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": "l070_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/ManagerOffice/l070_r000/lit.png",5 "camera": {6 "location": [7 -33,8 -226,9 20110 ],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 -33,38 -226,39 201,40 141 ]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 "closet": [55 {56 "object_id": "SM_Closet_29",57 "bbox_2d": [58 0,59 0,60 580,61 103762 ],63 "bbox_3d": {64 "aabb": {65 "center": [66 -5.889900207519531,67 -347.92909240722656,68 225.4903717041015669 ],70 "extent": [71 236.4459686279297,72 20.030471801757812,73 133.3718566894531274 ]75 },76 "obb": {77 "center": [78 -5.889900207519531,79 -347.92909240722656,80 225.4903717041015681 ],82 "extent": [83 236.4459686279297,84 20.030471801757812,85 133.3718566894531286 ],87 "rotation": [88 0,89 0,90 091 ]92 },93 "location": [94 -6.054466247558594,95 -367.9595642089844,96 92.1185150146484497 ],98 "rotation": [99 0,100 0,101 0102 ],103 "scale": [104 1,105 1,106 1107 ]108 },109 "color": [110 255,111 127,112 0113 ]114 }115 ],116 "armchair": [117 {118 "object_id": "SM_ArmchairManager_32",119 "bbox_2d": [120 0,121 233,122 628,123 1079124 ],125 "bbox_3d": {126 "aabb": {127 "center": [128 -2.0084305367577002,129 -266.9637446004958,130 156.8519277990954131 ],132 "extent": [133 54.566865723696466,134 55.92745020578518,135 63.54718651223584136 ]137 },138 "obb": {139 "center": [140 -2.0084305367577002,141 -266.9637446004958,142 156.8519277990954143 ],144 "extent": [145 54.566865723696466,146 55.92745020578518,147 63.54718651223584148 ],149 "rotation": [150 0,151 30.00005722045899,152 0153 ]154 },155 "location": [156 -2.4702606201171875,157 -266.4104919433594,158 93.3218994140625159 ],160 "rotation": [161 0,162 30.00005722045899,163 0164 ],165 "scale": [166 1.100000023841858,167 1.100000023841858,168 1.100000023841858169 ]170 },171 "color": [172 255,173 127,174 255175 ]176 },177 {178 "object_id": "SM_ArmchairSingle_38",179 "bbox_2d": [180 1895,181 484,182 1919,183 622184 ],185 "bbox_3d": {186 "aabb": {187 "center": [188 51.21592908139999,189 -90.84782646696817,190 151.32426071166992191 ],192 "extent": [193 33.26026436641297,194 30.065236720987457,195 57.94956588745117196 ]197 },198 "obb": {199 "center": [200 51.21592908139999,201 -90.84782646696817,202 151.32426071166992203 ],204 "extent": [205 33.26026436641297,206 30.065236720987457,207 57.94956588745117208 ],209 "rotation": [210 0,211 90.00011444091797,212 0213 ]214 },215 "location": [216 50.492774963378906,217 -91.7777099609375,218 93.3218994140625219 ],220 "rotation": [221 0,222 90.00011444091797,223 0224 ],225 "scale": [226 1,227 1,228 1229 ]230 },231 "color": [232 255,233 127,234 127235 ]236 }237 ],238 "manager desk": [239 {240 "object_id": "SM_ManagerDesk_35",241 "bbox_2d": [242 380,243 750,244 1734,245 1079246 ],247 "bbox_3d": {248 "aabb": {249 "center": [250 0.9649276733398438,251 -103.14732360839844,252 133.83098220825195253 ],254 "extent": [255 101.42112731933594,256 175.46688842773438,257 40.50908660888672258 ]259 },260 "obb": {261 "center": [262 0.9649276733398438,263 -103.14732360839844,264 