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": "OfficeRoomVol1",3 "view_id": "l023_r001",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/OfficeRoomVol1/l023_r001/lit.png",5 "camera": {6 "location": [7 -2,8 30,9 12510 ],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 -2,38 30,39 125,40 141 ]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 "window sill": [54 {55 "object_id": "SM_Windowsill",56 "bbox_2d": [57 0,58 781,59 607,60 96261 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 395.1789855957031,66 -0.00015869099297560751,67 1.568 ],69 "extent": [70 10,71 582.3807373046875,72 1.573 ]74 },75 "obb": {76 "center": [77 395.1789855957031,78 -0.00015869099297560751,79 1.580 ],81 "extent": [82 10,83 582.3807373046875,84 1.585 ],86 "rotation": [87 0,88 0,89 090 ]91 },92 "location": [93 395.1789855957031,94 -0.00015869099297560751,95 096 ],97 "rotation": [98 0,99 0,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 0,110 255,111 255112 ]113 }114 ],115 "wall panel": [116 {117 "object_id": "SM_WallpanelC",118 "bbox_2d": [119 885,120 190,121 1919,122 744123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 -3.9445104598999023,128 580.8809876441956,129 140130 ],131 "extent": [132 400.7402038574219,133 1.5000061988830566,134 140135 ]136 },137 "obb": {138 "center": [139 -3.9445104598999023,140 580.8809876441956,141 140142 ],143 "extent": [144 400.7402038574219,145 1.5000061988830566,146 140147 ],148 "rotation": [149 0,150 0,151 0152 ]153 },154 "location": [155 -3.9444799423217773,156 582.3809814453125,157 0158 ],159 "rotation": [160 0,161 0,162 0163 ],164 "scale": [165 1,166 1,167 1168 ]169 },170 "color": [171 0,172 0,173 127174 ]175 },176 {177 "object_id": "SM_WallpanelB",178 "bbox_2d": [179 869,180 358,181 908,182 598183 ],184 "bbox_3d": {185 "aabb": {186 "center": [187 369.9279479980469,188 569.5809841156006,189 165.55530548095703190 ],191 "extent": [192 26.8680419921875,193 9.799985885620117,194 79.2267074584961195 ]196 },197 "obb": {198 "center": [199 369.9279479980469,200 569.5809841156006,201 165.55530548095703202 ],203 "extent": [204 26.8680419921875,205 9.799985885620117,206 79.2267074584961207 ],208 "rotation": [209 0,210 0,211 0212 ]213 },214 "location": [215 396.7959899902344,216 579.3809814453125,217 86.32859802246094218 ],219 "rotation": [220 0,221 0,222 0223 ],224 "scale": [225 1,226 1,227 1228 ]229 },230 "color": [231 255,232 0,233 63234 ]235 },236 {237 "object_id": "SM_WallpanelB001",238 "bbox_2d": [239 909,240 350,241 979,242 600243 ],244 "bbox_3d": {245 "aabb": {246 "center": [247 316.19195556640625,248 569.5809841156006,249 165.55530548095703250 ],251 "extent": [252 26.8680419921875,253 9.799985885620117,254 79.2267074584961255 ]256 },257 "obb": {258 "center": [259 316.19195556640625,260 569.5809841156006,261 165.55530548095703262 ],263 "extent": [264 26.8680419921875,265 9.799985885620117,266 79.2267074584961267 ],268 "rotation": [269 0,270 0,271 0272 ]273 },274 "location": [275 343.05999755859375,276 579.3809814453125,277 86.32859802246094278 ],279 "rotation": [280 0,281 0,282 0283 ],284 "scale": [285 1,286 1,287 1288 ]289 },290 "color": [291 63,292 191,293 191294 ]295 },296 {297 "object_id": "SM_WallpanelB002",298 "bbox_2d": [299 1097,300 327,301 1195,302 608303 ],304 "bbox_3d": {305 "aabb": {306 "center": [307 184.44395446777344,308 569.5809841156006,309 165.55530548095703310 ],311 "extent": [312 26.8680419921875,313 9.799985885620117,314 79.2267074584961315 ]316 },317 "obb": {318 "center": [319 184.44395446777344,320 569.5809841156006,321 165.55530548095703322 ],323 "extent": [324 26.8680419921875,325 9.799985885620117,326 79.2267074584961327 ],328 "rotation": [329 