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": "l098_r001",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/ManagerOffice/l098_r001/lit.png",5 "camera": {6 "location": [7 -21,8 -51,9 23510 ],11 "rotation": [12 0,13 59.99999999999999,14 015 ],16 "fov": 90,17 "c2w": [18 [19 0.5,20 0.8660254037844385,21 0,22 023 ],24 [25 -0.8660254037844385,26 0.5,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 -21,38 -51,39 235,40 141 ]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": [57 424,58 0,59 1919,60 35561 ],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_polySurface49",118 "bbox_2d": [119 956,120 412,121 1040,122 813123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 237.1017780453198,128 428.0635484057081,129 195.17345428466797130 ],131 "extent": [132 9.74557239176346,133 49.10113152906655,134 105.98666381835938135 ]136 },137 "obb": {138 "center": [139 237.1017780453198,140 428.0635484057081,141 195.17345428466797142 ],143 "extent": [144 9.74557239176346,145 49.10113152906655,146 105.98666381835938147 ],148 "rotation": [149 0,150 -179.99989318847656,151 0152 ]153 },154 "location": [155 236.6421661376953,156 467.6837158203125,157 88.28707122802734158 ],159 "rotation": [160 0,161 -179.99989318847656,162 0163 ],164 "scale": [165 1.5594596862792969,166 -0.8500000238418579,167 1168 ]169 },170 "color": [171 127,172 159,173 255174 ]175 },176 {177 "object_id": "SM_Door_polySurface57",178 "bbox_2d": [179 601,180 354,181 770,182 986183 ],184 "bbox_3d": {185 "aabb": {186 "center": [187 230.40711644136513,188 194.618632203342,189 193.68687438964844190 ],191 "extent": [192 5.455037415813791,193 40.9399423472035,194 100.37834930419922195 ]196 },197 "obb": {198 "center": [199 230.40711644136513,200 194.618632203342,201 193.68687438964844202 ],203 "extent": [204 5.455037415813791,205 40.9399423472035,206 100.37834930419922207 ],208 "rotation": [209 0,210 -179.99989318847656,211 0212 ]213 },214 "location": [215 229.37254333496094,216 154.16036987304688,217 88.9166030883789218 ],219 "rotation": [220 0,221 -179.99989318847656,222 0223 ],224 "scale": [225 0.800000011920929,226 0.8706653118133545,227 1228 ]229 },230 "color": [231 127,232 159,233 127234 ]235 },236 {237 "object_id": "SM_Door_polySurface50",238 "bbox_2d": [239 573,240 325,241 787,242 1001243 ],244 "bbox_3d": {245 "aabb": {246 "center": [247 237.10054705583462,248 194.50258489944235,249 195.17345428466797250 ],251 "extent": [252 9.745574626675705,253 49.10113152907067,254 105.98666381835938255 ]256 },257 "obb": {258 "center": [259 237.10054705583462,260 194.50258489944235,261 195.17345428466797262 ],263 "extent": [264 9.745574626675705,265 49.10113152907067,266 105.98666381835938267 ],268 "rotation": [269 0,270 -179.99989318847656,271 0272 ]273 },274 "location": [275 236.64108276367188,276 154.88241577148438,277 88.28707122802734278 ],279 "rotation": [280 0,281 -179.99989318847656,282 0283 ],284 "scale": [285 1.5594600439071655,286 0.8500000238418579,287 1288 ]289 },290 "color": [291 127,292 159,293 63294 ]295 },296 {297 "object_id": "SM_Door_polySurface58",298 "bbox_2d": [299 968,300 429,301 1031,302 806303 ],304 "bbox_3d": {305 "aabb": {306 "center": [307 230.40723676937202,308 428.06766479974937,309 193.68687438964844310 ],311 "extent": [312 5.455037415787672,313 40.93992833372391,314 100.37834930419922315 ]316 },317 "obb": {318 "center": [319 230.40723676937202,320 428.06766479974937,321 193.68687438964844322 ],323 "extent": [324 5.455037415787672,325 40.93992833372391,326 100.37834930419922327 ],328 "rotation": [329 0,330 -179.99989318847656,331 0332 ]333 },334 "location": [335 229.3725128173828,336 468.5259094238281,337 88.9166030883789338 ],339 "rotation": [340 0,341 -179.99989318847656,342 0343 ],344 "scale": [345 0.800000011920929,346 -0.8706650137901306,347 1348 ]349 },350 "color": [351 31,352 159,353 127354 ]355 }356 ]357 },358 "foreground": {359 "manager desk": [360 {361 "object_id": "SM_ManagerDesk_35",362 "bbox_2d": [363 901,364 1001,365 1315,366 1079367 ],368 "bbox_3d": {369 "aabb": {370 "center": [371 0.9649276733398438,372 -103.14732360839844,373 133.83098220825195374 ],375 "extent": [376 101.42112731933594,377 175.46688842773438,378 40.50908660888672379 ]380 },381 "obb": {382 "center": [383 0.9649276733398438,384 -103.14732360839844,385 133.83098220825195386 ],387 "extent": [388 101.42112731933594,389 175.46688842773438,390 40.50908660888672391 ],392 "rotation": [393 0,394 0,395 0396 ]397 },398 "location": [399 3.7793960571289062,400 -148.75787353515625,401 93.32191467285156402 ],403 "rotation": [404 0,405 0,406 0407 ],408 "scale": [409 1,410 1,411 1412 ]413 },414 "color": [415 0,416 127,417 127418 ]419 }420 ],421 "armchair": [422 {423 "object_id": "SM_ArmchairSingle2",424 "bbox_2d": [425 0,426 772,427 490,428 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 "cabinet": [484 {485 "object_id": "SM_Komod_2",486 "bbox_2d": [487 1088,488 624,489 1117,490 637491 ],492 "bbox_3d": {493 "aabb": {494 "center": [495 202.82839950873046,496 620.9860581984593,497 134.87128448486328498 ],499 "extent": [500 22.34523317932971,501 74.85443298263135,502 41.517921447753906503 ]504 },505 "obb": {506 "center": [507 202.82839950873046,508 620.9860581984593,509 134.87128448486328510 ],511 "extent": [512 22.34523317932971,513 74.85443298263135,514 41.517921447753906515 ],516 "rotation": [517 0,518 -90.00012207031251,519 0520 ]521 },522 "location": [523 205.04928588867188,524 621.0562133789062,525 93.32191467285156526 ],527 "rotation": [528 0,529 -90.00012207031251,530 0531 ],532 "scale": [533 1,534 1,535 1536 ]537 },538 "color": [539 255,540 95,541 255542 ]543 },544 {545 "object_id": "SM_KomodA_60",546 "bbox_2d": [547 1141,548 708,549 1329,550 803551 ],552 "bbox_3d": {553 "aabb": {554 "center": [555 70.50696399473954,556 312.0420322741244,557 155.16150795815156558 ],559 "extent": [560 33.25703754064189,561 7.441421415979278,562 12.886030359165488563 ]564 },565 "obb": {566 "center": [567 70.50696399473952,568 312.0420322741244,569 155.16150795815156570 ],571 "extent": [572 33.25703754064189,573 7.441421415979278,574 12.886030359165488575 ],576 "rotation": [577 0,578 179.9999237060547,579 0580 ]581 },582 "location": [583 70.43486022949219,584 319.5771179199219,585 142.210205078125586 ],587 "rotation": [588 0,589 179.9999237060547,590 0591 ],592 "scale": [593 1.399999976158142,594 1.399999976158142,595 1.399999976158142596 ]597 },598 "color": [599 63,600 95,601 63602 ]603 },604 {605 "object_id": "SM_KomodB_63",606 "bbox_2d": [607 1324,608 724,609 1411,610 814611 ],612 "bbox_3d": {613 "aabb": {614 "center": [615 23.50204392814276,616 312.06331189555453,617 155.0879535374105618 ],619 "extent": [620 13.343359743013684,621 7.44140555993738,622 12.886029024021468623 ]624 },625 "obb": {626 "center": [627 23.50204392814276,628 312.06331189555453,629 155.0879535374105630 ],631 "extent": [632 13.343359743013684,633 7.44140555993738,634 12.886029024021468635 ],636 "rotation": [637 0,638 179.9998779296875,639 0640 ]641 },642 "location": [643 23.502059936523438,644 319.5771179199219,645 142.1208038330078646 ],647 "rotation": [648 0,649 179.9998779296875,650 0651 ],652 "scale": [653 1.399999976158142,654 1.399999976158142,655 1.399999976158142656 ]657 },658 "color": [659 63,660 95,661 191662 ]663 },664 {665 "object_id": "SM_KomodA2_68",666 "bbox_2d": [667 1409,668 731,669 1650,670 846671 ],672 "bbox_3d": {673 "aabb": {674 "center": [675 -23.520482752086636,676 312.0420322741244,677 155.16150795815156678 ],679 "extent": [680 33.257037540641896,681 7.441421415979278,682 12.886030359165488683 ]684 },685 "obb": {686 "center": [687 -23.520482752086636,688 312.0420322741244,689 155.16150795815156690 ],691 "extent": [692 33.257037540641896,693 7.441421415979278,694 12.886030359165488695 ],696 "rotation": [697 0,698 179.9999237060547,699 0700 ]701 },702 "location": [703 -23.592586517333984,704 319.5771179199219,705 142.210205078125706 ],707 "rotation": [708 0,709 179.9999237060547,710 0711 ],712 "scale": [713 1.399999976158142,714 1.399999976158142,715 1.399999976158142716 ]717 },718 "color": [719 63,720 95,721 31722 ]723 },724 {725 "object_id": "SM_KomodB2_69",726 "bbox_2d": [727 1647,728 753,729 1765,730 861731 ],732 "bbox_3d": {733 "aabb": {734 "center": [735 -70.52521589851739,736 312.06331189555453,737 155.0879535374105738 ],739 "extent": [740 13.343359743013679,741 7.44140555993738,742 12.886029024021468743 ]744 },745 "obb": {746 "center": [747 -70.52521589851739,748 312.06331189555453,749 155.0879535374105750 ],751 "extent": [752 13.343359743013679,753 7.44140555993738,754 12.886029024021468755 ],756 "rotation": [757 0,758 179.9998779296875,759 0760 ]761 },762 "location": [763 -70.52519989013672,764 319.5771179199219,765 142.1208038330078766 ],767 "rotation": [768 0,769 179.9998779296875,770 0771 ],772 "scale": [773 1.399999976158142,774 1.399999976158142,775 1.399999976158142776 ]777 },778 "color": [779 191,780 95,781 0782 ]783 },784 {785 "object_id": "SM_KomodA3",786 "bbox_2d": [787 1757,788 762,789 1919,790 881791 ],792 "bbox_3d": {793 "aabb": {794 "center": [795 -117.69346782899093,796 312.04200175654626,797 155.16150795815156798 ],799 "extent": [800 33.25703754064189,801 7.441421415979278,802 12.886030359165488803 ]804 },805 "obb": {806 "center": [807 -117.69346782899093,808 312.04200175654626,809 155.16150795815156810 ],811 "extent": [812 33.25703754064189,813 7.441421415979278,814 12.886030359165488815 ],816 "rotation": [817 0,818 179.9999237060547,819 0820 ]821 },822 "location": [823 -117.76557159423828,824 319.57708740234375,825 142.210205078125826 ],827 "rotation": [828 0,829 179.9999237060547,830 0831 ],832 "scale": [833 1.399999976158142,834 1.399999976158142,835 1.399999976158142836 ]837 },838 "color": [839 191,840 95,841 255842 ]843 },844 {845 "object_id": "SM_KomodC_73",846 "bbox_2d": [847 1508,848 828,849 1919,850 1052851 ],852 "bbox_3d": {853 "aabb": {854 "center": [855 -124.10193794684471,856 298.8887793179526,857 124.05502212140846858 ],859 "extent": [860 104.79397541784618,861 20.51142805681326,862 18.019146421651385863 ]864 },865 "obb": {866 "center": [867 -124.10193794684471,868 298.8887793179526,869 124.05502212140846870 ],871 "extent": [872 104.79397541784618,873 20.51142805681326,874 18.019146421651385875 ],876 "rotation": [877 0,878 179.9999237060547,879 0880 ]881 },882 "location": [883 -124.0071792602539,884 319.5770263671875,885 105.9097900390625886 ],887 "rotation": [888 0,889 179.9999237060547,890 0891 ],892 "scale": [893 1.399999976158142,894 1.100000023841858,895 1.399999976158142896 ]897 },898 "color": [899 191,900 95,901 127902 ]903 },904 {905 "object_id": "SM_KomodB4",906 "bbox_2d": [907 1874,908 496,909 1919,910 589911 ],912 "bbox_3d": {913 "aabb": {914 "center": [915 -123.92637177584169,916 312.0621660409311,917 234.18070446105088918 ],919 "extent": [920 13.34345889924328,921 7.441401519151839,922 12.886149886766134923 ]924 },925 "obb": {926 "center": [927 -123.92637177584169,928 312.0621660409311,929 234.18070446105088930 ],931 "extent": [932 13.34345889924328,933 7.441401519151839,934 12.886149886766134935 ],936 "rotation": [937 0.00048494338989257796,938 