133.83098220825195265 ],266 "extent": [267 101.42112731933594,268 175.46688842773438,269 40.50908660888672270 ],271 "rotation": [272 0,273 0,274 0275 ]276 },277 "location": [278 3.7793960571289062,279 -148.75787353515625,280 93.32191467285156281 ],282 "rotation": [283 0,284 0,285 0286 ],287 "scale": [288 1,289 1,290 1291 ]292 },293 "color": [294 0,295 127,296 127297 ]298 }299 ],300 "calendar": [301 {302 "object_id": "SM_CalendarDesk_116",303 "bbox_2d": [304 1443,305 685,306 1704,307 852308 ],309 "bbox_3d": {310 "aabb": {311 "center": [312 61.437330427932885,313 -166.4330257628863,314 179.62402725219727315 ],316 "extent": [317 12.325876402342068,318 9.841876774162444,319 5.984294891357422320 ]321 },322 "obb": {323 "center": [324 61.437330427932885,325 -166.4330257628863,326 179.62402725219727327 ],328 "extent": [329 12.325876402342068,330 9.841876774162444,331 5.984294891357422332 ],333 "rotation": [334 0,335 -110.00013732910158,336 0337 ]338 },339 "location": [340 60.486053466796875,341 -166.10409545898438,342 173.6102752685547343 ],344 "rotation": [345 0,346 -110.00013732910158,347 0348 ],349 "scale": [350 1,351 1,352 1353 ]354 },355 "color": [356 127,357 63,358 63359 ]360 }361 ],362 "mug": [363 {364 "object_id": "SM_Mug_119",365 "bbox_2d": [366 650,367 779,368 736,369 871370 ],371 "bbox_3d": {372 "aabb": {373 "center": [374 65.39081573486328,375 -253.34603881835938,376 171.92013549804688377 ],378 "extent": [379 3.3755855560302734,380 4.396728515625,381 3.795562744140625382 ]383 },384 "obb": {385 "center": [386 65.39081573486328,387 -253.34603881835938,388 171.92013549804688389 ],390 "extent": [391 3.3755855560302734,392 4.396728515625,393 3.795562744140625394 ],395 "rotation": [396 0,397 0,398 0399 ]400 },401 "location": [402 65.39081573486328,403 -252.32492065429688,404 168.12457275390625405 ],406 "rotation": [407 0,408 0,409 0410 ],411 "scale": [412 1,413 1,414 1415 ]416 },417 "color": [418 63,419 0,420 0421 ]422 }423 ],424 "tableware": [425 {426 "object_id": "SM_MarkerMug_122",427 "bbox_2d": [428 794,429 721,430 892,431 859432 ],433 "bbox_3d": {434 "aabb": {435 "center": [436 68.28654193878174,437 -238.27978515625,438 175.41974639892578439 ],440 "extent": [441 4.380762100219727,442 5.30859375,443 7.295173645019531444 ]445 },446 "obb": {447 "center": [448 68.28654193878174,449 -238.27978515625,450 175.41974639892578451 ],452 "extent": [453 4.380762100219727,454 5.30859375,455 7.295173645019531456 ],457 "rotation": [458 0,459 0,460 0461 ]462 },463 "location": [464 68.82274627685547,465 -240.205322265625,466 168.12457275390625467 ],468 "rotation": [469 0,470 0,471 0472 ],473 "scale": [474 1,475 1,476 1477 ]478 },479 "color": [480 63,481 0,482 255483 ]484 }485 ],486 "chassis": [487 {488 "object_id": "SM_Chassis_125",489 "bbox_2d": [490 966,491 796,492 1388,493 925494 ],495 "bbox_3d": {496 "aabb": {497 "center": [498 51.43301841964879,499 -207.5330078601583,500 174.3187141418457501 ],502 "extent": [503 18.3861534901983,504 19.869006395314557,505 0.7084541320800781506 ]507 },508 "obb": {509 "center": [510 51.43301841964879,511 -207.5330078601583,512 