "location": [523 3.7793960571289062,524 -148.75787353515625,525 93.32191467285156526 ],527 "rotation": [528 0,529 0,530 0531 ],532 "scale": [533 1,534 1,535 1536 ]537 },538 "color": [539 0,540 127,541 127542 ]543 }544 ],545 "calendar": [546 {547 "object_id": "SM_CalendarDesk_116",548 "bbox_2d": [549 482,550 537,551 594,552 599553 ],554 "bbox_3d": {555 "aabb": {556 "center": [557 61.437330427932885,558 -166.4330257628863,559 179.62402725219727560 ],561 "extent": [562 12.325876402342068,563 9.841876774162444,564 5.984294891357422565 ]566 },567 "obb": {568 "center": [569 61.437330427932885,570 -166.4330257628863,571 179.62402725219727572 ],573 "extent": [574 12.325876402342068,575 9.841876774162444,576 5.984294891357422577 ],578 "rotation": [579 0,580 -110.00013732910158,581 0582 ]583 },584 "location": [585 60.486053466796875,586 -166.10409545898438,587 173.6102752685547588 ],589 "rotation": [590 0,591 -110.00013732910158,592 0593 ],594 "scale": [595 1,596 1,597 1598 ]599 },600 "color": [601 127,602 63,603 63604 ]605 }606 ],607 "chassis": [608 {609 "object_id": "SM_Chassis_125",610 "bbox_2d": [611 402,612 584,613 484,614 592615 ],616 "bbox_3d": {617 "aabb": {618 "center": [619 51.43301841964879,620 -207.5330078601583,621 174.3187141418457622 ],623 "extent": [624 18.3861534901983,625 19.869006395314557,626 0.7084541320800781627 ]628 },629 "obb": {630 "center": [631 51.43301841964879,632 -207.5330078601583,633 174.3187141418457634 ],635 "extent": [636 18.3861534901983,637 19.869006395314557,638 0.7084541320800781639 ],640 "rotation": [641 0,642 -119.99999999999997,643 0644 ]645 },646 "location": [647 68.90663146972656,648 -199.1138916015625,649 173.61026000976562650 ],651 "rotation": [652 0,653 -119.99999999999997,654 0655 ],656 "scale": [657 1,658 1,659 1660 ]661 },662 "color": [663 63,664 0,665 127666 ]667 },668 {669 "object_id": "SM_Chassis2",670 "bbox_2d": [671 18,672 627,673 446,674 670675 ],676 "bbox_3d": {677 "aabb": {678 "center": [679 24.49961826119435,680 -77.28905089753601,681 174.93947219848633682 ],683 "extent": [684 19.157636636899547,685 16.736308918784175,686 0.7084541320800781687 ]688 },689 "obb": {690 "center": [691 24.49961826119435,692 -77.28905089753601,693 174.93947219848633694 ],695 "extent": [696 19.157636636899547,697 16.736308918784175,698 0.7084541320800781699 ],700 "rotation": [701 0,702 -19.999786376953125,703 0704 ]705 },706 "location": [707 13.174087524414062,708 -61.54290771484375,709 174.23101806640625710 ],711 "rotation": [712 0,713 -19.999786376953125,714 0715 ],716 "scale": [717 1,718 1,719 1720 ]721 },722 "color": [723 63,724 255,725 0726 ]727 }728 ],729 "decorative grass": [730 {731 "object_id": "SM_Decorative78_11",732 "bbox_2d": [733 381,734 400,735 451,736 460737 ],738 "bbox_3d": {739 "aabb": {740 "center": [741 40.91493225097656,742 -339.0389709472656,743 222.5072258079672744 ],745 "extent": [746 11.195476386359587,747 11.168371308230235,748 10.709661870894706749 ]750 },751 "obb": {752 "center": [753 40.91493225097656,754 -339.0389709472656,755 222.5072258079672756 ],757 "extent": [758 11.195476386359587,759 11.168371308230235,760 10.709661870894706761 ],762 "rotation": [763 0,764 0,765 0766 ]767 },768 "location": [769 40.91493225097656,770 -339.0389709472656,771 211.72216796875772 ],773 "rotation": [774 0,775 0,776 0777 ],778 "scale": [779 1.332789421081543,780 1.332789421081543,781 1.332789421081543782 ]783 },784 "color": [785 31,786 31,787 31788 ]789 },790 {791 "object_id": "SM_Decorative79_14",792 "bbox_2d": [793 13,794 359,795 158,796 450797 ],798 "bbox_3d": {799 "aabb": {800 "center": [801 -44.858084124012635,802 -339.34731557193766,803 225.60998570139418804 ],805 "extent": [806 15.7004822706092,807 5.5804689012802555,808 13.876127776268277809 ]810 },811 "obb": {812 "center": [813 -44.858084124012635,814 -339.34731557193766,815 225.60998570139418816 ],817 "extent": [818 15.7004822706092,819 5.5804689012802555,820 13.876127776268277821 ],822 "rotation": [823 0,824 0,825 0826 ]827 },828 "location": [829 -44.85807800292969,830 -339.34735107421875,831 211.72219848632812832 ],833 "rotation": [834 0,835 0,836 0837 ],838 "scale": [839 1.2836841344833374,840 1.2836841344833374,841 1.2836841344833374842 ]843 },844 "color": [845 0,846 0,847 95848 ]849 },850 {851 "object_id": "SM_Decorative81_20",852 "bbox_2d": [853 183,854 362,855 252,856 452857 ],858 "bbox_3d": {859 "aabb": {860 "center": [861 -13.336126327514648,862 -337.89166259765625,863 226.3364713658666864 ],865 "extent": [866 8.733177924586926,867 8.700033647754026,868 14.50036186313082869 ]870 },871 "obb": {872 "center": [873 -13.336126327514648,874 -337.89166259765625,875 226.3364713658666876 ],877 "extent": [878 8.733177924586926,879 8.700033647754026,880 14.50036186313082881 ],882 "rotation": [883 0,884 0,885 0886 ]887 },888 "location": [889 -13.336126327514648,890 -337.89166259765625,891 211.72219848632812892 ],893 "rotation": [894 0,895 0,896 0897 ],898 "scale": [899 1.3069454431533813,900 1.3069454431533813,901 1.3069454431533813902 ]903 },904 "color": [905 0,906 127,907 95908 ]909 },910 {911 "object_id": "SM_Decorative83_24",912 "bbox_2d": [913 281,914 405,915 328,916 420917 ],918 "bbox_3d": {919 "aabb": {920 "center": [921 9.169261801458788,922 -343.0872197653905,923 220.84892492930658924 ],925 "extent": [926 7.09879111977898,927 7.098778996266219,928 9.055619904820105929 ]930 },931 "obb": {932 "center": [933 9.169261801458788,934 -343.0872197653905,935 220.84892492930658936 ],937 "extent": [938 7.09879111977898,939 7.098778996266219,940 9.055619904820105941 ],942 "rotation": [943 0,944 0,945 0946 ]947 },948 "location": [949 9.16929817199707,950 -343.08721923828125,951 211.72218322753906952 ],953 "rotation": [954 0,955 0,956 0957 ],958 "scale": [959 2.2108564376831055,960 2.2108564376831055,961 2.2108564376831055962 ]963 },964 "color": [965 0,966 63,967 95968 ]969 },970 {971 "object_id": "SM_Decorative85",972 "bbox_2d": [973 19,974 119,975 58,976 186977 ],978 "bbox_3d": {979 "aabb": {980 "center": [981 -56.40060423649874,982 -339.63477885945616,983 298.13747676143976984 ],985 "extent": [986 6.217201824810651,987 