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": "l042_r002",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/ManagerOffice/l042_r002/lit.png",5 "camera": {6 "location": [7 -80,8 250,9 21210 ],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 -80,38 250,39 212,40 141 ]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 "foreground": {54 "cabinet": [55 {56 "object_id": "SM_KomodA3",57 "bbox_2d": [58 917,59 981,60 1352,61 107962 ],63 "bbox_3d": {64 "aabb": {65 "center": [66 -117.69346782899093,67 312.04200175654626,68 155.1615079581515669 ],70 "extent": [71 33.25703754064189,72 7.441421415979278,73 12.88603035916548874 ]75 },76 "obb": {77 "center": [78 -117.69346782899093,79 312.04200175654626,80 155.1615079581515681 ],82 "extent": [83 33.25703754064189,84 7.441421415979278,85 12.88603035916548886 ],87 "rotation": [88 0,89 179.9999237060547,90 091 ]92 },93 "location": [94 -117.76557159423828,95 319.57708740234375,96 142.21020507812597 ],98 "rotation": [99 0,100 179.9999237060547,101 0102 ],103 "scale": [104 1.399999976158142,105 1.399999976158142,106 1.399999976158142107 ]108 },109 "color": [110 191,111 95,112 255113 ]114 },115 {116 "object_id": "SM_KomodC_73",117 "bbox_2d": [118 1696,119 1065,120 1731,121 1079122 ],123 "bbox_3d": {124 "aabb": {125 "center": [126 -124.10193794684471,127 298.8887793179526,128 124.05502212140846129 ],130 "extent": [131 104.79397541784618,132 20.51142805681326,133 18.019146421651385134 ]135 },136 "obb": {137 "center": [138 -124.10193794684471,139 298.8887793179526,140 124.05502212140846141 ],142 "extent": [143 104.79397541784618,144 20.51142805681326,145 18.019146421651385146 ],147 "rotation": [148 0,149 179.9999237060547,150 0151 ]152 },153 "location": [154 -124.0071792602539,155 319.5770263671875,156 105.9097900390625157 ],158 "rotation": [159 0,160 179.9999237060547,161 0162 ],163 "scale": [164 1.399999976158142,165 1.100000023841858,166 1.399999976158142167 ]168 },169 "color": [170 191,171 95,172 127173 ]174 },175 {176 "object_id": "SM_KomodB4",177 "bbox_2d": [178 855,179 5,180 1238,181 439182 ],183 "bbox_3d": {184 "aabb": {185 "center": [186 -123.92637177584169,187 312.0621660409311,188 234.18070446105088189 ],190 "extent": [191 13.34345889924328,192 7.441401519151839,193 12.886149886766134194 ]195 },196 "obb": {197 "center": [198 -123.92637177584169,199 312.0621660409311,200 234.18070446105088201 ],202 "extent": [203 13.34345889924328,204 7.441401519151839,205 12.886149886766134206 ],207 "rotation": [208 0.00048494338989257796,209 179.9999542236328,210 -6.103515624999998e-05211 ]212 },213 "location": [214 -123.92647552490234,215 319.5759582519531,216 221.2135467529297217 ],218 "rotation": [219 0.00048494338989257796,220 179.9999542236328,221 -6.103515624999998e-05222 ],223 "scale": [224 1.399999976158142,225 1.399999976158142,226 1.399999976158142227 ]228 },229 "color": [230 191,231 95,232 191233 ]234 },235 {236 "object_id": "SM_KomodA5",237 "bbox_2d": [238 1128,239 99,240 1661,241 465242 ],243 "bbox_3d": {244 "aabb": {245 "center": [246 -171.0946897744853,247 312.0408421269254,248 234.25426573261743249 ],250 "extent": [251 33.257105774936946,252 7.441403702276773,253 12.88621669263648254 ]255 },256 "obb": {257 "center": [258 -171.0946897744853,259 312.0408421269254,260 