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": "PizzaStore",3 "view_id": "l009_off0_r002",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/PizzaStore/l009_off0_r002/lit.png",5 "camera": {6 "location": [7 186,8 -82,9 14810 ],11 "rotation": [12 0,13 119.99999999999999,14 015 ],16 "fov": 90,17 "c2w": [18 [19 -0.4999999999999998,20 0.8660254037844384,21 0,22 023 ],24 [25 -0.8660254037844384,26 -0.4999999999999998,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 186,38 -82,39 148,40 141 ]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 "ground": [54 {55 "object_id": "SM_ground_8",56 "bbox_2d": [57 401,58 751,59 1919,60 107961 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 -0.999755859375,66 -27,67 -5.1021575927734375e-0568 ],69 "extent": [70 1238.3093261718745,71 284.8822830769005,72 6.208618164062573 ]74 },75 "obb": {76 "center": [77 -0.999755859375,78 -27,79 -5.1021575927734375e-0580 ],81 "extent": [82 1238.3093261718745,83 284.8822830769005,84 6.208618164062585 ],86 "rotation": [87 0,88 180,89 090 ]91 },92 "location": [93 -1,94 -27,95 096 ],97 "rotation": [98 0,99 180,100 0101 ],102 "scale": [103 1,104 0.9549999833106995,105 1106 ]107 },108 "color": [109 255,110 255,111 0112 ]113 }114 ],115 "roof": [116 {117 "object_id": "SM_roof_5",118 "bbox_2d": [119 1695,120 0,121 1919,122 130123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 -3,128 -24.625823974609375,129 491.1820068359375130 ],131 "extent": [132 1235.6843500952236,133 284.49486201703985,134 3.760068655014038135 ]136 },137 "obb": {138 "center": [139 -3,140 -24.625823974609375,141 491.1820068359375142 ],143 "extent": [144 1235.6843500952236,145 284.49486201703985,146 3.760068655014038147 ],148 "rotation": [149 0,150 0,151 0152 ]153 },154 "location": [155 -3,156 -24.625823974609375,157 491.1820068359375158 ],159 "rotation": [160 0,161 0,162 0163 ],164 "scale": [165 1.0174999237060547,166 1.0950000286102295,167 1168 ]169 },170 "color": [171 255,172 255,173 255174 ]175 },176 {177 "object_id": "SM_roofmetal_21",178 "bbox_2d": [179 1543,180 0,181 1919,182 188183 ],184 "bbox_3d": {185 "aabb": {186 "center": [187 -107.95600891113281,188 -49.59537506103514,189 450.57637139898725190 ],191 "extent": [192 840.7164306640622,193 266.835693359375,194 39.01462141495722195 ]196 },197 "obb": {198 "center": [199 -107.95600891113281,200 -49.595375061035156,201 450.57637139898725202 ],203 "extent": [204 840.7164306640622,205 266.835693359375,206 39.01462141495722207 ],208 "rotation": [209 0,210 180,211 0212 ]213 },214 "location": [215 -107.95594787597656,216 3.7793197631835938,217 451.0682678222656218 ],219 "rotation": [220 0,221 180,222 0223 ],224 "scale": [225 1,226 1,227 0.8899327516555786228 ]229 },230 "color": [231 0,232 127,233 255234 ]235 }236 ],237 "wall": [238 {239 "object_id": "SM_rightwall_11",240 "bbox_2d": [241 0,242 0,243 1919,244 1079245 ],246 "bbox_3d": {247 "aabb": {248 "center": [249 -26.000122070144926,250 201.00004196215752,251 248.09518432617188252 ],253 "extent": [254 1213.475322102896,255 56.19279383862782,256 242.13626098632812257 ]258 },259 "obb": {260 "center": [261 -26.000122070144926,262 201.00004196215752,263 248.09518432617188264 ],265 "extent": [266 