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": "l041_r005",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/ManagerOffice/l041_r005/lit.png",5 "camera": {6 "location": [7 8,8 207,9 21310 ],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 8,38 207,39 213,40 141 ]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 0,58 0,59 1179,60 27961 ],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_SillingLamp_2",118 "bbox_2d": [119 45,120 175,121 121,122 265123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 -93.80305915372323,128 -257.4046730905663,129 330.37402153015137130 ],131 "extent": [132 11.91749922077183,133 13.449667203755325,134 15.387605667114258135 ]136 },137 "obb": {138 "center": [139 -93.80305915372323,140 -257.4046730905663,141 330.37402153015137142 ],143 "extent": [144 11.91749922077183,145 13.449667203755325,146 15.387605667114258147 ],148 "rotation": [149 0,150 30.000083923339854,151 0152 ]153 },154 "location": [155 -94.06661224365234,156 -257.11297607421875,157 345.7616271972656158 ],159 "rotation": [160 0,161 30.000083923339854,162 0163 ],164 "scale": [165 1,166 1,167 1168 ]169 },170 "color": [171 31,172 31,173 0174 ]175 },176 {177 "object_id": "SM_SillingLamp2",178 "bbox_2d": [179 346,180 216,181 385,182 295183 ],184 "bbox_3d": {185 "aabb": {186 "center": [187 -6.130724676588379,188 -257.49718661139474,189 330.37402153015137190 ],191 "extent": [192 7.192038678185117,193 11.378019827732814,194 15.387605667114258195 ]196 },197 "obb": {198 "center": [199 -6.130724676588379,200 -257.49718661139474,201 330.37402153015137202 ],203 "extent": [204 7.192038678185117,205 11.378019827732814,206 15.387605667114258207 ],208 "rotation": [209 0,210 3.4332275390625e-05,211 0212 ]213 },214 "location": [215 -6.2131195068359375,216 -257.11279296875,217 345.7616271972656218 ],219 "rotation": [220 0,221 3.4332275390625e-05,222 0223 ],224 "scale": [225 1,226 1,227 1228 ]229 },230 "color": [231 31,232 31,233 255234 ]235 },236 {237 "object_id": "SM_SillingLamp3",238 "bbox_2d": [239 563,240 248,241 606,242 318243 ],244 "bbox_3d": {245 "aabb": {246 "center": [247 78.66053193308672,248 -257.5021244623304,249 330.37402153015137250 ],251 "extent": [252 10.649809765922015,253 13.151656989309473,254 15.387605667114258255 ]256 },257 "obb": {258 "center": [259 78.66053193308672,260 -257.5021244623304,261 330.37402153015137262 ],263 "extent": [264 10.649809765922015,265 13.151656989309473,266 15.387605667114258267 ],268 "rotation": [269 0,270 -20,271 0272 ]273 },274 "location": [275 78.7145767211914,276 -257.11273193359375,277 345.7616271972656278 ],279 "rotation": [280 0,281 -20,282 0283 ],284 "scale": [285 1,286 1,287 1288 ]289 },290 "color": [291 31,292 31,293 127294 ]295 }296 ],297 "door": [298 {299 "object_id": "SM_Door_polySurface50",300 "bbox_2d": [301 1899,302 15,303 1919,304 1079305 ],306 "bbox_3d": {307 "aabb": {308 "center": [309 237.10054705583462,310 194.50258489944235,311 195.17345428466797312 ],313 "extent": [314 9.745574626675705,315 49.10113152907067,316 105.98666381835938317 ]318 },319 "obb": {320 "center": [321 237.10054705583462,322 194.50258489944235,323 195.17345428466797324 ],325 "extent": [326 9.745574626675705,327 49.10113152907067,328 105.98666381835938329 ],330 "rotation": [331 0,332 -179.99989318847656,333 0334 ]335 },336 "location": [337 236.64108276367188,338 154.88241577148438,339 88.28707122802734340 ],341 "rotation": [342 0,343 -179.99989318847656,344 0345 ],346 "scale": [347 1.5594600439071655,348 0.8500000238418579,349 1350 ]351 },352 "color": [353 127,354 159,355 63356 ]357 }358 ]359 },360 "foreground": {361 "closet": [362 {363 "object_id": "SM_Closet_29",364 "bbox_2d": [365 0,366 185,367 