5.499867281420109,988 11.327997331329243989 ]990 },991 "obb": {992 "center": [993 -56.40060423649874,994 -339.63477885945616,995 298.13747676143976996 ],997 "extent": [998 6.217201824810651,999 5.499867281420109,1000 11.3279973313292431001 ],1002 "rotation": [1003 0,1004 30.000083923339854,1005 01006 ]1007 },1008 "location": [1009 -56.400611877441406,1010 -339.634765625,1011 286.783752441406251012 ],1013 "rotation": [1014 0,1015 30.000083923339854,1016 01017 ],1018 "scale": [1019 1.0015110969543457,1020 1.0015110969543457,1021 1.00151109695434571022 ]1023 },1024 "color": [1025 0,1026 31,1027 951028 ]1029 },1030 {1031 "object_id": "SM_Decorative86_34",1032 "bbox_2d": [1033 494,1034 300,1035 525,1036 3581037 ],1038 "bbox_3d": {1039 "aabb": {1040 "center": [1041 70.77970123291016,1042 -340.46532440185547,1043 260.50859069824221044 ],1045 "extent": [1046 5.235870361328125,1047 5.270179748535156,1048 11.300231933593751049 ]1050 },1051 "obb": {1052 "center": [1053 70.77970123291016,1054 -340.46532440185547,1055 260.50859069824221056 ],1057 "extent": [1058 5.235870361328125,1059 5.270179748535156,1060 11.300231933593751061 ],1062 "rotation": [1063 0,1064 0,1065 01066 ]1067 },1068 "location": [1069 70.77973175048828,1070 -340.46533203125,1071 249.109603881835941072 ],1073 "rotation": [1074 0,1075 0,1076 01077 ],1078 "scale": [1079 1,1080 1,1081 11082 ]1083 },1084 "color": [1085 255,1086 0,1087 951088 ]1089 },1090 {1091 "object_id": "SM_Decorative87_37",1092 "bbox_2d": [1093 287,1094 269,1095 379,1096 3441097 ],1098 "bbox_3d": {1099 "aabb": {1100 "center": [1101 17.37841033935547,1102 -340.0759879145785,1103 262.172010728498661104 ],1105 "extent": [1106 12.929520684338968,1107 12.76076326909515,1108 12.970542172680781109 ]1110 },1111 "obb": {1112 "center": [1113 17.37841033935547,1114 -340.0759879145785,1115 262.172010728498661116 ],1117 "extent": [1118 12.929520684338968,1119 12.76076326909515,1120 12.970542172680781121 ],1122 "rotation": [1123 0,1124 0,1125 01126 ]1127 },1128 "location": [1129 17.37841033935547,1130 -340.07598876953125,1131 249.109603881835941132 ],1133 "rotation": [1134 0,1135 0,1136 01137 ],1138 "scale": [1139 1.7929658889770508,1140 1.7929658889770508,1141 1.79296588897705081142 ]1143 },1144 "color": [1145 255,1146 255,1147 951148 ]1149 },1150 {1151 "object_id": "SM_Decorative88_40",1152 "bbox_2d": [1153 240,1154 250,1155 265,1156 3361157 ],1158 "bbox_3d": {1159 "aabb": {1160 "center": [1161 -4.681325912475586,1162 -339.59564208984375,1163 263.83731808960511164 ],1165 "extent": [1166 3.5447133803645556,1167 3.5447133803645556,1168 14.6943807723691861169 ]1170 },1171 "obb": {1172 "center": [1173 -4.681325912475586,1174 -339.59564208984375,1175 263.83731808960511176 ],1177 "extent": [1178 3.5447133803645556,1179 3.5447133803645556,1180 14.6943807723691861181 ],1182 "rotation": [1183 0,1184 0,1185 01186 ]1187 },1188 "location": [1189 -4.681325912475586,1190 -339.59564208984375,1191 249.109603881835941192 ],1193 "rotation": [1194 0,1195 0,1196 01197 ],1198 "scale": [1199 1.3352934122085571,1200 1.3352934122085571,