0,330 0,331 0332 ]333 },334 "location": [335 211.31199645996094,336 579.3809814453125,337 86.32859802246094338 ],339 "rotation": [340 0,341 0,342 0343 ],344 "scale": [345 1,346 1,347 1348 ]349 },350 "color": [351 191,352 0,353 0354 ]355 }356 ],357 "wall": [358 {359 "object_id": "SM_WallC",360 "bbox_2d": [361 828,362 357,363 884,364 635365 ],366 "bbox_3d": {367 "aabb": {368 "center": [369 399.81292724609375,370 0.806884765625,371 140.00001525878906372 ],373 "extent": [374 24.871856689453125,375 600,376 140.0000457763672377 ]378 },379 "obb": {380 "center": [381 399.81292724609375,382 0.806884765625,383 140.00001525878906384 ],385 "extent": [386 24.871856689453125,387 600,388 140.0000457763672389 ],390 "rotation": [391 0,392 0,393 0394 ]395 },396 "location": [397 0,398 0,399 0400 ],401 "rotation": [402 0,403 0,404 0405 ],406 "scale": [407 1,408 1,409 1410 ]411 },412 "color": [413 0,414 255,415 127416 ]417 }418 ],419 "ceiling": [420 {421 "object_id": "SM_CeilingA",422 "bbox_2d": [423 0,424 0,425 1105,426 361427 ],428 "bbox_3d": {429 "aabb": {430 "center": [431 -9.99993896484375,432 -0.0003662109375,433 262.50006103515625434 ],435 "extent": [436 414.6847229003906,437 582.3804321289062,438 17.500083923339844439 ]440 },441 "obb": {442 "center": [443 -9.99993896484375,444 -0.0003662109375,445 262.50006103515625446 ],447 "extent": [448 414.6847229003906,449 582.3804321289062,450 17.500083923339844451 ],452 "rotation": [453 0,454 0,455 0456 ]457 },458 "location": [459 0,460 0,461 0462 ],463 "rotation": [464 0,465 0,466 0467 ],468 "scale": [469 1,470 1,471 1472 ]473 },474 "color": [475 255,476 127,477 0478 ]479 },480 {481 "object_id": "SM_CeilingB001",482 "bbox_2d": [483 644,484 0,485 1919,486 295487 ],488 "bbox_3d": {489 "aabb": {490 "center": [491 -13.644100189208956,492 320.786895751953,493 276494 ],495 "extent": [496 217.01867675781244,497 261.5939025878905,498 4.0000152587890625499 ]500 },501 "obb": {502 "center": [503 -13.644100189208956,504 320.78689575195295,505 276506 ],507 "extent": [508 217.01867675781244,509 261.5939025878905,510 4.0000152587890625511 ],512 "rotation": [513 0,514 180,515 0516 ]517 },518 "location": [519 -13.644100189208984,520 0,521 0522 ],523 "rotation": [524 0,525 180,526 0527 ],528 "scale": [529 1,530 1,531 1532 ]533 },534 "color": [535 127,536 127,537 191538 ]539 }540 ],541 "window a": [542 {543 "object_id": "SM_WindowA002",544 "bbox_2d": [545 0,546 161,547 99,548 942549 ],550 "bbox_3d": {551 "aabb": {552 "center": [553 400.20300245285034,554 100.44701385498047,555 123.93044638633728556 ],557 "extent": [558 5.743960857391357,559 59.63993835449219,560 121.06996154785156561 ]562 },563 "obb": {564 "center": [565 400.20300245285034,566 100.44701385498047,567 123.93044638633728568 ],569 "extent": [570 5.743960857391357,571 59.63993835449219,572 121.06996154785156573 ],574 "rotation": [575 0,576 0,577 0578 ]579 },580 "location": [581 400.2030029296875,582 100.4469985961914,583 2.8605000972747803584 ],585 "rotation": [586 0,587 0,588 0589 ],590 "scale": [591 1,592 1,593 1594 ]595 },596 "color": [597 127,598 191,599 0600 ]601 },602 {603 "object_id": "SM_WindowA003",604 "bbox_2d": [605 696,606 336,607 827,608 672609 ],610 "bbox_3d": {611 "aabb": {612 "center": [613 400.20300245285034,614 481.16700744628906,615 123.93044638633728616 ],617 "extent": [618 5.743960857391357,619 59.63993835449219,620 121.06996154785156621 ]622 },623 "obb": {624 "center": [625 400.20300245285034,626 481.16700744628906,627 123.93044638633728628 ],629 "extent": [630 5.743960857391357,631 59.63993835449219,632 121.06996154785156633 ],634 "rotation": [635 0,636 0,637 0638 ]639 },640 "location": [641 400.2030029296875,642 