234.25426573261743261 ],262 "extent": [263 33.257105774936946,264 7.441403702276773,265 12.88621669263648266 ],267 "rotation": [268 0.0003210188588127494,269 179.9999542236328,270 0271 ]272 },273 "location": [274 -171.1668701171875,275 319.575927734375,276 221.30296325683594277 ],278 "rotation": [279 0.0003210188588127494,280 179.9999542236328,281 0282 ],283 "scale": [284 1.399999976158142,285 1.399999976158142,286 1.399999976158142287 ]288 },289 "color": [290 191,291 95,292 31293 ]294 }295 ],296 "photo frame": [297 {298 "object_id": "SM_PicFram4",299 "bbox_2d": [300 0,301 0,302 370,303 1002304 ],305 "bbox_3d": {306 "aabb": {307 "center": [308 -12.852423359747856,309 318.15411188239597,310 232.72896818021263311 ],312 "extent": [313 65.30290819962941,314 1.1435344578190438,315 44.44487420850079316 ]317 },318 "obb": {319 "center": [320 -12.85242335974786,321 318.15411188239597,322 232.72896818021263323 ],324 "extent": [325 65.30290819962941,326 1.1435344578190438,327 44.44487420850079328 ],329 "rotation": [330 0.0005873962072655558,331 179.9999542236328,332 -0.00015258789062499997333 ]334 },335 "location": [336 -12.852890014648438,337 319.4111633300781,338 188.2470703125339 ],340 "rotation": [341 0.0005873962072655558,342 179.9999542236328,343 -0.00015258789062499997344 ],345 "scale": [346 1.5244852304458618,347 1.5244852304458618,348 1.5244852304458618349 ]350 },351 "color": [352 191,353 95,354 63355 ]356 },357 {358 "object_id": "SM_PicFram5_97",359 "bbox_2d": [360 1442,361 654,362 1697,363 1079364 ],365 "bbox_3d": {366 "aabb": {367 "center": [368 -204.10205487919947,369 314.07568062619777,370 169.34286783467468371 ],372 "extent": [373 18.736677705365878,374 5.255410112622201,375 27.19552908296069376 ]377 },378 "obb": {379 "center": [380 -204.10205487919947,381 314.07568062619777,382 169.34286783467468383 ],384 "extent": [385 18.736677705365878,386 5.255410112622201,387 27.19552908296069388 ],389 "rotation": [390 79.99990081787126,391 89.99997711181658,392 -89.99963378906264393 ]394 },395 "location": [396 -222.8546142578125,397 314.5977478027344,398 169.2508087158203399 ],400 "rotation": [401 79.99990081787126,402 89.99997711181658,403 -89.99963378906264404 ],405 "scale": [406 -0.6426889896392822,407 0.6426885724067688,408 0.6426885724067688409 ]410 },411 "color": [412 31,413 95,414 31415 ]416 }417 ],418 "decorative grass": [419 {420 "object_id": "SM_Decorative102_84",421 "bbox_2d": [422 587,423 1063,424 886,425 1079426 ],427 "bbox_3d": {428 "aabb": {429 "center": [430 -98.38091278074343,431 310.77997970578616,432 173.71205520629883433 ],434 "extent": [435 10.568944488227743,436 3.303895672248075,437 5.714382171630859438 ]439 },440 "obb": {441 "center": [442 -98.38091278074343,443 310.77997970578616,444 173.71205520629883445 ],446 "extent": [447 10.568944488227743,448 3.303895672248075,449 5.714382171630859450 ],451 "rotation": [452 0,453 -90.00009155273439,454 0455 ]456 },457 "location": [458 -98.38092803955078,459 310.77996826171875,460 167.9739990234375461 ],462 "rotation": [463 0,464 -90.00009155273439,465 0466 ],467 "scale": [468 1,469 1,470 1471 ]472 },473 "color": [474 31,475 95,476 0477 ]478 },479 {480 "object_id": "SM_Decorative103_87",481 "bbox_2d": [482 961,483 606,484 1234,485 1079486 ],487 "bbox_3d": {488 "aabb": {489 "center": [490 -127.92554855346097,491 311.10367129505903,492 187.4742202758789493 ],494 "extent": [495 12.982081360609726,496 3.1086878797778468,497 19.446334838867188498 ]499 },500 "obb": {501 "center": [502 -127.92554855346097,503 311.10367129505903,504 187.4742202758789505 ],506 "extent": [507 12.982081360609726,508 3.1086878797778468,509 19.446334838867188510 ],511 "rotation": [512 0,513 -90.00012207031251,514 0515 ]516 },517 "location": [518 -127.59793853759766,519 311.1036682128906,520 168.0474090576172521 ],522 "rotation": [523 0,524 -90.00012207031251,525 0526 ],527 "scale": [528 1,529 1,530 1531 ]532 },533 "color": [534 31,535 95,536 255537 ]538 },539 {540 "object_id": "SM_Decorative130_199",541 "bbox_2d": [542 83,543 1021,544 162,545 1079546 ],547 "bbox_3d": {548 "aabb": {549 "center": [550 -68.44226837158203,551 309.31524658203125,552 178.26721096038818553 ],554 "extent": [555 7.182536602020264,556 7.162524223327637,557 10.262494087219238558 ]559 },560 "obb": {561 "center": [562 -68.44226837158203,563 309.31524658203125,564 178.26721096038818565 ],566 "extent": [567 7.182536602020264,568 7.162524223327637,569 10.262494087219238570 ],571 "rotation": [572 0,573 0,574 0575 ]576 },577 "location": [578 -68.44226837158203,579 309.31524658203125,580 167.97398376464844581 ],582 "rotation": [583 0,584 0,585 0586 ],587 "scale": [588 1,589 1,590 1591 ]592 },593 "color": [594 95,595 95,596 63597 ]598 },599 {600 "object_id": "SM_Decorative132_205",601 "bbox_2d": [602 1472,603 303,604 1580,605 436606 ],607 "bbox_3d": {608 "aabb": {609 "center": [610 -188.6259994506836,611 311.63172912597656,612 230.21942138671875613 ],614 "extent": [615 12.070976257324219,616 7.1371917724609375,617 7.383674621582031618 ]619 },620 "obb": {621 "center": [622 -188.6259994506836,623 311.63172912597656,624 230.21942138671875625 ],626 "extent": [627 12.070976257324219,628 7.1371917724609375,629 7.383674621582031630 ],631 "rotation": [632 0,633 0,634 0635 ]636 },637 "location": [638 -188.62600708007812,639 311.6317138671875,640 222.78553771972656641 ],642 "rotation": [643 0,644 0,645 0646 ],647 "scale": [648 1,649 1,650 1651 ]652 },653 "color": [654 95,655 95,656 31657 ]658 },659 {660 "object_id": "SM_Decorative133_211",661 "bbox_2d": [662 1347,663 251,664 1409,665 419666 ],667 "bbox_3d": {668 "aabb": {669 "center": [670 -159.44536900520325,671 308.7111222743988,672 230.7619547843933673 ],674 "extent": [675 2.7669143676757812,676 2.724884033203125,677 7.925251007080078678 ]679 },680 "obb": {681 "center": [682 -159.44536900520325,683 308.7111222743988,684 230.7619547843933685 ],686 "extent": [687 2.7669143676757812,688 2.724884033203125,689 7.925251007080078690 ],691 "rotation": [692 0,693 0,694 0695 ]696 },697 "location": [698 -159.44537353515625,699 308.71112060546875,700 222.78538513183594701 ],702 "rotation": [703 0,704 0,705 0706 ],707 "scale": [708 1,709 1,710 1711 ]712 },713 "color": [714 95,715 95,716 95717 ]718 },719 {720 "object_id": "SM_Decorative134",721 "bbox_2d": [722 1275,723 246,724 1337,725 412726 ],727 "bbox_3d": {728 "aabb": {729 "center": [730 -152.277827501297,731 311.0476396083832,732 230.7619547843933733 ],734 "extent": [735 2.7669143676757812,736 2.724884033203125,737 7.925251007080078738 ]739 },740 "obb": {741 "center": [742 -152.277827501297,743 311.0476396083832,744 230.7619547843933745 ],746 "extent": [747 2.7669143676757812,748 2.724884033203125,749 7.925251007080078750 ],751 "rotation": [752 0,753 0,754 0755 ]756 },757 "location": [758 -152.27783203125,759 311.0476379394531,760 222.78538513183594761 ],762 "rotation": [763 0,764 0,765 0766 ],767 "scale": [768 1,769 1,770 1771 ]772 },773 "color": [774 0,775 0,776 159777 ]778 }779 ],780 "books": [781 {782 "object_id": "SM_Book91",783 "bbox_2d": [784 1551,785 38,786 1564,787 201788 ],789 "bbox_3d": {790 "aabb": {791 "center": [792 -185.79127562871096,793 312.5460117300986,794 255.9214324951172795 ],796 "extent": [797 1.1922713871216217,798 6.598358747442546,799 8.913015404145881800 ]801 },802 "obb": {803 "center": [804 -185.79127562871096,805 312.5460117300986,806 255.9214324951172807 ],808 "extent": [809 1.1922713871216217,810 6.598358747442546,811 8.913015404145881812 ],813 "rotation": [814 -90,815 179.99986267089844,816 0817 ]818 },819 "location": [820 -184.574951171875,821 312.5460205078125,822 255.9214324951172823 ],824 "rotation": [825 -90,826 179.99986267089844,827 0828 ],829 "scale": [830 0.846233069896698,831 0.7663160562515259,832 0.846233069896698833 ]834 },835 "color": [836 0,837 31,838 159839 ]840 },841 {842 "object_id": "SM_Book92",843 "bbox_2d": [844 1565,845 45,846 1578,847 205848 ],849 "bbox_3d": {850 "aabb": {851 "center": [852 -188.46971190800784,853 312.5464694937705,854 255.9214324951172855 ],856 "extent": [857 1.1922713871216217,858 6.598358747442489,859 8.913015404145881860 ]861 },862 "obb": {863 "center": [864 -188.46971190800784,865 312.5464694937705,866 255.9214324951172867 ],868 "extent": [869 1.1922713871216217,870 6.598358747442489,871 8.913015404145881872 ],873 "rotation": [874 -90,875 179.99986267089844,876 0877 ]878 },879 "location": [880 -187.25338745117188,881 312.5464782714844,882 255.9214324951172883 ],884 "rotation": [885 -90,886 179.99986267089844,887 0888 ],889 "scale": [890 0.846233069896698,891 0.7663160562515259,892 0.846233069896698893 ]894 },895 "color": [896 0,897 95,898 159899 ]900 },901 {902 "object_id": "SM_Book93",903 "bbox_2d": [904 1579,905 52,906 1592,907 209908 ],909 "bbox_3d": {910 "aabb": {911 "center": [912 -191.20193541875233,913 312.5473243098848,914 255.9214324951172915 ],916 "extent": [917 1.192273144369267,918 6.598359064954934,919 8.913015404145881920 ]921 },922 "obb": {923 "center": [924 -191.20193541875233,925 312.5473243098848,926 255.9214324951172927 ],928 "extent": [929 1.192273144369267,930 6.598359064954934,931 8.913015404145881932 ],933 "rotation": [934 -90,935 179.99984741210938,936 0937 ]938 },939 "location": [940 -189.98561096191406,941 312.5473327636719,942 255.9214324951172943 ],944 "rotation": [945 -90,946 179.99984741210938,947 0948 ],949 "scale": [950 0.846233069896698,951 0.7663160562515259,952 0.846233069896698953 ]954 },955 "color": [956 255,957 0,958 159959 ]960 },961 {962 "object_id": "SM_Book94",963 "bbox_2d": [964 1592,965 58,966 1604,967 213968 ],969 "bbox_3d": {970 "aabb": {971 "center": [972 -193.81929076543113,973 312.5475683250451,974 255.9214324951172975 ],976 "extent": [977 1.1922724637449278,978 6.598358941974766,979 8.913015404145881980 ]981 },982 "obb": {983 "center": [984 -193.81929076543113,985 312.5475683250451,986 255.9214324951172987 ],988 "extent": [989 1.1922724637449278,990 6.598358941974766,991 8.913015404145881992 ],993 "rotation": [994 -90,995 179.999853322206,996 0997 ]998 },999 "location": [1000 -192.60296630859375,1001 312.5475769042969,1002 255.92143249511721003 ],1004 "rotation": [1005 -90,1006 179.999853322206,1007 01008 ],1009 "scale": [1010 0.846233069896698,1011 0.7663160562515259,1012 0.8462330698966981013 ]1014 },1015 "color": [1016 255,1017 255,1018 1591019 ]1020 },1021 {1022 "object_id": "SM_Book96",1023 "bbox_2d": [1024 1350,1025 11,1026 1492,1027 1671028 ],1029 "bbox_3d": {1030 "aabb": {1031 "center": [1032 -169.82111659255636,1033 312.54567603621877,1034 255.50542259492761035 ],1036 "extent": [1037 4.168816402872665,1038 6.59835874832055,1039 8.7832715271213711040 ]1041 },1042 "obb": {1043 "center": [1044 -169.82111659255636,1045 312.54567603621877,1046 255.50542259492761047 ],1048 "extent": [1049 4.168816402872665,1050 6.59835874832055,1051 8.7832715271213711052 ],1053 "rotation": [1054 -69.9998779296875,1055 2.6091493410282375e-08,1056 179.999862670898441057 ]1058 },1059 "location": [1060 -168.6781463623047,1061 312.5456848144531,1062 255.92143249511721063 ],1064 "rotation": [1065 -69.9998779296875,1066 2.6091493410282375e-08,1067 179.999862670898441068 ],1069 "scale": [1070 0.846233069896698,1071 0.7663160562515259,1072 0.8462330698966981073 ]1074 },1075 "color": [1076 255,1077 127,1078 1591079 ]1080 },1081 {1082 "object_id": "SM_Book97",1083 "bbox_2d": [1084 1459,1085 11,1086 1506,1087 1821088 ],1089 "bbox_3d": {1090 "aabb": {1091 "center": [1092 -175.14767516484608,1093 312.5461341243379,1094 255.92143249511721095 ],1096 "extent": [1097 1.192273144369267,1098 6.598359064954934,1099 8.9130154041458811100 ]1101 },1102 "obb": {1103 "center": [1104 -175.14767516484608,1105 312.5461341243379,1106 255.92143249511721107 ],1108 "extent": [1109 1.192273144369267,1110 6.598359064954934,1111 8.9130154041458811112 ],1113 "rotation": [1114 -90,1115 179.99984741210938,1116 01117 ]1118 },1119 "location": [1120 -173.9313507080078,1121 312.546142578125,1122 255.92143249511721123 ],1124 "rotation": [1125 -90,1126 179.99984741210938,1127 01128 ],1129 "scale": [1130 0.846233069896698,1131 0.7663160562515259,1132 0.8462330698966981133 ]1134 },1135 "color": [1136 255,1137 63,1138 1591139 ]1140 },1141 {1142 "object_id": "SM_Book98",1143 "bbox_2d": [1144 1507,1145 18,1146 1522,1147 1871148 ],1149 "bbox_3d": {1150 "aabb": {1151 "center": [1152 -177.87986815800926,1153 312.5467138328576,1154 255.92143249511721155 ],1156 "extent": [1157 1.1922724637449278,1158 6.598358941974766,1159 8.9130154041458811160 ]1161 },1162 "obb": {1163 "center": [1164 -177.87986815800926,1165 312.5467138328576,1166 255.92143249511721167 ],1168 "extent": [1169 1.1922724637449278,1170 6.598358941974766,1171 8.9130154041458811172 ],1173 "rotation": [1174 -90,1175 179.999853322206,1176 01177 ]1178 },1179 "location": [1180 -176.66354370117188,1181 312.5467224121094,1182 255.92143249511721183 ],1184 "rotation": [1185 -90,1186 179.999853322206,1187 01188 ],1189 "scale": [1190 0.846233069896698,1191 0.7663160562515259,1192 0.8462330698966981193 ]1194 },1195 "color": [1196 255,1197 191,1198 1591199 ]1200 },