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": "l045_r001",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/OfficeRoomVol1/l045_r001/lit.png",5 "camera": {6 "location": [7 -91,8 -109,9 16610 ],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 -91,38 -109,39 166,40 141 ]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 90,58 774,59 710,60 96861 ],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": [119 891,120 347,121 1919,122 855123 ],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": [179 878,180 445,181 909,182 635183 ],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": [239 910,240 442,241 965,242 638243 ],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 1056,300 433,301 1131,302 648303 ],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 0,362 318,363 890,364 987365 ],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 1919,426 446427 ],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": [483 506,484 0,485 1919,486 402487 ],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 90,546 355,547 381,548 953549 ],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": [605 748,606 440,607 845,608 723609 ],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": [667 382,668 392,669 747,670 868671 ],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 0,730 783,731 1919,732 1079733 ],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 "baseboard": [788 {789 "object_id": "SM_BaseboardB",790 "bbox_2d": [791 5,792 961,793 93,794 1005795 ],796 "bbox_3d": {797 "aabb": {798 "center": [799 384.6598148345947,800 0.8069155216217041,801 3802 ],803 "extent": [804 10.518829345703125,805 40.79997253417969,806 3807 ]808 },809 "obb": {810 "center": [811 384.6598148345947,812 0.8069155216217041,813 3814 ],815 "extent": [816 10.518829345703125,817 40.79997253417969,818 3819 ],820 "rotation": [821 0,822 0,823 0824 ]825 },826 "location": [827 374.9410095214844,828 0.8068850040435791,829 0830 ],831 "rotation": [832 0,833 0,834 0835 ],836 "scale": [837 1,838 1,839 1840 ]841 },842 "color": [843 31,844 95,845 255846 ]847 }848 ]849 },850 "foreground": {851 "shelf": [852 {853 "object_id": "SM_ShelfC",854 "bbox_2d": [855 966,856 436,857 1055,858 644859 ],860 "bbox_3d": {861 "aabb": {862 "center": [863 250.31798934936458,864 569.3309974670403,865 165.55535888671875866 ],867 "extent": [868 39.00605949646584,869 10.050080443684806,870 79.22671508789062871 ]872 },873 "obb": {874 "center": [875 250.31798934936458,876 569.3309974670403,877 165.55535888671875878 ],879 "extent": [880 39.00605949646584,881 10.050080443684806,882 79.22671508789062883 ],884 "rotation": [885 0,886 1.0017900422099046e-05,887 0888 ]889 },890 "location": [891 250.3179931640625,892 569.3309936523438,893 86.32869720458984894 ],895 "rotation": [896 0,897 1.0017900422099046e-05,898 0899 ],900 "scale": [901 1,902 1,903 1904 ]905 },906 "color": [907 255,908 0,909 0910 ]911 },912 {913 "object_id": "SM_ShelfB",914 "bbox_2d": [915 1603,916 394,917 1782,918 687919 ],920 "bbox_3d": {921 "aabb": {922 "center": [923 -176.3739967346193,924 569.3309946060174,925 165.5553436279297926 ],927 "extent": [928 39.70215019470834,929 10.050082472741565,930 79.22671508789062931 ]932 },933 "obb": {934 "center": [935 -176.3739967346193,936 569.3309946060174,937 165.5553436279297938 ],939 "extent": [940 39.70215019470834,941 10.050082472741565,942 79.22671508789062943 ],944 "rotation": [945 0,946 