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": "l089_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/ManagerOffice/l089_r000/lit.png",5 "camera": {6 "location": [7 -177,8 319,9 24010 ],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 -177,38 319,39 240,40 141 ]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 0,58 181,59 183,60 24961 ],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 "door": [116 {117 "object_id": "SM_Door_polySurface57",118 "bbox_2d": [119 570,120 413,121 589,122 594123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 230.40711644136513,128 194.618632203342,129 193.68687438964844130 ],131 "extent": [132 5.455037415813791,133 40.9399423472035,134 100.37834930419922135 ]136 },137 "obb": {138 "center": [139 230.40711644136513,140 194.618632203342,141 193.68687438964844142 ],143 "extent": [144 5.455037415813791,145 40.9399423472035,146 100.37834930419922147 ],148 "rotation": [149 0,150 -179.99989318847656,151 0152 ]153 },154 "location": [155 229.37254333496094,156 154.16036987304688,157 88.9166030883789158 ],159 "rotation": [160 0,161 -179.99989318847656,162 0163 ],164 "scale": [165 0.800000011920929,166 0.8706653118133545,167 1168 ]169 },170 "color": [171 127,172 159,173 127174 ]175 },176 {177 "object_id": "SM_Door_polySurface50",178 "bbox_2d": [179 549,180 395,181 589,182 605183 ],184 "bbox_3d": {185 "aabb": {186 "center": [187 237.10054705583462,188 194.50258489944235,189 195.17345428466797190 ],191 "extent": [192 9.745574626675705,193 49.10113152907067,194 105.98666381835938195 ]196 },197 "obb": {198 "center": [199 237.10054705583462,200 194.50258489944235,201 195.17345428466797202 ],203 "extent": [204 9.745574626675705,205 49.10113152907067,206 105.98666381835938207 ],208 "rotation": [209 0,210 -179.99989318847656,211 0212 ]213 },214 "location": [215 236.64108276367188,216 154.88241577148438,217 88.28707122802734218 ],219 "rotation": [220 0,221 -179.99989318847656,222 0223 ],224 "scale": [225 1.5594600439071655,226 0.8500000238418579,227 1228 ]229 },230 "color": [231 127,232 159,233 63234 ]235 }236 ]237 },238 "foreground": {239 "tv": [240 {241 "object_id": "SM_TVset_131",242 "bbox_2d": [243 1071,244 0,245 1919,246 1079247 ],248 "bbox_3d": {249 "aabb": {250 "center": [251 -55.67537493583768,252 343.5040283203125,253 184.6187286376953254 ],255 "extent": [256 174.0474023976094,257 14.1383056640625,258 91.36982727050781259 ]260 },261 "obb": {262 "center": [263 -55.67537493583768,264 343.5040283203125,265 184.6187286376953266 ],267 "extent": [268 174.0474023976094,269 14.1383056640625,270 91.36982727050781271 ],272 "rotation": [273 0,274 0,275 0276 ]277 },278 "location": [279 -55.717041015625,280 343.51348876953125,281 93.32192993164062282 ],283 "rotation": [284 0,285 0,286 0287 ],288 "scale": [289 0.9973075985908508,290 1,291 1292 ]293 },294 "color": [295 63,296 127,297 255298 ]299 }300 ],301 "cabinet": [302 {303 "object_id": "SM_KomodA5",304 "bbox_2d": [305 0,306 0,307 1052,308 1079309 ],310 "bbox_3d": {311 "aabb": {312 "center": [313 -171.0946897744853,314 312.0408421269254,315 234.25426573261743316 ],317 "extent": [318 33.257105774936946,319 7.441403702276773,320 12.88621669263648321 ]322 },323 "obb": {324 "center": [325 -171.0946897744853,326 312.0408421269254,327 234.25426573261743328 ],329 "extent": [330 33.257105774936946,331 7.441403702276773,332 12.88621669263648333 ],334 "rotation": [335 0.0003210188588127494,336 179.9999542236328,337 0338 ]339 },340 "location": [341 -171.1668701171875,342 319.575927734375,343 221.30296325683594344 ],345 "rotation": [346 0.0003210188588127494,347 179.9999542236328,348 0349 ],350 "scale": [351 1.399999976158142,352 1.399999976158142,353 1.399999976158142354 ]355 },356 "color": [357 191,358 95,359 31360 ]361 },362 {363 "object_id": "SM_KomodCClosed2",364 "bbox_2d": [365 0,366 758,367 206,368 876369 ],370 "bbox_3d": {371 "aabb": {372 "center": [373 216.32476811318836,374 2.686028097707336,375 127.00710071345111376 ],377 "extent": [378 13.030119153919912,379 84.78256622876646,380 20.583462045957276381 ]382 },383 "obb": {384 "center": [385 216.32476811318836,386 2.686028097707336,387 127.00710071345111388 ],389 "extent": [390 13.030119153919912,391 84.78256622876646,392 20.583462045957276393 ],394 "rotation": [395 0,396 90.00011444091797,397 0398 ]399 },400 "location": [401 229.52699279785156,402 2.6094131469726562,403 106.27960968017578404 ],405 "rotation": [406 0,407 90.00011444091797,408 0409 ],410 "scale": [411 1.1326565742492676,412 1.0708839893341064,413 1.5992348194122314414 ]415 },416 "color": [417 31,418 159,419 255420 ]421 }422 ],423 "decorative grass": [424 {425 "object_id": "SM_Decorative133_211",426 "bbox_2d": [427 207,428 606,429 559,430 1079431 ],432 "bbox_3d": {433 "aabb": {434 "center": [435 -159.44536900520325,436 308.7111222743988,437 230.7619547843933438 ],439 "extent": [440 2.7669143676757812,441 2.724884033203125,442 7.925251007080078443 ]444 },445 "obb": {446 "center": [447 -159.44536900520325,448 308.7111222743988,449 230.7619547843933450 ],451 "extent": [452 2.7669143676757812,453 2.724884033203125,454 7.925251007080078455 ],456 "rotation": [457 0,458 0,459 0460 ]461 },462 "location": [463 -159.44537353515625,464 308.71112060546875,465 222.78538513183594466 ],467 "rotation": [468 0,469 0,470 0471 ],472 "scale": [473 1,474 1,475 1476 ]477 },478 "color": [479 95,480 95,481 95482 ]483 },484 {485 "object_id": "SM_Decorative134",486 "bbox_2d": [487 539,488 588,489 760,490 1079491 ],492 "bbox_3d": {493 "aabb": {494 "center": [495 -152.277827501297,496 311.0476396083832,497 230.7619547843933498 ],499 "extent": [500 2.7669143676757812,501 2.724884033203125,502 7.925251007080078503 ]504 },505 "obb": {506 "center": [507 -152.277827501297,508 311.0476396083832,509 230.7619547843933510 ],511 "extent": [512 2.7669143676757812,513 2.724884033203125,514 7.925251007080078515 ],516 "rotation": [517 0,518 0,519 0520 ]521 },522 "location": [523 -152.27783203125,524 311.0476379394531,525 222.78538513183594526 ],527 "rotation": [528 0,529 0,530 0531 ],532 "scale": [533 1,534 1,535 1536 ]537 },538 "color": [539 0,540 0,541 159542 ]543 },544 {545 "object_id": "SM_Decorative156_84",546 "bbox_2d": [547 71,548 681,549 126,550 767551 ],552 "bbox_3d": {553 "aabb": {554 "center": [555 215.2140879613295,556 -32.59786782804271,557 164.69444428428687558 ],559 "extent": [560 11.79616688467351,561 11.774763046964166,562 17.065425383079855563 ]564 },565 "obb": {566 "center": [567 215.2140879613295,568 -32.59786782804271,569 164.69444428428687570 ],571 "extent": [572 11.79616688467351,573 11.774763046964166,574 17.065425383079855575 ],576 "rotation": [577 0,578 60.00009536743165,579 0580 ]581 },582 "location": [583 215.2140655517578,584 -32.59794616699219,585 147.59056091308594586 ],587 "rotation": [588 0,589 60.00009536743165,590 0591 ],592 "scale": [593 1.2951279878616333,594 1.2951279878616333,595 1.6757863759994507596 ]597 },598 "color": [599 159,600 0,601 191602 ]603 }604 ],605 "award frame": [606 {607 "object_id": "SM_AwardFrame_30",608 "bbox_2d": [609 0,610 386,611 381,612 613613 ],614 "bbox_3d": {615 "aabb": {616 "center": [617 229.0532147884385,618 -15.01662607962811,619 256.9651794433594620 ],621 "extent": [622 0.7269985662826457,623 89.25543358045786,624 48.07257080078125625 ]626 },627 "obb": {628 "center": [629 229.0532147884385,630 -15.01662607962811,631 256.9651794433594632 ],633 "extent": [634 0.7269985662826457,635 89.25543358045786,636 48.07257080078125637 ],638 "rotation": [639 0,640 