1213.475322102896,267 56.19279383862782,268 242.13626098632812269 ],270 "rotation": [271 0,272 179.99977111816406,273 0274 ]275 },276 "location": [277 -26,278 201,279 9.81463623046875280 ],281 "rotation": [282 0,283 179.99977111816406,284 0285 ],286 "scale": [287 1,288 1,289 1290 ]291 },292 "color": [293 0,294 255,295 127296 ]297 }298 ]299 },300 "foreground": {301 "desk 008 parts": [302 {303 "object_id": "SM_desk15",304 "bbox_2d": [305 1916,306 646,307 1919,308 649309 ],310 "bbox_3d": {311 "aabb": {312 "center": [313 -532.0759124793296,314 98.14258541641031,315 49.12740433531144316 ],317 "extent": [318 31.320822984556003,319 37.39039804338098,320 43.30350411253312321 ]322 },323 "obb": {324 "center": [325 -532.0759124793296,326 98.14258541641033,327 49.12740433531144328 ],329 "extent": [330 31.320822984556003,331 37.39039804338098,332 43.30350411253312333 ],334 "rotation": [335 0,336 -1.2692129611968996,337 0338 ]339 },340 "location": [341 -532.075927734375,342 98.14258575439453,343 5.82390022277832344 ],345 "rotation": [346 0,347 -1.2692129611968996,348 0349 ],350 "scale": [351 1,352 1,353 0.9299650192260742354 ]355 },356 "color": [357 0,358 127,359 191360 ]361 },362 {363 "object_id": "SM_desk16",364 "bbox_2d": [365 1501,366 661,367 1593,368 876369 ],370 "bbox_3d": {371 "aabb": {372 "center": [373 -218.87796020507812,374 172.06649780273438,375 49.12738907652238376 ],377 "extent": [378 30.51487922668457,379 36.7234992980957,380 43.30350411253312381 ]382 },383 "obb": {384 "center": [385 -218.87796020507812,386 172.06649780273438,387 49.12738907652238388 ],389 "extent": [390 30.51487922668457,391 36.7234992980957,392 43.30350411253312393 ],394 "rotation": [395 0,396 0,397 0398 ]399 },400 "location": [401 -218.8779754638672,402 172.06649780273438,403 5.823884963989258404 ],405 "rotation": [406 0,407 0,408 0409 ],410 "scale": [411 1,412 1,413 0.9299650192260742414 ]415 },416 "color": [417 255,418 63,419 191420 ]421 },422 {423 "object_id": "SM_desk17",424 "bbox_2d": [425 1518,426 672,427 1823,428 947429 ],430 "bbox_3d": {431 "aabb": {432 "center": [433 -219.42434692382847,434 96.46644591965202,435 49.127373817733314436 ],437 "extent": [438 30.522578946237672,439 36.72989702269527,440 43.30350411253312441 ]442 },443 "obb": {444 "center": [445 -219.42434692382847,446 96.46644591965202,447 49.127373817733314448 ],449 "extent": [450 30.522578946237672,451 36.72989702269527,452 43.30350411253312453 ],454 "rotation": [455 0,456 -0.012014102190732956,457 0458 ]459 },460 "location": [461 -219.4243621826172,462 96.46644592285156,463 5.823869705200195464 ],465 "rotation": [466 0,467 -0.012014102190732956,468 0469 ],470 "scale": [471 1,472 1,473 0.9299650192260742474 ]475 },476 "color": [477 127,478 0,479 191480 ]481 },482 {483 "object_id": "SM_desk18",484 "bbox_2d": [485 832,486 698,487 1078,488 923489 ],490 "bbox_3d": {491 "aabb": {492 "center": [493 44.798126220703125,494 172.06663513183594,495 49.127373817733314496 ],497 "extent": [498 30.51487922668457,499 36.7234992980957,500 43.30350411253312501 ]502 },503 "obb": {504 "center": [505 44.798126220703125,506 172.06663513183594,507 49.127373817733314508 ],509 "extent": [510 30.51487922668457,511 36.7234992980957,512 