832,368 753369 ],370 "bbox_3d": {371 "aabb": {372 "center": [373 -5.889900207519531,374 -347.92909240722656,375 225.49037170410156376 ],377 "extent": [378 236.4459686279297,379 20.030471801757812,380 133.37185668945312381 ]382 },383 "obb": {384 "center": [385 -5.889900207519531,386 -347.92909240722656,387 225.49037170410156388 ],389 "extent": [390 236.4459686279297,391 20.030471801757812,392 133.37185668945312393 ],394 "rotation": [395 0,396 0,397 0398 ]399 },400 "location": [401 -6.054466247558594,402 -367.9595642089844,403 92.11851501464844404 ],405 "rotation": [406 0,407 0,408 0409 ],410 "scale": [411 1,412 1,413 1414 ]415 },416 "color": [417 255,418 127,419 0420 ]421 }422 ],423 "armchair": [424 {425 "object_id": "SM_ArmchairManager_32",426 "bbox_2d": [427 286,428 524,429 486,430 646431 ],432 "bbox_3d": {433 "aabb": {434 "center": [435 -2.0084305367577002,436 -266.9637446004958,437 156.8519277990954438 ],439 "extent": [440 54.566865723696466,441 55.92745020578518,442 63.54718651223584443 ]444 },445 "obb": {446 "center": [447 -2.0084305367577002,448 -266.9637446004958,449 156.8519277990954450 ],451 "extent": [452 54.566865723696466,453 55.92745020578518,454 63.54718651223584455 ],456 "rotation": [457 0,458 30.00005722045899,459 0460 ]461 },462 "location": [463 -2.4702606201171875,464 -266.4104919433594,465 93.3218994140625466 ],467 "rotation": [468 0,469 30.00005722045899,470 0471 ],472 "scale": [473 1.100000023841858,474 1.100000023841858,475 1.100000023841858476 ]477 },478 "color": [479 255,480 127,481 255482 ]483 },484 {485 "object_id": "SM_ArmchairSingle_38",486 "bbox_2d": [487 565,488 552,489 704,490 800491 ],492 "bbox_3d": {493 "aabb": {494 "center": [495 51.21592908139999,496 -90.84782646696817,497 151.32426071166992498 ],499 "extent": [500 33.26026436641297,501 30.065236720987457,502 57.94956588745117503 ]504 },505 "obb": {506 "center": [507 51.21592908139999,508 -90.84782646696817,509 151.32426071166992510 ],511 "extent": [512 33.26026436641297,513 30.065236720987457,514 57.94956588745117515 ],516 "rotation": [517 0,518 90.00011444091797,519 0520 ]521 },522 "location": [523 50.492774963378906,524 -91.7777099609375,525 93.3218994140625526 ],527 "rotation": [528 0,529 90.00011444091797,530 0531 ],532 "scale": [533 1,534 1,535 1536 ]537 },538 "color": [539 255,540 127,541 127542 ]543 },544 {545 "object_id": "SM_ArmchairSingle2",546 "bbox_2d": [547 623,548 556,549 858,550 1079551 ],552 "bbox_3d": {553 "aabb": {554 "center": [555 58.77065231685211,556 2.298390028352408,557 151.32426071166992558 ],559 "extent": [560 37.97565641399365,561 35.3839719979233,562 57.94956588745117563 ]564 },565 "obb": {566 "center": [567 58.770652316852114,568 2.298390028352408,569 151.32426071166992570 ],571 "extent": [572 37.97565641399365,573 35.3839719979233,574 57.94956588745117575 ],576 "rotation": [577 0,578 80.00003051757812,579 0580 ]581 },582 "location": [583 57.897010803222656,584 1.508209228515625,585 93.3218994140625586 ],587 "rotation": [588 0,589 80.00003051757812,590 0591 ],592 "scale": [593 1,594 1,595 1596 ]597 },598 "color": [599 127,600 0,601 0602 ]603 },604 {605 "object_id": "SM_ArmchairSingle3",606 "bbox_2d": [607 0,608 616,609 138,610 861611 ],612 "bbox_3d": {613 "aabb": {614 "center": [615 -49.20721648019243,616 -92.56789634471355,617 151.32426071166992618 ],619 "extent": [620 37.97550408343436,621 35.383796010207135,622 57.94956588745117623 ]624 },625 "obb": {626 "center": [627 -49.20721648019243,628 -92.56789634471355,629 151.32426071166992630 ],631 "extent": [632 37.97550408343436,633 35.383796010207135,634 57.94956588745117635 ],636 "rotation": [637 0,638 -99.99960327148439,639 0640 ]641 },642 "location": [643 -48.333580017089844,644 -91.7777099609375,645 93.3218994140625646 ],647 "rotation": [648 0,649 -99.99960327148439,650 0651 ],652 "scale": [653 1,654 1,655 1656 ]657 },658 "color": [659 127,660 0,661 255662 ]663 }664 ],665 "manager desk": [666 {667 "object_id": "SM_ManagerDesk_35",668 "bbox_2d": [669 0,670 631,671 699,672 1079673 ],674 "bbox_3d": {675 "aabb": {676 "center": [677 0.9649276733398438,678 -103.14732360839844,679 133.83098220825195680 ],681 "extent": [682 101.42112731933594,683 175.46688842773438,684 40.50908660888672685 ]686 },687 "obb": {688 "center": [689 0.9649276733398438,690 -103.14732360839844,691 133.83098220825195692 ],693 "extent": [694 101.42112731933594,695 175.46688842773438,696 40.50908660888672697 ],698 "rotation": [699 0,700 0,701 0702 ]703 },704 "location": [705 3.7793960571289062,706 -148.75787353515625,707 93.32191467285156708 ],709 "rotation": [710 0,711 0,712 0713 ],714 "scale": [715 1,716 1,717 1718 ]719 },720 "color": [721 0,722 127,723 127724 ]725 }726 ],727 "monitor": [728 {729 "object_id": "SM_Monitor",730 "bbox_2d": [731 36,732 495,733 224,734 674735 ],736 "bbox_3d": {737 "aabb": {738 "center": [739 -67.37585065973605,740 -169.9528735959834,741 199.99402505135185742 ],743 "extent": [744 29.307229343322547,745 27.056972213491918,746 26.38376504158623747 ]748 },749 "obb": {750 "center": [751 -67.37585065973605,752 -169.9528735959834,753 199.99402505135185754 ],755 "extent": [756 29.307229343322547,757 27.056972213491918,758 26.38376504158623759 ],760 "rotation": [761 0,762 -50.00012207031249,763 0764 ]765 },766 "location": [767 -52.64727783203125,768 -170.69700622558594,769 173.61026000976562770 ],771 "rotation": [772 0,773 -50.00012207031249,774 0775 ],776 "scale": [777 0.800000011920929,778 0.800000011920929,779 0.800000011920929780 ]781 },782 "color": [783 127,784 63,785 255786 ]787 }788 ],789 "keyboard": [790 {791 "object_id": "SM_Keyboard",792 "bbox_2d": [793 139,794 655,795 276,796 663797 ],798 "bbox_3d": {799 "aabb": {800 "center": [801 -47.88224438253921,802 -188.2073324036146,803 174.28158950805664804 ],805 "extent": [806 18.963977966121476,807 17.614904752164534,808 0.5217170715332031809 ]810 },811 "obb": {812 "center": [813 -47.88224438253921,814 -188.2073324036146,815 174.28158950805664816 ],817 "extent": [818 18.963977966121476,819 17.614904752164534,820 0.5217170715332031821 ],822 "rotation": [823 0,824 -50.00012207031249,825 0826 ]827 },828 "location": [829 -49.16081619262695,830 -172.16757202148438,831 173.61026000976562832 ],833 "rotation": [834 0,835 -50.00012207031249,836 0837 ],838 "scale": [839 1,840 1,841 1842 ]843 },844 "color": [845 127,846 63,847 127848 ]849 }850 ],851 "mouse": [852 {853 "object_id": "SM_Mouse",854 "bbox_2d": [855 139,856 649,857 181,858 656859 ],860 "bbox_3d": {861 "aabb": {862 "center": [863 -63.99271544307848,864 -210.9301883437538,865 174.75694036483765866 ],867 "extent": [868 7.173754858782786,869 6.406446634336817,870 1.1412100791931152871 ]872 },873 "obb": {874 "center": [875 -63.99271544307848,876 -210.9301883437538,877 174.75694036483765878 ],879 "extent": [880 7.173754858782786,881 6.406446634336817,882 1.1412100791931152883 ],884 "rotation": [885 0,886 -20.00003051757813,887 0888 ]889 },890 "location": [891 -58.193260192871094,892 -169.69850158691406,893 173.52552795410156894 ],895 "rotation": [896 0,897 -20.00003051757813,898 0899 ],900 "scale": [901 1,902 1,903 1904 ]905 },906 "color": [907 0,908 63,909 63910 ]911 }912 ],913 "calendar": [914 {915 "object_id": "SM_CalendarDesk_116",916 "bbox_2d": [917 544,918 614,919 604,920 650921 ],922 "bbox_3d": {923 "aabb": {924 "center": [925 61.437330427932885,926 -166.4330257628863,927 179.62402725219727928 ],929 "extent": [930 12.325876402342068,931 9.841876774162444,932 5.984294891357422933 ]934 },935 "obb": {936 "center": [937 61.437330427932885,938 -166.4330257628863,939 179.62402725219727940 ],941 "extent": [942 12.325876402342068,943 9.841876774162444,944 5.984294891357422945 ],946 "rotation": [947 0,948 -110.00013732910158,949 0950 ]951 },952 "location": [953 60.486053466796875,954 -166.10409545898438,955 173.6102752685547956 ],957 "rotation": [958 0,959 -110.00013732910158,960 0961 ],962 "scale": [963 1,964 1,965 1966 ]967 },968 "color": [969 127,970 63,971 63972 ]973 }974 ],975 "mug": [976 {977 "object_id": "SM_Mug_119",978 "bbox_2d": [979 547,980 624,981 549,982 634983 ],984 "bbox_3d": {985 "aabb": {986 "center": [987 65.39081573486328,988 -253.34603881835938,989 171.92013549804688990 ],991 "extent": [992 3.3755855560302734,993 4.396728515625,994 3.795562744140625995 ]996 },997 "obb": {998 "center": [999 65.39081573486328,1000 -253.34603881835938,1001 171.920135498046881002 ],1003 "extent": [1004 3.3755855560302734,1005 4.396728515625,1006 3.7955627441406251007 ],1008 "rotation": [1009 0,1010 0,1011 01012 ]1013 },1014 "location": [1015 65.39081573486328,1016 -252.32492065429688,1017 168.124572753906251018 ],1019 "rotation": [1020 0,1021 0,1022 01023 ],1024 "scale": [1025 1,1026 1,1027 11028 ]1029 },1030 "color": [1031 63,1032 0,1033 01034 ]1035 }1036 ],1037 "tableware": [1038 {1039 "object_id": "SM_MarkerMug_122",1040 "bbox_2d": [1041 555,1042 610,1043 560,1044 6171045 ],1046 "bbox_3d": {1047 "aabb": {1048 "center": [1049 68.28654193878174,1050 -238.27978515625,1051 175.419746398925781052 ],1053 "extent": [1054 4.380762100219727,1055 5.30859375,1056 7.2951736450195311057 ]1058 },1059 "obb": {1060 "center": [1061 68.28654193878174,1062 -238.27978515625,1063 175.419746398925781064 ],1065 "extent": [1066 4.380762100219727,1067 5.30859375,1068 7.2951736450195311069 ],1070 "rotation": [1071 0,1072 0,1073 01074 ]1075 },1076 "location": [1077 68.82274627685547,1078 -240.205322265625,1079 168.124572753906251080 ],1081 "rotation": [1082 0,1083 0,1084 01085 ],1086 "scale": [1087 1,1088 1,1089 11090 ]1091 },1092 "color": [1093 63,1094 0,1095 2551096 ]1097 }1098 ],1099 "chassis": [1100 {1101 "object_id": "SM_Chassis_125",1102 "bbox_2d": [1103 502,1104 634,1105 547,1106 6431107 ],1108 "bbox_3d": {1109 "aabb": {1110 "center": [1111 51.43301841964879,1112 -207.5330078601583,1113 174.31871414184571114 ],1115 "extent": [1116 18.3861534901983,1117 19.869006395314557,1118 0.70845413208007811119 ]1120 },1121 "obb": {1122 "center": [1123 51.43301841964879,1124 -207.5330078601583,1125 174.31871414184571126 ],1127 "extent": [1128 18.3861534901983,1129 19.869006395314557,1130 0.70845413208007811131 ],1132 "rotation": [1133 0,1134 -119.99999999999997,1135 01136 ]1137 },1138 "location": [1139 68.90663146972656,1140 -199.1138916015625,1141 173.610260009765621142 ],1143 "rotation": [1144 0,1145 -119.99999999999997,1146 01147 ],1148 "scale": [1149 1,1150 1,1151 11152 ]1153 },1154 "color": [1155 63,1156 0,1157 1271158 ]1159 },1160 {1161 "object_id": "SM_Chassis2",1162 "bbox_2d": [1163 424,1164 676,1165 549,1166 6951167 ],1168 "bbox_3d": {1169 "aabb": {1170 "center": [1171 24.49961826119435,1172 -77.28905089753601,1173 174.939472198486331174 ],1175 "extent": [1176 19.157636636899547,1177 16.736308918784175,1178 0.70845413208007811179 ]1180 },1181 "obb": {1182 "center": [1183 24.49961826119435,1184 -77.28905089753601,1185 174.939472198486331186 ],1187 "extent": [1188 19.157636636899547,1189 16.736308918784175,1190 0.70845413208007811191 ],1192 "rotation": [1193 0,1194 -19.999786376953125,1195 01196 ]1197 },1198 "location": [1199 13.174087524414062,1200 -61.54290771484375,