90.00011444091797,641 0642 ]643 },644 "location": [645 229.86875915527344,646 -15.016624450683594,647 256.9651794433594648 ],649 "rotation": [650 0,651 90.00011444091797,652 0653 ],654 "scale": [655 2,656 2,657 2658 ]659 },660 "color": [661 127,662 159,663 0664 ]665 }666 ],667 "books": [668 {669 "object_id": "SM_Book126",670 "bbox_2d": [671 206,672 716,673 206,674 768675 ],676 "bbox_3d": {677 "aabb": {678 "center": [679 219.47438619406861,680 15.203052520618709,681 158.03782653808594682 ],683 "extent": [684 8.610498260162274,685 1.4089546570761087,686 10.532577514648438687 ]688 },689 "obb": {690 "center": [691 219.47438619406861,692 15.203052520618709,693 158.03782653808594694 ],695 "extent": [696 8.610498260162274,697 1.4089546570761087,698 10.532577514648438699 ],700 "rotation": [701 -90,702 90.00038099999072,703 0704 ]705 },706 "location": [707 219.4744110107422,708 13.76571273803711,709 158.03782653808594710 ],711 "rotation": [712 -90,713 90.00038099999072,714 0715 ],716 "scale": [717 1,718 1,719 1720 ]721 },722 "color": [723 31,724 159,725 159726 ]727 },728 {729 "object_id": "SM_Book127",730 "bbox_2d": [731 198,732 711,733 206,734 767735 ],736 "bbox_3d": {737 "aabb": {738 "center": [739 219.47440145285768,740 12.084892272815974,741 158.8805389404297742 ],743 "extent": [744 8.610498260162274,745 1.4089546570761087,746 11.16445873914563747 ]748 },749 "obb": {750 "center": [751 219.47440145285768,752 12.084892272815974,753 158.8805389404297754 ],755 "extent": [756 8.610498260162274,757 1.4089546570761087,758 11.16445873914563759 ],760 "rotation": [761 -90,762 90.00038099999072,763 0764 ]765 },766 "location": [767 219.47442626953125,768 10.647552490234375,769 158.8805389404297770 ],771 "rotation": [772 -90,773 90.00038099999072,774 0775 ],776 "scale": [777 1.059993028640747,778 1,779 1780 ]781 },782 "color": [783 95,784 159,785 159786 ]787 },788 {789 "object_id": "SM_Book128",790 "bbox_2d": [791 190,792 715,793 197,794 768795 ],796 "bbox_3d": {797 "aabb": {798 "center": [799 219.47440145285768,800 8.781360626087459,801 158.03782653808594802 ],803 "extent": [804 8.610498260162274,805 1.4089546570761087,806 10.532577514648438807 ]808 },809 "obb": {810 "center": [811 219.47440145285768,812 8.781360626087459,813 158.03782653808594814 ],815 "extent": [816 8.610498260162274,817 1.4089546570761087,818 10.532577514648438819 ],820 "rotation": [821 -90,822 90.00038099999072,823 0824 ]825 },826 "location": [827 219.47442626953125,828 7.344020843505859,829 158.03782653808594830 ],831 "rotation": [832 -90,833 90.00038099999072,834 0835 ],836 "scale": [837 1,838 1,839 1840 ]841 },842 "color": [843 159,844 0,845 0846 ]847 },848 {849 "object_id": "SM_Book129",850 "bbox_2d": [851 182,852 712,853 199,854 768855 ],856 "bbox_3d": {857 "aabb": {858 "center": [859 219.47440145285768,860 5.362754821644099,861 158.03782653808594862 ],863 "extent": [864 8.610498260162274,865 1.4089546570761087,866 10.532577514648438867 ]868 },869 "obb": {870 "center": [871 219.47440145285768,872 5.362754821644099,873 158.03782653808594874 ],875 "extent": [876 8.610498260162274,877 1.4089546570761087,878 10.532577514648438879 ],880 "rotation": [881 -90,882 90.00038099999072,883 0884 ]885 },886 "location": [887 219.47442626953125,888 3.9254150390625,889 158.03782653808594890 ],891 "rotation": [892 -90,893 90.00038099999072,894 0895 ],896 "scale": [897 1,898 1,899 1900 ]901 },902 "color": [903 159,904 0,905 255906 ]907 },908 {909 "object_id": "SM_Book130",910 "bbox_2d": [911 174,912 706,913 206,914 767915 ],916 "bbox_3d": {917 "aabb": {918 "center": [919 219.47441671164674,920 2.317035674915584,921 158.8805389404297922 ],923 "extent": [924 8.610498260162274,925 1.4089546570761087,926 11.16445873914563927 ]928 },929 "obb": {930 "center": [931 