43.30350411253312513 ],514 "rotation": [515 0,516 0,517 0518 ]519 },520 "location": [521 44.79811096191406,522 172.06663513183594,523 5.823869705200195524 ],525 "rotation": [526 0,527 0,528 0529 ],530 "scale": [531 1,532 1,533 0.9299650192260742534 ]535 },536 "color": [537 63,538 255,539 191540 ]541 },542 {543 "object_id": "SM_desk19",544 "bbox_2d": [545 915,546 737,547 1318,548 1079549 ],550 "bbox_3d": {551 "aabb": {552 "center": [553 44.53288269042935,554 96.46658324875361,555 49.1274048121486556 ],557 "extent": [558 30.522578880587098,559 36.7298969681481,560 43.30350411253312561 ]562 },563 "obb": {564 "center": [565 44.53288269042936,566 96.46658324875361,567 49.1274048121486568 ],569 "extent": [570 30.522578880587098,571 36.7298969681481,572 43.30350411253312573 ],574 "rotation": [575 0,576 -0.012013999745249746,577 0578 ]579 },580 "location": [581 44.532867431640625,582 96.46658325195312,583 5.8239006996154785584 ],585 "rotation": [586 0,587 -0.012013999745249746,588 0589 ],590 "scale": [591 1,592 1,593 0.9299650192260742594 ]595 },596 "color": [597 63,598 127,599 191600 ]601 }602 ],603 "chair": [604 {605 "object_id": "SM_chair_15",606 "bbox_2d": [607 1916,608 736,609 1917,610 754611 ],612 "bbox_3d": {613 "aabb": {614 "center": [615 -607.2270967173247,616 167.34073256248888,617 49.59094765017085618 ],619 "extent": [620 33.078338578108855,621 30.285558657286288,622 43.28227930600315623 ]624 },625 "obb": {626 "center": [627 -607.2270967173247,628 167.34073256248888,629 49.59094765017085630 ],631 "extent": [632 33.078338578108855,633 30.285558657286288,634 43.28227930600315635 ],636 "rotation": [637 0,638 -91.97135925292972,639 0640 ]641 },642 "location": [643 -606.7095947265625,644 168.92852783203125,645 6.208571910858154646 ],647 "rotation": [648 0,649 -91.97135925292972,650 0651 ],652 "scale": [653 0.9599999785423279,654 0.9599999785423279,655 0.9599999785423279656 ]657 },658 "color": [659 0,660 63,661 191662 ]663 },664 {665 "object_id": "SM_chair_16",666 "bbox_2d": [667 1916,668 610,669 1919,670 620671 ],672 "bbox_3d": {673 "aabb": {674 "center": [675 -603.3050597651505,676 97.8179107853997,677 56.87418178357302678 ],679 "extent": [680 41.832456938947075,681 42.15676340635872,682 50.20029117735385683 ]684 },685 "obb": {686 "center": [687 -603.3050597651505,688 97.8179107853997,689 56.87418178357302690 ],691 "extent": [692 41.832456938947075,693 42.15676340635872,694 50.20029117735385695 ],696 "rotation": [697 0,698 -113.34207153320314,699 0700 ]701 },702 "location": [703 -603.0919189453125,704 97.33343505859375,705 6.20855712890625706 ],707 "rotation": [708 0,709 -113.34207153320314,710 0711 ],712 "scale": [713 0.9449999928474426,714 0.9449999928474426,715 0.9449999928474426716 ]717 },718 "color": [719 255,720 0,721 191722 ]723 },724 {725 "object_id": "SM_chair_17",726 "bbox_2d": [727 1916,728 621,729 1919,730 716731 ],732 "bbox_3d": {733 "aabb": {734 "center": [735 -513.8945650544138,736 107.79517511575094,737 101.12839696576543738 ],739 "extent": [740 32.53614996278043,741 29.686747429376595,742 43.28227930600315743 ]744 },745 "obb": {746 "center": [747 -513.8945650544138,748 107.79517511575094,749 101.12839696576543750 ],751 "extent": [752 32.53614996278043,753 