179.9999542236328,939 -6.103515624999998e-05940 ]941 },942 "location": [943 -123.92647552490234,944 319.5759582519531,945 221.2135467529297946 ],947 "rotation": [948 0.00048494338989257796,949 179.9999542236328,950 -6.103515624999998e-05951 ],952 "scale": [953 1.399999976158142,954 1.399999976158142,955 1.399999976158142956 ]957 },958 "color": [959 191,960 95,961 191962 ]963 }964 ],965 "decorative grass": [966 {967 "object_id": "SM_Decorative99_8",968 "bbox_2d": [969 1108,970 572,971 1117,972 627973 ],974 "bbox_3d": {975 "aabb": {976 "center": [977 214.73163727439822,978 565.0800266010637,979 195.81600189208984980 ],981 "extent": [982 7.361324288314478,983 13.262383135304162,984 19.446334838867188985 ]986 },987 "obb": {988 "center": [989 214.73163727439822,990 565.0800266010637,991 195.81600189208984992 ],993 "extent": [994 7.361324288314478,995 13.262383135304162,996 19.446334838867188997 ],998 "rotation": [999 0,1000 -20.000041961669925,1001 01002 ]1003 },1004 "location": [1005 214.84368896484375,1006 565.3878784179688,1007 176.389190673828121008 ],1009 "rotation": [1010 0,1011 -20.000041961669925,1012 01013 ],1014 "scale": [1015 1,1016 1,1017 11018 ]1019 },1020 "color": [1021 255,1022 95,1023 631024 ]1025 },1026 {1027 "object_id": "SM_Decorative102_84",1028 "bbox_2d": [1029 1779,1030 732,1031 1876,1032 7791033 ],1034 "bbox_3d": {1035 "aabb": {1036 "center": [1037 -98.38091278074343,1038 310.77997970578616,1039 173.712055206298831040 ],1041 "extent": [1042 10.568944488227743,1043 3.303895672248075,1044 5.7143821716308591045 ]1046 },1047 "obb": {1048 "center": [1049 -98.38091278074343,1050 310.77997970578616,1051 173.712055206298831052 ],1053 "extent": [1054 10.568944488227743,1055 3.303895672248075,1056 5.7143821716308591057 ],1058 "rotation": [1059 0,1060 -90.00009155273439,1061 01062 ]1063 },1064 "location": [1065 -98.38092803955078,1066 310.77996826171875,1067 167.97399902343751068 ],1069 "rotation": [1070 0,1071 -90.00009155273439,1072 01073 ],1074 "scale": [1075 1,1076 1,1077 11078 ]1079 },1080 "color": [1081 31,1082 95,1083 01084 ]1085 },1086 {1087 "object_id": "SM_Decorative103_87",1088 "bbox_2d": [1089 1901,1090 698,1091 1919,1092 7831093 ],1094 "bbox_3d": {1095 "aabb": {1096 "center": [1097 -127.92554855346097,1098 311.10367129505903,1099 187.47422027587891100 ],1101 "extent": [1102 12.982081360609726,1103 3.1086878797778468,1104 19.4463348388671881105 ]1106 },1107 "obb": {1108 "center": [1109 -127.92554855346097,1110 311.10367129505903,1111 187.47422027587891112 ],1113 "extent": [1114 12.982081360609726,1115 3.1086878797778468,1116 19.4463348388671881117 ],1118 "rotation": [1119 0,1120 -90.00012207031251,1121 01122 ]1123 },1124 "location": [1125 -127.59793853759766,1126 311.1036682128906,1127 168.04740905761721128 ],1129 "rotation": [1130 0,1131 -90.00012207031251,1132 01133 ],1134 "scale": [1135 1,1136 1,1137 11138 ]1139 },1140 "color": [1141 31,1142 95,1143 2551144 ]1145 },1146 {1147 "object_id": "SM_Decorative104_90",1148 "bbox_2d": [1149 1431,1150 795,1151 1453,1152 8131153 ],1154 "bbox_3d": {1155 "aabb": {1156 "center": [1157 -0.0949249267578125,1158 310.516845703125,1159 145.943217039108281160 ],1161 "extent": [1162 3.4798521995544434,1163 3.4798552989959717,1164 2.24234604835510251165 ]1166 },1167 "obb": {1168 "center": [1169 -0.0949249267578125,1170 310.516845703125,1171 145.943217039108281172 ],1173 "extent": [1174 3.4798521995544434,1175 3.4798552989959717,1176 2.24234604835510251177 ],1178 "rotation": [1179 0,1180 0,1181 01182 ]1183 },1184 "location": [1185 -0.0949249267578125,1186 310.516845703125,1187 143.69267272949221188 ],1189 "rotation": [1190 0,1191 0,1192 01193 ],1194 "scale": [1195 1,1196 1,1197 11198 ]1199 },1200 "color": [