219.47441671164674,932 2.317035674915584,933 158.8805389404297934 ],935 "extent": [936 8.610498260162274,937 1.4089546570761087,938 11.16445873914563939 ],940 "rotation": [941 -90,942 90.00038099999072,943 0944 ]945 },946 "location": [947 219.4744415283203,948 0.8796958923339844,949 158.8805389404297950 ],951 "rotation": [952 -90,953 90.00038099999072,954 0955 ],956 "scale": [957 1.059993028640747,958 1,959 1960 ]961 },962 "color": [963 159,964 0,965 127966 ]967 },968 {969 "object_id": "SM_Book131_81",970 "bbox_2d": [971 166,972 715,973 173,974 768975 ],976 "bbox_3d": {977 "aabb": {978 "center": [979 219.4743854167112,980 -0.9145412446537122,981 158.03782653808594982 ],983 "extent": [984 8.61049902210496,985 1.408959313887177,986 10.532577514648438987 ]988 },989 "obb": {990 "center": [991 219.4743854167112,992 -0.9145412446537122,993 158.03782653808594994 ],995 "extent": [996 8.61049902210496,997 1.408959313887177,998 10.532577514648438999 ],1000 "rotation": [1001 -90,1002 90.00041198730469,1003 01004 ]1005 },1006 "location": [1007 219.4744110107422,1008 -2.3518810272216797,1009 158.037826538085941010 ],1011 "rotation": [1012 -90,1013 90.00041198730469,1014 01015 ],1016 "scale": [1017 1,1018 1,1019 11020 ]1021 },1022 "color": [1023 159,1024 0,1025 631026 ]1027 },1028 {1029 "object_id": "SM_Book135",1030 "bbox_2d": [1031 14,1032 709,1033 59,1034 7681035 ],1036 "bbox_3d": {1037 "aabb": {1038 "center": [1039 219.47429464133424,1040 -62.26177215589496,1041 158.037826538085941042 ],1043 "extent": [1044 8.610498260162274,1045 1.4089546570761087,1046 10.5325775146484381047 ]1048 },1049 "obb": {1050 "center": [1051 219.47429464133424,1052 -62.26177215589496,1053 158.037826538085941054 ],1055 "extent": [1056 8.610498260162274,1057 1.4089546570761087,1058 10.5325775146484381059 ],1060 "rotation": [1061 -90,1062 90.00038099999072,1063 01064 ]1065 },1066 "location": [1067 219.4743194580078,1068 -63.69911193847656,1069 158.037826538085941070 ],1071 "rotation": [1072 -90,1073 90.00038099999072,1074 01075 ],1076 "scale": [1077 1,1078 1,1079 11080 ]1081 },1082 "color": [1083 159,1084 255,1085 2551086 ]1087 },1088 {1089 "object_id": "SM_Book136",1090 "bbox_2d": [1091 7,1092 706,1093 51,1094 7671095 ],1096 "bbox_3d": {1097 "aabb": {1098 "center": [1099 219.4743099001233,1100 -65.37993621839496,1101 158.88053894042971102 ],1103 "extent": [1104 8.610498260162274,1105 1.4089546570761087,1106 11.164458739145631107 ]1108 },1109 "obb": {1110 "center": [1111 219.4743099001233,1112 -65.37993621839496,1113 158.88053894042971114 ],1115 "extent": [1116 8.610498260162274,1117 1.4089546570761087,1118 11.164458739145631119 ],1120 "rotation": [1121 -90,1122 90.00038099999072,1123 01124 ]1125 },1126 "location": [1127 219.47433471679688,1128 -66.81727600097656,1129 158.88053894042971130 ],1131 "rotation": [1132 -90,1133 90.00038099999072,1134 01135 ],1136 "scale": [1137 1.059993028640747,1138 1,1139 11140 ]1141 },1142 "color": [1143 159,1144 255,1145 1271146 ]1147 },1148 {1149 "object_id": "SM_Book137",1150 "bbox_2d": [1151 0,1152 715,1153 6,1154 7681155 ],1156 "bbox_3d": {1157 "aabb": {1158 "center": [1159 219.4743099001233,1160 -68.68346405042621,1161 158.037826538085941162 ],1163 "extent": [1164 8.610498260162274,1165 1.4089546570761087,1166 10.5325775146484381167 ]1168 },1169 "obb": {1170 "center": [1171 219.4743099001233,1172 -68.68346405042621,1173 158.037826538085941174 ],1175 "extent": [1176 8.610498260162274,1177 1.4089546570761087,1178 10.5325775146484381179 ],1180 "rotation": [1181 -90,1182 90.00038099999072,1183 01184 ]1185 },1186 "location": [1187 219.47433471679688,1188 -70.12080383300781,1189 158.037826538085941190 ],1191 "rotation": [1192 -90,1193 90.00038099999072,1194 01195 ],1196 "scale": [1197 1,1198 1,1199 11200 ]