174.3187141418457513 ],514 "extent": [515 18.3861534901983,516 19.869006395314557,517 0.7084541320800781518 ],519 "rotation": [520 0,521 -119.99999999999997,522 0523 ]524 },525 "location": [526 68.90663146972656,527 -199.1138916015625,528 173.61026000976562529 ],530 "rotation": [531 0,532 -119.99999999999997,533 0534 ],535 "scale": [536 1,537 1,538 1539 ]540 },541 "color": [542 63,543 0,544 127545 ]546 }547 ],548 "books": [549 {550 "object_id": "SM_Book41_53",551 "bbox_2d": [552 181,553 310,554 203,555 448556 ],557 "bbox_3d": {558 "aabb": {559 "center": [560 100.10064697260624,561 -339.94922986205734,562 222.0370635986328563 ],564 "extent": [565 1.4089222411955973,566 8.610492956241046,567 10.532577514648438568 ]569 },570 "obb": {571 "center": [572 100.10064697260624,573 -339.94922986205734,574 222.0370635986328575 ],576 "extent": [577 1.4089222411955973,578 8.610492956241046,579 10.532577514648438580 ],581 "rotation": [582 -90,583 0.00016529858112329104,584 0585 ]586 },587 "location": [588 98.6633071899414,589 -339.9492492675781,590 222.0370635986328591 ],592 "rotation": [593 -90,594 0.00016529858112329104,595 0596 ],597 "scale": [598 1,599 1,600 1601 ]602 },603 "color": [604 127,605 0,606 95607 ]608 },609 {610 "object_id": "SM_Book48",611 "bbox_2d": [612 186,613 36,614 203,615 186616 ],617 "bbox_3d": {618 "aabb": {619 "center": [620 100.10064697260418,621 -339.94922970954076,622 259.58905029296875623 ],624 "extent": [625 1.4089231548569217,626 8.610493105736907,627 10.532577514648438628 ]629 },630 "obb": {631 "center": [632 100.10064697260418,633 -339.94922970954076,634 259.58905029296875635 ],636 "extent": [637 1.4089231548569217,638 8.610493105736907,639 10.532577514648438640 ],641 "rotation": [642 -90,643 0.0001713782548904404,644 0645 ]646 },647 "location": [648 98.6633071899414,649 -339.9492492675781,650 259.58905029296875651 ],652 "rotation": [653 -90,654 0.0001713782548904404,655 0656 ],657 "scale": [658 1,659 1,660 1661 ]662 },663 "color": [664 63,665 255,666 95667 ]668 },669 {670 "object_id": "SM_Book49",671 "bbox_2d": [672 167,673 24,674 185,675 178676 ],677 "bbox_3d": {678 "aabb": {679 "center": [680 97.05229949946172,681 -339.94922986283416,682 259.58905029296875683 ],684 "extent": [685 1.4089222365419118,686 8.610492955479629,687 10.532577514648438688 ]689 },690 "obb": {691 "center": [692 97.05229949946172,693 -339.94922986283416,694 259.58905029296875695 ],696 "extent": [697 1.4089222365419118,698 8.610492955479629,699 10.532577514648438700 ],701 "rotation": [702 -90,703 0.00016526761464774557,704 0705 ]706 },707 "location": [708 95.61495971679688,709 -339.9492492675781,710 259.58905029296875711 ],712 "rotation": [713 -90,714 0.00016526761464774557,715 0716 ],717 "scale": [718 1,719 1,720 1721 ]722 },723 "color": [724 63,725 127,726 95727 ]728 },729 {730 "object_id": "SM_Book50",731 "bbox_2d": [732 104,733 13,734 166,735 169736 ],737 "bbox_3d": {738 "aabb": {739 "center": [740 93.89089202875859,741 -339.94922986146156,742 259.58905029296875743 ],744 "extent": [745 1.4089222447645824,746 8.610492956824999,747 10.532577514648438748 ]749 },750 "obb": {751 "center": [752 93.89089202875859,753 -339.94922986146156,754 259.58905029296875755 ],756 "extent": [757 1.4089222447645824,758 8.610492956824999,759 10.532577514648438760 ],761 "rotation": [762 -90,763 0.00016532232984900456,764 0765 ]766 },767 "location": [768 92.45355224609375,769 -339.9492492675781,770 259.58905029296875771 ],772 "rotation": [773 -90,774 0.00016532232984900456,775 0776 ],777 "scale": [778 1,779 1,780 1781 ]782 },783 "color": [784 63,785 63,786 95787 ]788 },789 {790 "object_id": "SM_Book51",791 "bbox_2d": [792 0,793 0,794 152,795 139796 ],797 "bbox_3d": {798 "aabb": {799 "center": [800 87.89206021668689,801 -339.9492283131588,802 259.94015778161616803 ],804 "extent": [805 5.142475517190476,806 8.610496508321546,807 10.973030349306555808 ]809 },810 "obb": {811 "center": [812 87.89206021668689,813 -339.9492283131588,814 259.94015778161616815 ],816 "extent": [817 5.142475517190476,818 8.610496508321546,819 10.973030349306555820 ],821 "rotation": [822 -69.99975585937497,823 -179.99996948242188,824 -179.9998016357422825 ]826 },827 "location": [828 86.5414047241211,829 -339.9492492675781,830 260.4317626953125831 ],832 "rotation": [833 -69.99975585937497,834 -179.99996948242188,835 -179.9998016357422836 ],837 "scale": [838 1.059993028640747,839 1,840 1841 ]842 },843 "color": [844 63,845 191,846 95847 ]848 },849 {850 "object_id": "SM_Book130",851 "bbox_2d": [852 1794,853 654,854 1796,855 658856 ],857 "bbox_3d": {858 "aabb": {859 "center": [860 219.47441671164674,861 2.317035674915584,862 158.8805389404297863 ],864 "extent": [865 8.610498260162274,866 1.4089546570761087,867 11.16445873914563868 ]869 },870 "obb": {871 "center": [872 219.47441671164674,873 2.317035674915584,874 158.8805389404297875 ],876 "extent": [877 8.610498260162274,878 1.4089546570761087,879 11.16445873914563880 ],881 "rotation": [882 -90,883 90.00038099999072,884 0885 ]886 },887 "location": [888 219.4744415283203,889 0.8796958923339844,890 158.8805389404297891 ],892 "rotation": [893 -90,894 90.00038099999072,895 0896 ],897 "scale": [898 1.059993028640747,899 1,900 1901 ]902 },903 "color": [904 159,905 0,906 127907 ]908 },909 {910 "object_id": "SM_Book131_81",911 "bbox_2d": [912 1782,913 659,914 1794,915 692916 ],917 "bbox_3d": {918 "aabb": {919 "center": [920 219.4743854167112,921 -0.9145412446537122,922 158.03782653808594923 ],924 "extent": [925 8.61049902210496,926 1.408959313887177,927 10.532577514648438928 ]929 },930 "obb": {931 "center": [932 219.4743854167112,933 -0.9145412446537122,934 158.03782653808594935 ],936 "extent": [937 8.61049902210496,938 1.408959313887177,939 10.532577514648438940 ],941 "rotation": [942 -90,943 90.00041198730469,944 0945 ]946 },947 "location": [948 219.4744110107422,949 -2.3518810272216797,950 158.03782653808594951 ],952 "rotation": [953 -90,954 90.00041198730469,955 0956 ],957 "scale": [958 1,959 1,960 1961 ]962 },963 "color": [964 159,965 0,966 63967 ]968 },969 {970 "object_id": "SM_Book132_87",971 "bbox_2d": [972 1278,973 696,974 1395,975 749976 ],977 "bbox_3d": {978 "aabb": {979 "center": [980 214.74545950450624,981 -129.20263768614387,982 