1.0017900422099046e-05,947 0948 ]949 },950 "location": [951 -176.37399291992188,952 569.3309936523438,953 86.32869720458984954 ],955 "rotation": [956 0,957 1.0017900422099046e-05,958 0959 ],960 "scale": [961 1,962 1,963 1964 ]965 },966 "color": [967 255,968 0,969 255970 ]971 }972 ],973 "cabinet": [974 {975 "object_id": "SM_CabinetB",976 "bbox_2d": [977 1783,978 385,979 1919,980 695981 ],982 "bbox_3d": {983 "aabb": {984 "center": [985 -310.3803482055679,986 569.3809896366695,987 165.55532836914062988 ],989 "extent": [990 94.30449088420005,991 10.000049867301982,992 79.2267074584961993 ]994 },995 "obb": {996 "center": [997 -310.3803482055679,998 569.3809896366695,999 165.555328369140621000 ],1001 "extent": [1002 94.30449088420005,1003 10.000049867301982,1004 79.22670745849611005 ],1006 "rotation": [1007 0,1008 1.0017900422099046e-05,1009 01010 ]1011 },1012 "location": [1013 -308.1400146484375,1014 569.3809814453125,1015 86.328697204589841016 ],1017 "rotation": [1018 0,1019 1.0017900422099046e-05,1020 01021 ],1022 "scale": [1023 1,1024 1,1025 11026 ]1027 },1028 "color": [1029 255,1030 255,1031 01032 ]1033 }1034 ],1035 "drawer": [1036 {1037 "object_id": "SM_Drawer",1038 "bbox_2d": [1039 873,1040 634,1041 1919,1042 7331043 ],1044 "bbox_3d": {1045 "aabb": {1046 "center": [1047 -3.944459915161133,1048 565.8809223175049,1049 77.328703880310061050 ],1051 "extent": [1052 400.7402038574219,1053 14.500059127807617,1054 9.0000123977661131055 ]1056 },1057 "obb": {1058 "center": [1059 -3.944459915161133,1060 565.8809223175049,1061 77.328703880310061062 ],1063 "extent": [1064 400.7402038574219,1065 14.500059127807617,1066 9.0000123977661131067 ],1068 "rotation": [1069 0,1070 0,1071 01072 ]1073 },1074 "location": [1075 -3.944459915161133,1076 580.3809814453125,1077 68.328697204589841078 ],1079 "rotation": [1080 0,1081 0,1082 01083 ],1084 "scale": [1085 1,1086 1,1087 11088 ]1089 },1090 "color": [1091 255,1092 255,1093 631094 ]1095 }1096 ],1097 "sofa": [1098 {1099 "object_id": "SM_SofaD",1100 "bbox_2d": [1101 1237,1102 713,1103 1733,1104 9611105 ],1106 "bbox_3d": {1107 "aabb": {1108 "center": [1109 -69.9154052734375,1110 393.52098846435547,1111 42.424804776906971112 ],1113 "extent": [1114 92.29835510253906,1115 55.387516021728516,1116 41.936260223388671117 ]1118 },1119 "obb": {1120 "center": [1121 -69.9154052734375,1122 393.52098846435547,1123 42.424804776906971124 ],1125 "extent": [1126 92.29835510253906,1127 55.387516021728516,1128 41.936260223388671129 ],1130 "rotation": [1131 0,1132 0,1133 01134 ]1135 },1136 "location": [1137 -69.91539764404297,1138 393.52099609375,1139 0.488555997610092161140 ],1141 "rotation": [1142 0,1143 0,1144 01145 ],1146 "scale": [1147 1,1148 1,1149 11150 ]1151 },1152 "color": [1153 127,1154 127,1155 631156 ]1157 },1158 {1159 "object_id": "SM_SofaC",1160 "bbox_2d": [1161 947,1162 692,1163 1281,1164 8511165 ],1166 "bbox_3d": {1167 "aabb": {1168 "center": [1169 98.80741119384766,1170 393.33300399780273,1171 41.8165398538112641172 ],1173 "extent": [1174 80.16697692871094,1175 55.19976806640625,1176 41.327995300292971177 ]1178 },1179 "obb": {1180 "center": [1181 98.80741119384766,1182 393.33300399780273,1183 41.8165398538112641184 ],1185 "extent": [1186 80.16697692871094,1187 55.19976806640625,1188 41.327995300292971189 ],1190 "rotation": [1191 0,1192 0,1193 01194 ]1195 },1196 "location": [1197 98.80740356445312,1198 393.3330078125,1199 0.488555997610092161200 ],