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": "l020_r005",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/PizzaStore/l020_r005/lit.png",5 "camera": {6 "location": [7 -449,8 63,9 11810 ],11 "rotation": [12 0,13 -59.999999999999986,14 015 ],16 "fov": 90,17 "c2w": [18 [19 0.5000000000000002,20 -0.8660254037844384,21 0,22 023 ],24 [25 0.8660254037844384,26 0.5000000000000002,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 -449,38 63,39 118,40 141 ]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": [57 188,58 778,59 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 1842,120 0,121 1919,122 46123 ],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 1851,180 6,181 1852,182 46183 ],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 "object_id": "SM_woodroof_113",238 "bbox_2d": [239 1842,240 5,241 1919,242 50243 ],244 "bbox_3d": {245 "aabb": {246 "center": [247 318.353384929158,248 -29.895414810180228,249 419.59094345527046250 ],251 "extent": [252 102.64006227441315,253 238.89991255711357,254 37.60747276143411255 ]256 },257 "obb": {258 "center": [259 318.353384929158,260 -29.895414810180228,261 419.59094345527046262 ],263 "extent": [264 102.64006227441315,265 238.89991255711357,266 37.60747276143411267 ],268 "rotation": [269 0,270 180,271 0272 ]273 },274 "location": [275 315.8971862792969,276 -29.895389556884766,277 388.9488220214844278 ],279 "rotation": [280 0,281 180,282 0283 ],284 "scale": [285 -0.8274999856948853,286 0.8274999856948853,287 0.8274999856948853288 ]289 },290 "color": [291 191,292 0,293 255294 ]295 }296 ],297 "wall": [298 {299 "object_id": "SM_leftwall_8",300 "bbox_2d": [301 0,302 0,303 1846,304 1028305 ],306 "bbox_3d": {307 "aabb": {308 "center": [309 -512.0688954164282,310 -240.97154998867288,311 245.5155487060547312 ],313 "extent": [314 725.6351637653181,315 99.6704478559158,316 242.13623046875317 ]318 },319 "obb": {320 "center": [321 -512.0688954164282,322 -240.97154998867288,323 245.5155487060547324 ],325 "extent": [326 725.6351637653181,327 99.6704478559158,328 242.13623046875329 ],330 "rotation": [331 0,332 179.99977111816406,333 0334 ]335 },336 "location": [337 -512.0692138671875,338 -290.13128662109375,339 0340 ],341 "rotation": [342 0,343 179.99977111816406,344 0345 ],346 "scale": [347 1,348 1,349 1350 ]351 },352 "color": [353 0,354 0,355 127356 ]357 },358 {359 "object_id": "SM_backwall_14",360 "bbox_2d": [361 1842,362 196,363 1919,364 406365 ],366 "bbox_3d": {367 "aabb": {368 "center": [369 727,370 -42,371 244.2459716796875372 ],373 "extent": [374 513.4542740243764,375 298.30824864120177,376 243.74131774902344377 ]378 },379 "obb": {380 "center": [381 726.9999999999999,382 -42,383 244.2459716796875384 ],385 "extent": [386 513.4542740243764,387 298.30824864120177,388 243.74131774902344389 ],390 "rotation": [391 0,392 179.999755859375,393 0394 ]395 },396 "location": [397 727,398 -42,399 -1.56610107421875400 ],401 "rotation": [402 0,403 179.999755859375,404 0405 ],406 "scale": [407 1,408 1,409 1410 ]411 },412 "color": [413 255,414 0,415 127416 ]417 }418 ],419 "door frame": [420 {421 "object_id": "SM_doorframe_17",422 "bbox_2d": [423 1277,424 20,425 1504,426 894427 ],428 "bbox_3d": {429 "aabb": {430 "center": [431 -157.67118806118947,432 -155.33301375058022,433 141.48603439331055434 ],435 "extent": [436 59.778804806042736,437 13.562216479467907,438 135.9108123779297439 ]440 },441 "obb": {442 "center": [443 -157.67118806118947,444 -155.33301375058022,445 141.48603439331055446 ],447 "extent": [448 59.778804806042736,449 13.562216479467907,450 135.9108123779297451 ],452 "rotation": [453 0,454 179.30589294433597,455 0456 ]457 },458 "location": [459 -157.67112731933594,460 -155.33303833007812,461 7.076168060302734462 ],463 "rotation": [464 0,465 179.30589294433597,466 0467 ],468 "scale": [469 1,470 1,471 1472 ]473 },474 "color": [475 255,476 255,477 127478 ]479 },480 {481 "object_id": "SM_doorframe2",482 "bbox_2d": [483 1625,484 155,485 1756,486 757487 ],488 "bbox_3d": {489 "aabb": {490 "center": [491 49.11266356234569,492 -155.33301375058022,493 141.48603439331055494 ],495 "extent": [496 59.77880480604274,497 13.562216479467907,498 135.9108123779297499 ]500 },501 "obb": {502 "center": [503 49.11266356234569,504 -155.33301375058022,505 141.48603439331055506 ],507 "extent": [508 59.77880480604274,509 13.562216479467907,510 135.9108123779297511 ],512 "rotation": [513 0,514 179.30589294433597,515 0516 ]517 },518 "location": [519 49.11272430419922,520 -155.33303833007812,521 7.076168060302734522 ],523 "rotation": [524 0,525 179.30589294433597,526 0527 ],528 "scale": [529 1,530 1,531 1532 ]533 },534 "color": [535 0,536 127,537 0538 ]539 }540 ],541 "door": [542 {543 "object_id": "SM_wooddoor_39",544 "bbox_2d": [545 1297,546 52,547 1486,548 833549 ],550 "bbox_3d": {551 "aabb": {552 "center": [553 -156.7989273071289,554 -145.8241720199585,555 147.42587280273438556 ],557 "extent": [558 56.42961883544922,559 8.872248649597168,560 124.50353240966797561 ]562 },563 "obb": {564 "center": [565 -156.7989273071289,566 -145.8241720199585,567 147.42587280273438568 ],569 "extent": [570 56.42961883544922,571 8.872248649597168,572 124.50353240966797573 ],574 "rotation": [575 0,576 0,577 0578 ]579 },580 "location": [581 -156.7989501953125,582 -145.8241729736328,583 22.922348022460938584 ],585 "rotation": [586 0,587 0,588 0589 ],590 "scale": [591 1,592 1,593 1594 ]595 },596 "color": [597 255,598 127,599 0600 ]601 },602 {603 "object_id": "SM_wooddoor2",604 "bbox_2d": [605 1625,606 174,607 1743,608 756609 ],610 "bbox_3d": {611 "aabb": {612 "center": [613 51.556976318359375,614 -145.8241720199585,615 147.42587280273438616 ],617 "extent": [618 56.42961883544922,619 8.872248649597168,620 124.50353240966797621 ]622 },623 "obb": {624 "center": [625 51.556976318359375,626 -145.8241720199585,627 147.42587280273438628 ],629 "extent": [630 56.42961883544922,631 8.872248649597168,632 124.50353240966797633 ],634 "rotation": [635 0,636 0,637 0638 ]639 },640 "location": [641 51.55695343017578,642 -145.8241729736328,643 22.922348022460938644 ],645 "rotation": [646 0,647 0,648 0649 ],650 "scale": [651 1,652 1,653 1654 ]655 },656 "color": [657 255,658 127,659 255660 ]661 }662 ]663 },664 "foreground": {665 "sofa": [666 {667 "object_id": "SM_sofa_12",668 "bbox_2d": [669 0,670 553,671 745,672 973673 ],674 "bbox_3d": {675 "aabb": {676 "center": [677 -503.6132301379812,678 -238.85671997070312,679 60.0419155033469680 ],681 "extent": [682 135.43008252909203,683 59.66188049316406,684 53.81030763473973685 ]686 },687 "obb": {688 "center": [689 -503.6132301379812,690 -238.85671997070312,691 60.0419155033469692 ],693 "extent": [694 135.43008252909203,695 59.66188049316406,696 53.81030763473973697 ],698 "rotation": [699 0,700 0,701 0702 ]703 },704 "location": [705 -504.00567626953125,706 -236.76800537109375,707 6.208327770233154708 ],709 "rotation": [710 0,711 0,712 0713 ],714 "scale": [715 0.949999988079071,716 1,717 1.0600552558898926718 ]719 },720 "color": [721 0,722 63,723 0724 ]725 }726 ],727 "desk 008 parts": [728 {729 "object_id": "SM_desk10",730 "bbox_2d": [731 78,732 677,733 264,734 776735 ],736 "bbox_3d": {737 "aabb": {738 "center": [739 -501.6209259057787,740 -121.00936917037806,741 49.12735951261857742 ],743 "extent": [744 31.169145911191123,745 37.2653216098462,746 43.30350411253312747 ]748 },749 "obb": {750 "center": [751 -501.6209259057787,752 -121.00936917037806,753 49.12735951261857754 ],755 "extent": [756 31.169145911191123,757 37.2653216098462,758 43.30350411253312759 ],760 "rotation": [761 0,762 -1.0285085439682007,763 0764 ]765 },766 "location": [767 -501.6209411621094,768 -121.00936889648438,769 5.823855400085449770 ],771 "rotation": [772 0,773 -1.0285085439682007,774 0775 ],776 "scale": [777 1,778 1,779 0.9299650192260742780 ]781 },782 "color": [783 255,784 63,785 63786 ]787 },788 {789 "object_id": "SM_desk11",790 "bbox_2d": [791 228,792 655,793 712,794 1079795 ],796 "bbox_3d": {797 "aabb": {798 "center": [799 -437.7409210205078,800 -123.34284973144531,801 49.127434376052406802 ],803 "extent": [804 30.51487922668457,805 36.7234992980957,806 43.30350411253312807 ]808 },809 "obb": {810 "center": [811 -437.7409210205078,812 -123.34284973144531,813 49.127434376052406814 ],815 "extent": [816 30.51487922668457,817 36.7234992980957,818 43.30350411253312819 ],820 "rotation": [821 0,822 0,823 0824 ]825 },826 "location": [827 -437.7409362792969,828 -123.34284973144531,829 5.823930263519287830 ],831 "rotation": [832 0,833 0,834 0835 ],836 "scale": [837 1,838 1,839 0.9299650192260742840 ]841 },842 "color": [843 127,844 63,845 63846 ]847 }848 ],849 "chair": [850 {851 "object_id": "SM_chair_9",852 "bbox_2d": [853 0,854 672,855 268,856 1079857 ],858 "bbox_3d": {859 "aabb": {860 "center": [861 -498.5816229367251,862 -83.8694826783277,863 56.874197042362084864 ],865 "extent": [866 35.34649195179455,867 34.79240148903466,868 50.20029117735385869 ]870 },871 "obb": {872 "center": [873 -498.5816229367251,874 -83.8694826783277,875 56.874197042362084876 ],877 "extent": [878 35.34649195179455,879 34.79240148903466,880 50.20029117735385881 ],882 "rotation": [883 0,884 -174.09153747558594,885 0886 ]887 },888 "location": [889 -498.9001770019531,890 -84.29217529296875,891 6.2085723876953125892 ],893 "rotation": [894 0,895 -174.09153747558594,896 0897 ],898 "scale": [899 0.9449999928474426,900 0.9449999928474426,901 0.9449999928474426902 ]903 },904 "color": [905 63,906 0,907 63908 ]909 },910 {911 "object_id": "SM_chair_10",912 "bbox_2d": [913 384,914 696,915 882,916 1079917 ],918 "bbox_3d": {919 "aabb": {920 "center": [921 -418.9440161449248,922 -91.04469986498734,923 49.59096290895991924 ],925 "extent": [926 36.2767468080782,927 38.358072387904315,928 43.28227930600315929 ]930 },931 "obb": {932 "center": [933 -418.9440161449248,934 -91.04469986498734,935 49.59096290895991936 ],937 "extent": [938 36.2767468080782,939 38.358072387904315,940 43.28227930600315941 ],942 "rotation": [943 0,944 165.56617736816406,945 0946 ]947 },948 "location": [949 -417.50531005859375,950 -91.89265441894531,951 6.208587169647217952 ],953 "rotation": [954 0,955 165.56617736816406,956 0957 ],958 "scale": [959 0.9599999785423279,960 