481.1669921875,643 2.8605000972747803644 ],645 "rotation": [646 0,647 0,648 0649 ],650 "scale": [651 1,652 1,653 1654 ]655 },656 "color": [657 127,658 191,659 255660 ]661 }662 ],663 "window": [664 {665 "object_id": "SM_WindowB001",666 "bbox_2d": [667 100,668 186,669 695,670 915671 ],672 "bbox_3d": {673 "aabb": {674 "center": [675 400.20300340652466,676 290.80699157714844,677 123.93044638633728678 ],679 "extent": [680 5.744003772735596,681 130.72012329101562,682 121.06996154785156683 ]684 },685 "obb": {686 "center": [687 400.20300340652466,688 290.80699157714844,689 123.93044638633728690 ],691 "extent": [692 5.744003772735596,693 130.72012329101562,694 121.06996154785156695 ],696 "rotation": [697 0,698 0,699 0700 ]701 },702 "location": [703 400.2030029296875,704 290.8070068359375,705 2.8605000972747803706 ],707 "rotation": [708 0,709 0,710 0711 ],712 "scale": [713 1,714 1,715 1716 ]717 },718 "color": [719 127,720 191,721 127722 ]723 }724 ],725 "floor planks corner": [726 {727 "object_id": "SM_Floor",728 "bbox_2d": [729 0,730 794,731 607,732 1078733 ],734 "bbox_3d": {735 "aabb": {736 "center": [737 -19.752939224243164,738 -0.0001220703125,739 6.776263578034403e-21740 ],741 "extent": [742 404.9316711425781,743 582.3806762695312,744 3.5660530924670406e-14745 ]746 },747 "obb": {748 "center": [749 -19.752939224243164,750 -0.0001220703125,751 6.776263578034403e-21752 ],753 "extent": [754 404.9316711425781,755 582.3806762695312,756 3.5660530924670406e-14757 ],758 "rotation": [759 0,760 0,761 0762 ]763 },764 "location": [765 -9.752969741821289,766 0,767 0768 ],769 "rotation": [770 0,771 0,772 0773 ],774 "scale": [775 1,776 1,777 1778 ]779 },780 "color": [781 191,782 31,783 31784 ]785 }786 ]787 },788 "foreground": {789 "shelf": [790 {791 "object_id": "SM_ShelfC",792 "bbox_2d": [793 980,794 337,795 1096,796 605797 ],798 "bbox_3d": {799 "aabb": {800 "center": [801 250.31798934936458,802 569.3309974670403,803 165.55535888671875804 ],805 "extent": [806 39.00605949646584,807 10.050080443684806,808 79.22671508789062809 ]810 },811 "obb": {812 "center": [813 250.31798934936458,814 569.3309974670403,815 165.55535888671875816 ],817 "extent": [818 39.00605949646584,819 10.050080443684806,820 79.22671508789062821 ],822 "rotation": [823 0,824 1.0017900422099046e-05,825 0826 ]827 },828 "location": [829 250.3179931640625,830 569.3309936523438,831 86.32869720458984832 ],833 "rotation": [834 0,835 1.0017900422099046e-05,836 0837 ],838 "scale": [839 1,840 1,841 1842 ]843 },844 "color": [845 255,846 0,847 0848 ]849 },850 {851 "object_id": "SM_ShelfB",852 "bbox_2d": [853 1880,854 244,855 1919,856 634857 ],858 "bbox_3d": {859 "aabb": {860 "center": [861 -176.3739967346193,862 569.3309946060174,863 165.5553436279297864 ],865 "extent": [866 39.70215019470834,867 10.050082472741565,868 79.22671508789062869 ]870 },871 "obb": {872 "center": [873 -176.3739967346193,874 569.3309946060174,875 165.5553436279297876 ],877 "extent": [878 39.70215019470834,879 10.050082472741565,880 79.22671508789062881 ],882 "rotation": [883 0,884 1.0017900422099046e-05,885 0886 ]887 },888 "location": [889 -176.37399291992188,890 569.3309936523438,891 86.32869720458984892 ],893 "rotation": [894 0,895 1.0017900422099046e-05,896 0897 ],898 "scale": [899 1,900 1,901 1902 ]903 },904 "color": [905 255,906 0,907 255908 ]909 }910 ],911 "drawer": [912 {913 "object_id": "SM_Drawer",914 "bbox_2d": [915 861,916 597,917 1919,918 680919 ],920 "bbox_3d": {921 "aabb": {922 "center": [923 -3.944459915161133,924 565.8809223175049,925 77.32870388031006926 ],927 "extent": [928 400.7402038574219,929 14.500059127807617,930 9.000012397766113931 ]932 },933 "obb": {934 "center": [935 -3.944459915161133,936 565.8809223175049,937 77.32870388031006938 ],939 "extent": [940 400.7402038574219,941 14.500059127807617,942 9.000012397766113943 ],944 "rotation": [945 0,946 0,947 0948 ]949 },950 "location": [951 -3.944459915161133,952 580.3809814453125,953 68.32869720458984954 ],955 "rotation": [956 0,957 0,958 0959 ],960 "scale": [961 1,962 1,963 1964 ]965 },966 "color": [967 255,968 255,969 63970 ]971 }972 ],973 "sofa": [974 {975 "object_id": "SM_SofaD",976 "bbox_2d": [977 1425,978 676,979 1919,980 1036981 ],982 "bbox_3d": {983 "aabb": {984 "center": [985 -69.9154052734375,986 393.52098846435547,987 42.42480477690697988 ],989 "extent": [990 92.29835510253906,991 55.387516021728516,992 41.93626022338867993 ]994 },995 "obb": {996 "center": [997 -69.9154052734375,998 393.52098846435547,999 42.424804776906971000 ],1001 "extent": [1002 92.29835510253906,1003 55.387516021728516,1004 41.936260223388671005 ],1006 "rotation": [1007 0,1008 0,1009 01010 ]1011 },1012 "location": [1013 -69.91539764404297,1014 393.52099609375,1015 0.488555997610092161016 ],1017 "rotation": [1018 0,1019 0,1020 01021 ],1022 "scale": [1023 1,1024 1,1025 11026 ]1027 },1028 "color": [1029 127,1030 127,1031 631032 ]1033 },1034 {1035 "object_id": "SM_SofaC",1036 "bbox_2d": [1037 961,1038 653,1039 1445,1040 8911041 ],1042 "bbox_3d": {1043 "aabb": {1044 "center": [1045 98.80741119384766,1046 393.33300399780273,1047 41.8165398538112641048 ],1049 "extent": [1050 80.16697692871094,1051 55.19976806640625,1052 41.327995300292971053 ]1054 },1055 "obb": {1056 "center": [1057 98.80741119384766,1058 393.33300399780273,1059 41.8165398538112641060 ],1061 "extent": [1062 80.16697692871094,1063 55.19976806640625,1064 41.327995300292971065 ],1066 "rotation": [1067 0,1068 0,1069 01070 ]1071 },1072 "location": [1073 98.80740356445312,1074 393.3330078125,1075 0.488555997610092161076 ],1077 "rotation": [1078 0,1079 0,1080 01081 ],1082 "scale": [1083 1,1084 1,1085 11086 ]1087 },1088 "color": [1089 0,1090 63,1091 01092 ]1093 },1094 {1095 "object_id": "SM_SofaB",1096 "bbox_2d": [1097 567,1098 627,1099 1070,1100 9391101 ],1102 "bbox_3d": {1103 "aabb": {1104 "center": [1105 231.97104263306204,1106 349.5560306153131,1107 42.424793332821171108 ],1109 "extent": [1110 55.5538274253981,1111 98.97759421030975,1112 41.9362812380096561113 ]1114 },1115 "obb": {1116 "center": [1117 231.97104263306204,1118 349.5560306153131,1119 42.424793332821171120 ],1121 "extent": [1122 55.5538274253981,1123 98.97759421030975,1124 41.9362812380096561125 ],1126 "rotation": [1127 0,1128 -1.0017900422099046e-05,1129 -9.956629583030006e-061130 ]1131 },1132 "location": [1133 231.9709930419922,1134 349.5559997558594,1135 0.488555997610092161136 ],1137 "rotation": [1138 0,1139 -1.0017900422099046e-05,1140 -9.956629583030006e-061141 ],1142 "scale": [1143 1,1144 1,1145 11146 ]1147 },1148 "color": [1149 0,1150 63,1151 2551152 ]1153 },1154 {1155 "object_id": "SM_SofaA",1156 "bbox_2d": [1157 350,1158 805,1159 805,1160 10741161 ],1162 "bbox_3d": {1163 "aabb": {1164 "center": [1165 220.70299148559315,1166 210.3779913311881,1167 18.9385605752445441168 ],1169 "extent": [1170 43.5776674657057,1171 44.94700179231691,1172 18.4500295544810271173 ]1174 },1175 "obb": {1176 "center": [1177 220.70299148559315,1178 210.3779913311881,1179 18.938560575244541180 ],1181 "extent": [1182 43.5776674657057,1183 44.94700179231691,1184 18.4500295544810271185 ],1186 "rotation": [1187 0,1188 -1.0017900422099046e-05,1189 -9.956629583030006e-061190 ]1191 },1192 "location": [1193 220.7030029296875,1194 210.3780059814453,1195 0.488555997610092161196 ],1197 "rotation": [1198 0,1199 -1.0017900422099046e-05,1200 -9.956629583030006e-06