29.686747429376595,754 43.28227930600315755 ],756 "rotation": [757 0,758 -89.12280273437499,759 180760 ]761 },762 "location": [763 -514.3816528320312,764 109.39256286621094,765 144.51077270507812766 ],767 "rotation": [768 0,769 -89.12280273437499,770 180771 ],772 "scale": [773 0.9599999785423279,774 0.9599999785423279,775 0.9599999785423279776 ]777 },778 "color": [779 255,780 255,781 191782 ]783 },784 {785 "object_id": "SM_chair_19",786 "bbox_2d": [787 1501,788 650,789 1649,790 806791 ],792 "bbox_3d": {793 "aabb": {794 "center": [795 -283.6292878794341,796 167.34041212791857,797 49.59094765017085798 ],799 "extent": [800 33.07833857810884,801 30.285558657286288,802 43.28227930600315803 ]804 },805 "obb": {806 "center": [807 -283.6292878794341,808 167.34041212791857,809 49.59094765017085810 ],811 "extent": [812 33.07833857810884,813 30.285558657286288,814 43.28227930600315815 ],816 "rotation": [817 0,818 -91.97135925292972,819 0820 ]821 },822 "location": [823 -283.1117858886719,824 168.92820739746094,825 6.208571910858154826 ],827 "rotation": [828 0,829 -91.97135925292972,830 0831 ],832 "scale": [833 0.9599999785423279,834 0.9599999785423279,835 0.9599999785423279836 ]837 },838 "color": [839 127,840 255,841 191842 ]843 },844 {845 "object_id": "SM_chair_20",846 "bbox_2d": [847 1649,848 633,849 1879,850 916851 ],852 "bbox_3d": {853 "aabb": {854 "center": [855 -299.7014622870114,856 97.71896802283929,857 56.87418178357302858 ],859 "extent": [860 33.752413922546225,861 34.33024546734423,862 50.20029117735385863 ]864 },865 "obb": {866 "center": [867 -299.7014622870114,868 97.7189680228393,869 56.87418178357302870 ],871 "extent": [872 33.752413922546225,873 34.33024546734423,874 50.20029117735385875 ],876 "rotation": [877 0,878 -93.88452148437503,879 0880 ]881 },882 "location": [883 -299.339111328125,884 97.33316040039062,885 6.20855712890625886 ],887 "rotation": [888 0,889 -93.88452148437503,890 0891 ],892 "scale": [893 0.9449999928474426,894 0.9449999928474426,895 0.9449999928474426896 ]897 },898 "color": [899 127,900 127,901 191902 ]903 },904 {905 "object_id": "SM_chair_21",906 "bbox_2d": [907 1501,908 716,909 1695,910 1033911 ],912 "bbox_3d": {913 "aabb": {914 "center": [915 -142.41350819569928,916 92.69991471038334,917 49.59094765017085918 ],919 "extent": [920 34.21821829541875,921 31.55237528602568,922 43.28227930600315923 ]924 },925 "obb": {926 "center": [927 -142.41350819569928,928 92.69991471038334,929 49.59094765017085930 ],931 "extent": [932 34.21821829541875,933 31.55237528602568,934 43.28227930600315935 ],936 "rotation": [937 0,938 85.64340209960939,939 0940 ]941 },942 "location": [943 -142.99664306640625,944 91.1350326538086,945 6.208571910858154946 ],947 "rotation": [948 0,949 85.64340209960939,950 0951 ],952 "scale": [953 0.9599999785423279,954 0.9599999785423279,955 0.9599999785423279956 ]957 },958 "color": [959 127,960 63,961 191962 ]963 },964 {965 "object_id": "SM_chair_22",966 "bbox_2d": [967 1501,968 752,969 1541,970 887971 ],972 "bbox_3d": {973 "aabb": {974 "center": [975 -180.17657345393476,976 160.5481205591148,977 56.87418178357302978 ],979 "extent": [980 35.539341791007985,981 36.07528669451199,982 50.20029117735385983 ]984 },985 "obb": {986 "center": [987 -180.17657345393476,988 160.5481205591148,989 56.87418178357302990 ],991 "extent": [992 35.539341791007985,993 36.07528669451199,994 50.20029117735385995 ],996 "rotation": [997 0,998 82.58309173583984,999 01000 ]1001 },1002 "location": [1003 -180.51446533203125,1004 160.9555206298828,1005 6.208557128906251006 ],1007 "rotation": [1008 0,1009 82.58309173583984,1010 01011 ],1012 "scale": [1013 0.9449999928474426,1014 0.9449999928474426,1015 0.94499999284744261016 ]1017 },1018 "color": [1019 63,1020 0,1021 1911022 ]1023 },1024 {1025 "object_id": "SM_chair_23",1026 "bbox_2d": [1027 987,1028 692,1029 1240,1030 9821031 ],1032 "bbox_3d": {1033 "aabb": {1034 "center": [1035 -15.04451004740286,1036 167.3403968691295,1037 49.5909323913817841038 ],1039 "extent": [1040 33.078338578108834,1041 30.285558657286288,1042 43.282279306003151043 ]1044 },1045 "obb": {1046 "center": [1047 -15.04451004740286,1048 167.3403968691295,1049 49.5909323913817841050 ],1051 "extent": [1052 33.078338578108834,1053 30.285558657286288,1054 43.282279306003151055 ],1056 "rotation": [1057 0,1058 -91.97135925292972,1059 01060 ]1061 },1062 "location": [1063 -14.527008056640625,1064 168.92819213867188,1065 6.2085566520690921066 ],1067 "rotation": [1068 0,1069 -91.97135925292972,1070 01071 ],1072 "scale": [1073 0.9599999785423279,1074 0.9599999785423279,1075 0.95999997854232791076 ]1077 },1078 "color": [1079 63,1080 63,1081 1911082 ]1083 },1084 {1085 "object_id": "SM_chair_24",1086 "bbox_2d": [1087 1139,1088 678,1089 1456,1090 10791091 ],1092 "bbox_3d": {1093 "aabb": {1094 "center": [1095 -20.306517504168653,1096 97.73099086623577,1097 56.8742580775183341098 ],1099 "extent": [1100 34.746985705362235,1101 35.30214874096422,1102 50.200291177353851103 ]1104 },1105 "obb": {1106 "center": [1107 -20.306517504168653,1108 97.73099086623577,1109 56.8742580775183341110 ],1111 "extent": [1112 34.746985705362235,1113 35.30214874096422,1114 50.200291177353851115 ],1116 "rotation": [1117 0,1118 -95.81829833984376,1119 01120 ]1121 },1122 "location": [1123 -19.9573917388916,1124 97.33317565917969,1125 6.20863342285156251126 ],1127 "rotation": [1128 0,1129 -95.81829833984376,1130 01131 ],1132 "scale": [1133 0.9449999928474426,1134 0.9449999928474426,1135 0.94499999284744261136 ]1137 },1138 "color": [1139 0,1140 191,1141 01142 ]1143 },1144 {1145 "object_id": "SM_chair_25",1146 "bbox_2d": [1147 822,1148 782,1149 1188,1150 10791151 ],1152 "bbox_3d": {1153 "aabb": {1154 "center": [1155 78.37954523814199,1156 89.68561150994722,1157 49.590840838647411158 ],1159 "extent": [1160 33.357246151221574,1161 30.594501460831253,1162 43.282279306003151163 ]1164 },1165 "obb": {1166 "center": [1167 78.37954523814199,1168 89.68561150994722,1169 49.590840838647411170 ],1171 "extent": [1172 33.357246151221574,1173 30.594501460831253,1174 43.282279306003151175 ],1176 "rotation": [1177 0,1178 92.54388427734376,1179 01180 ]1181 },1182 "location": [1183 77.9886474609375,1184 88.06200408935547,1185 6.2084650993347171186 ],1187 "rotation": [1188 0,1189 92.54388427734376,1190 01191 ],1192 "scale": [1193 0.9599999785423279,1194 0.9599999785423279,1195 0.95999997854232791196 ]1197 },1198 "color": [1199 0,1200 191,