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": "l051_r001",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/OfficeRoomVol1/l051_r001/lit.png",5 "camera": {6 "location": [7 186,8 -112,9 15310 ],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 [37 186,38 -112,39 153,40 141 ]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": [57 647,58 755,59 1181,60 107961 ],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 1212,120 314,121 1919,122 795123 ],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 1205,180 407,181 1250,182 636183 ],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 1251,240 401,241 1332,242 640243 ],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 1467,300 385,301 1569,302 652303 ],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": [361 131,362 0,363 1211,364 1079365 ],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": [423 235,424 0,425 1479,426 409427 ],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 1423,484 0,485 1919,486 351487 ],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_WindowA001",544 "bbox_2d": [545 0,546 0,547 130,548 1079549 ],550 "bbox_3d": {551 "aabb": {552 "center": [553 400.20300245285034,554 -98.8329849243164,555 123.93044638633728556 ],557 "extent": [558 5.743960857391357,559 59.63993835449219,560 121.06996154785156561 ]562 },563 "obb": {564 "center": [565 400.20300245285034,566 -98.8329849243164,567 123.93044638633728568 ],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 -98.83300018310547,583 2.8605000972747803584 ],585 "rotation": [586 0,587 0,588 0589 ],590 "scale": [591 1,592 1,593 1594 ]595 },596 "color": [597 255,598 191,599 63600 ]601 },602 {603 "object_id": "SM_WindowA002",604 "bbox_2d": [605 591,606 205,607 833,608 1079609 ],610 "bbox_3d": {611 "aabb": {612 "center": [613 400.20300245285034,614 100.44701385498047,615 123.93044638633728616 ],617 "extent": [618 5.743960857391357,619 59.63993835449219,620 121.06996154785156621 ]622 },623 "obb": {624 "center": [625 400.20300245285034,626 100.44701385498047,627 123.93044638633728628 ],629 "extent": [630 5.743960857391357,631 59.63993835449219,632 121.06996154785156633 ],634 "rotation": [635 0,636 0,637 0638 ]639 },640 "location": [641 400.2030029296875,642 100.4469985961914,643 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 0660 ]661 },662 {663 "object_id": "SM_WindowA003",664 "bbox_2d": [665 1106,666 393,667 1168,668 793669 ],670 "bbox_3d": {671 "aabb": {672 "center": [673 400.20300245285034,674 481.16700744628906,675 123.93044638633728676 ],677 "extent": [678 5.743960857391357,679 59.63993835449219,680 121.06996154785156681 ]682 },683 "obb": {684 "center": [685 400.20300245285034,686 481.16700744628906,687 123.93044638633728688 ],689 "extent": [690 5.743960857391357,691 59.63993835449219,692 121.06996154785156693 ],694 "rotation": [695 0,696 0,697 0698 ]699 },700 "location": [701 400.2030029296875,702 481.1669921875,703 2.8605000972747803704 ],705 "rotation": [706 0,707 0,708 0709 ],710 "scale": [711 1,712 1,713 1714 ]715 },716 "color": [717 127,718 191,719 255720 ]721 }722 ],723 "window": [724 {725 "object_id": "SM_WindowB001",726 "bbox_2d": [727 834,728 293,729 1105,730 962731 ],732 "bbox_3d": {733 "aabb": {734 "center": [735 400.20300340652466,736 290.80699157714844,737 123.93044638633728738 ],739 "extent": [740 5.744003772735596,741 130.72012329101562,742 121.06996154785156743 ]744 },745 "obb": {746 "center": [747 400.20300340652466,748 290.80699157714844,749 123.93044638633728750 ],751 "extent": [752 5.744003772735596,753 130.72012329101562,754 121.06996154785156755 ],756 "rotation": [757 0,758 0,759 0760 ]761 },762 "location": [763 400.2030029296875,764 290.8070068359375,765 2.8605000972747803766 ],767 "rotation": [768 0,769 0,770 0771 ],772 "scale": [773 1,774 1,775 1776 ]777 },778 "color": [779 127,780 191,781 127782 ]783 }784 ],785 "floor planks corner": [786 {787 "object_id": "SM_Floor",788 "bbox_2d": [789 703,790 752,791 1264,792 1079793 ],794 "bbox_3d": {795 "aabb": {796 "center": [797 -19.752939224243164,798 -0.0001220703125,799 6.776263578034403e-21800 ],801 "extent": [802 404.9316711425781,803 582.3806762695312,804 3.5660530924670406e-14805 ]806 },807 "obb": {808 "center": [809 -19.752939224243164,810 -0.0001220703125,811 6.776263578034403e-21812 ],813 "extent": [814 404.9316711425781,815 582.3806762695312,816 3.5660530924670406e-14817 ],818 "rotation": [819 0,820 0,821 0822 ]823 },824 "location": [825 -9.752969741821289,826 0,827 0828 ],829 "rotation": [830 0,831 0,832 0833 ],834 "scale": [835 1,836 1,837 1838 ]839 },840 "color": [841 191,842 31,843 31844 ]845 }846 ]847 },848 "foreground": {849 "shelf": [850 {851 "object_id": "SM_ShelfC",852 "bbox_2d": [853 1333,854 392,855 1466,856 647857 ],858 "bbox_3d": {859 "aabb": {860 "center": [861 250.31798934936458,862 569.3309974670403,863 165.55535888671875864 ],865 "extent": [866 39.00605949646584,867 10.050080443684806,868 79.22671508789062869 ]870 },871 "obb": {872 "center": [873 250.31798934936458,874 569.3309974670403,875 165.55535888671875876 ],877 "extent": [878 39.00605949646584,879 10.050080443684806,880 79.22671508789062881 ],882 "rotation": [883 0,884 1.0017900422099046e-05,885 0886 ]887 },888 "location": [889 250.3179931640625,890 569.3309936523438,891 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 0908 ]909 }910 ],911 "drawer": [912 {913 "object_id": "SM_Drawer",914 "bbox_2d": [915 1201,916 635,917 1919,918 706919 ],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_SofaC",976 "bbox_2d": [977 1534,978 713,979 1919,980 959981 ],982 "bbox_3d": {983 "aabb": {984 "center": [985 98.80741119384766,986 393.33300399780273,987 41.816539853811264988 ],989 "extent": [990 80.16697692871094,991 55.19976806640625,992 41.32799530029297993 ]994 },995 "obb": {996 "center": [997 98.80741119384766,998 393.33300399780273,999 41.8165398538112641000 ],1001 "extent": [1002 80.16697692871094,1003 55.19976806640625,1004 41.327995300292971005 ],1006 "rotation": [1007 0,1008 0,1009 01010 ]1011 },1012 "location": [1013 98.80740356445312,1014 393.3330078125,1015 0.488555997610092161016 ],1017 "rotation": [1018 0,1019 0,1020 01021 ],1022 "scale": [1023 1,1024 1,1025 11026 ]1027 },1028 "color": [1029 0,1030 63,1031 01032 ]1033 },1034 {1035 "object_id": "SM_SofaB",1036 "bbox_2d": [1037 1209,1038 678,1039 1545,1040 9261041 ],1042 "bbox_3d": {1043 "aabb": {1044 "center": [1045 231.97104263306204,1046 349.5560306153131,1047 42.424793332821171048 ],1049 "extent": [1050 55.5538274253981,1051 98.97759421030975,1052 41.9362812380096561053 ]1054 },1055 "obb": {1056 "center": [1057 231.97104263306204,1058 349.5560306153131,1059 42.424793332821171060 ],1061 "extent": [1062 55.5538274253981,1063 98.97759421030975,1064 41.9362812380096561065 ],1066 "rotation": [1067 0,1068 -1.0017900422099046e-05,1069 -9.956629583030006e-061070 ]1071 },1072 "location": [1073 231.9709930419922,1074 349.5559997558594,1075 0.488555997610092161076 ],1077 "rotation": [1078 0,1079 -1.0017900422099046e-05,1080 -9.956629583030006e-061081 ],1082 "scale": [1083 1,1084 1,1085 11086 ]1087 },1088 "color": [1089 0,1090 63,1091 2551092 ]1093 },1094 {1095 "object_id": "SM_SofaA",1096 "bbox_2d": [1097 1212,1098 859,1099 1553,1100 10791101 ],1102 "bbox_3d": {1103 "aabb": {1104 "center": [1105 220.70299148559315,1106 210.3779913311881,1107 18.9385605752445441108 ],1109 "extent": [1110 43.5776674657057,1111 44.94700179231691,1112 18.4500295544810271113 ]1114 },1115 "obb": {1116 "center": [1117 220.70299148559315,1118 210.3779913311881,1119 18.938560575244541120 ],1121 "extent": [1122 43.5776674657057,1123 44.94700179231691,1124 18.4500295544810271125 ],1126 "rotation": [1127 0,1128 -1.0017900422099046e-05,1129 -9.956629583030006e-061130 ]1131 },1132 "location": [1133 220.7030029296875,1134 210.3780059814453,1135 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 1271152 ]1153 }1154 ],1155 "table": [1156 {1157 "object_id": "SM_TableA",1158 "bbox_2d": [1159 1903,1160 931,1161 1919,1162 9741163 ],1164 "bbox_3d": {1165 "aabb": {1166 "center": [1167 16.7814998626709,1168 251.64304733276367,1169 21.467627286911011170 ],1171 "extent": [1172 73.61701965332031,1173 52.62053298950195,1174 20.94861412048341175 ]1176 },1177 "obb": {1178 "center": [1179 16.7814998626709,1180 251.64304733276367,1181 21.467627286911011182 ],1183 "extent": [1184 73.61701965332031,1185 52.62053298950195,1186 20.94861412048341187 ],1188 "rotation": [1189 0,1190 0,1191 01192 ]1193 },1194 "location": [1195 16.7814998626709,1196 251.64300537109375,1197 0.51901698112487791198 ],1199 "rotation": [1200 0,