153.34287643432617983 ],984 "extent": [985 15.600282458079903,986 15.866833222677798,987 5.659610748291016988 ]989 },990 "obb": {991 "center": [992 214.74545950450624,993 -129.20263768614387,994 153.34287643432617995 ],996 "extent": [997 15.600282458079903,998 15.866833222677798,999 5.6596107482910161000 ],1001 "rotation": [1002 0,1003 60.00009536743165,1004 01005 ]1006 },1007 "location": [1008 215.32666015625,1009 -129.53819274902344,1010 147.590545654296881011 ],1012 "rotation": [1013 0,1014 60.00009536743165,1015 01016 ],1017 "scale": [1018 1,1019 1,1020 11021 ]1022 },1023 "color": [1024 159,1025 0,1026 311027 ]1028 },1029 {1030 "object_id": "SM_Book133",1031 "bbox_2d": [1032 1165,1033 696,1034 1272,1035 7491036 ],1037 "bbox_3d": {1038 "aabb": {1039 "center": [1040 215.44319754257427,1041 -158.9757718720553,1042 153.14159011840821043 ],1044 "extent": [1045 13.638181271931671,1046 13.047474015868545,1047 5.6596107482910161048 ]1049 },1050 "obb": {1051 "center": [1052 215.44319754257427,1053 -158.9757718720553,1054 153.14159011840821055 ],1056 "extent": [1057 13.638181271931671,1058 13.047474015868545,1059 5.6596107482910161060 ],1061 "rotation": [1062 0,1063 -9.999999999999998,1064 01065 ]1066 },1067 "location": [1068 215.32666015625,1069 -159.63668823242188,1070 158.89392089843751071 ],1072 "rotation": [1073 0,1074 -9.999999999999998,1075 01076 ],1077 "scale": [1078 1,1079 1,1080 -11081 ]1082 },1083 "color": [1084 159,1085 0,1086 951087 ]1088 },1089 {1090 "object_id": "SM_Book135",1091 "bbox_2d": [1092 1596,1093 665,1094 1607,1095 7071096 ],1097 "bbox_3d": {1098 "aabb": {1099 "center": [1100 219.47429464133424,1101 -62.26177215589496,1102 158.037826538085941103 ],1104 "extent": [1105 8.610498260162274,1106 1.4089546570761087,1107 10.5325775146484381108 ]1109 },1110 "obb": {1111 "center": [1112 219.47429464133424,1113 -62.26177215589496,1114 158.037826538085941115 ],1116 "extent": [1117 8.610498260162274,1118 1.4089546570761087,1119 10.5325775146484381120 ],1121 "rotation": [1122 -90,1123 90.00038099999072,1124 01125 ]1126 },1127 "location": [1128 219.4743194580078,1129 -63.69911193847656,1130 158.037826538085941131 ],1132 "rotation": [1133 -90,1134 90.00038099999072,1135 01136 ],1137 "scale": [1138 1,1139 1,1140 11141 ]1142 },1143 "color": [1144 159,1145 255,1146 2551147 ]1148 },1149 {1150 "object_id": "SM_Book136",1151 "bbox_2d": [1152 1545,1153 654,1154 1595,1155 7061156 ],1157 "bbox_3d": {1158 "aabb": {1159 "center": [1160 219.4743099001233,1161 -65.37993621839496,1162 158.88053894042971163 ],1164 "extent": [1165 8.610498260162274,1166 1.4089546570761087,1167 11.164458739145631168 ]1169 },1170 "obb": {1171 "center": [1172 219.4743099001233,1173 -65.37993621839496,1174 158.88053894042971175 ],1176 "extent": [1177 8.610498260162274,1178 1.4089546570761087,1179 11.164458739145631180 ],1181 "rotation": [1182 -90,1183 90.00038099999072,1184 01185 ]1186 },1187 "location": [1188 219.47433471679688,1189 -66.81727600097656,1190 158.88053894042971191 ],1192 "rotation": [1193 -90,1194 90.00038099999072,1195 01196 ],1197 "scale": [1198 1.059993028640747,1199 1,1200 1