0.9599999785423279,961 0.9599999785423279962 ]963 },964 "color": [965 63,966 255,967 63968 ]969 }970 ],971 "rack": [972 {973 "object_id": "SM_potrack2_101",974 "bbox_2d": [975 1854,976 393,977 1865,978 402979 ],980 "bbox_3d": {981 "aabb": {982 "center": [983 668.0903504368944,984 -272.0927200141796,985 208.36021662483108986 ],987 "extent": [988 57.77327762029381,989 24.881000084882558,990 47.0049159501541991 ]992 },993 "obb": {994 "center": [995 668.0903504368944,996 -272.0927200141796,997 208.36021662483108998 ],999 "extent": [1000 57.77327762029381,1001 24.881000084882558,1002 47.00491595015411003 ],1004 "rotation": [1005 0,1006 90.00000000000001,1007 01008 ]1009 },1010 "location": [1011 668.108642578125,1012 -272.6363220214844,1013 180.72663879394531014 ],1015 "rotation": [1016 0,1017 90.00000000000001,1018 01019 ],1020 "scale": [1021 1.2925000190734863,1022 1.2925000190734863,1023 1.29250001907348631024 ]1025 },1026 "color": [1027 127,1028 191,1029 1911030 ]1031 },1032 {1033 "object_id": "SM_kitchenrack_01_191",1034 "bbox_2d": [1035 1857,1036 400,1037 1859,1038 4021039 ],1040 "bbox_3d": {1041 "aabb": {1042 "center": [1043 795.0182226657862,1044 -283.8942193627356,1045 221.203628540039061046 ],1047 "extent": [1048 69.32912685175688,1049 13.728644802682538,1050 33.615381428233381051 ]1052 },1053 "obb": {1054 "center": [1055 795.0182226657862,1056 -283.8942193627356,1057 221.203628540039061058 ],1059 "extent": [1060 69.32912685175688,1061 13.728644802682538,1062 33.615381428233381063 ],1064 "rotation": [1065 0,1066 0,1067 01068 ]1069 },1070 "location": [1071 795.0182495117188,1072 -283.89422607421875,1073 221.203628540039061074 ],1075 "rotation": [1076 0,1077 0,1078 01079 ],1080 "scale": [1081 1.4075000286102295,1082 1.4075000286102295,1083 1.40750002861022951084 ]1085 },1086 "color": [1087 0,1088 63,1089 311090 ]1091 }1092 ],1093 "lamp": [1094 {1095 "object_id": "SM_menulamp_110",1096 "bbox_2d": [1097 1811,1098 24,1099 1919,1100 2151101 ],1102 "bbox_3d": {1103 "aabb": {1104 "center": [1105 190.35113716125488,1106 -110.09845352172852,1107 324.389896392822271108 ],1109 "extent": [1110 22.20184326171875,1111 35.38909912109374,1112 38.325210571289061113 ]1114 },1115 "obb": {1116 "center": [1117 190.35113716125488,1118 -110.09845352172852,1119 324.389896392822271120 ],1121 "extent": [1122 22.20184326171875,1123 35.38909912109374,1124 38.325210571289061125 ],1126 "rotation": [1127 0,1128 180,1129 01130 ]1131 },1132 "location": [1133 194.90130615234375,1134 -110.19397735595703,1135 324.342590332031251136 ],1137 "rotation": [1138 0,1139 180,1140 01141 ],1142 "scale": [1143 1,1144 1,1145 11146 ]1147 },1148 "color": [1149 191,1150 0,1151 01152 ]1153 },1154 {1155 "object_id": "SM_simplelamp_2",1156 "bbox_2d": [1157 0,1158 481,1159 24,1160 5721161 ],1162 "bbox_3d": {1163 "aabb": {1164 "center": [1165 -503.80780029296875,1166 -118.367431640625,1167 109.832670211791991168 ],1169 "extent": [1170 8.617121696472168,1171 8.617121696472168,1172 17.3123931884765621173 ]1174 },1175 "obb": {1176 "center": [1177 -503.80780029296875,1178 -118.367431640625,1179 109.832670211791991180 ],1181 "extent": [1182 8.617121696472168,1183 8.617121696472168,1184 17.3123931884765621185 ],1186 "rotation": [1187 0,1188 0,1189 01190 ]1191 },1192 "location": [1193 -503.80780029296875,1194 -118.367431640625,1195 92.389328002929691196 ],1197 "rotation": [1198 0,1199 0,1200 0