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": "l027_off0_r005",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/PizzaStore/l027_off0_r005/lit.png",5 "camera": {6 "location": [7 -321,8 172,9 14810 ],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 -321,38 172,39 148,40 141 ]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 2,58 805,59 1710,60 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 1499,120 0,121 1710,122 115123 ],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 1499,180 0,181 1666,182 76183 ],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 1499,240 30,241 1710,242 127243 ],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 1502,304 1079305 ],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 1499,362 235,363 1710,364 470365 ],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": [423 760,424 157,425 1048,426 960427 ],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 1208,484 250,485 1381,486 816487 ],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": [545 780,546 181,547 1031,548 897549 ],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 1223,606 267,607 1368,608 791609 ],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 0,670 632,671 194,672 1034673 ],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_desk11",730 "bbox_2d": [731 0,732 759,733 14,734 769735 ],736 "bbox_3d": {737 "aabb": {738 "center": [739 -437.7409210205078,740 -123.34284973144531,741 49.127434376052406742 ],743 "extent": [744 30.51487922668457,745 36.7234992980957,746 43.30350411253312747 ]748 },749 "obb": {750 "center": [751 -437.7409210205078,752 -123.34284973144531,753 49.127434376052406754 ],755 "extent": [756 30.51487922668457,757 36.7234992980957,758 43.30350411253312759 ],760 "rotation": [761 0,762 0,763 0764 ]765 },766 "location": [767 -437.7409362792969,768 -123.34284973144531,769 5.823930263519287770 ],771 "rotation": [772 0,773 0,774 0775 ],776 "scale": [777 1,778 1,779 0.9299650192260742780 ]781 },782 "color": [783 127,784 63,785 63786 ]787 },788 {789 "object_id": "SM_desk17",790 "bbox_2d": [791 999,792 868,793 1874,794 1079795 ],796 "bbox_3d": {797 "aabb": {798 "center": [799 -219.42434692382847,800 96.46644591965202,801 49.127373817733314802 ],803 "extent": [804 30.522578946237672,805 36.72989702269527,806 43.30350411253312807 ]808 },809 "obb": {810 "center": [811 -219.42434692382847,812 96.46644591965202,813 49.127373817733314814 ],815 "extent": [816 30.522578946237672,817 36.72989702269527,818 43.30350411253312819 ],820 "rotation": [821 0,822 -0.012014102190732956,823 0824 ]825 },826 "location": [827 -219.4243621826172,828 96.46644592285156,829 5.823869705200195830 ],831 "rotation": [832 0,833 -0.012014102190732956,834 0835 ],836 "scale": [837 1,838 1,839 0.9299650192260742840 ]841 },842 "color": [843 127,844 0,845 191846 ]847 }848 ],849 "chair": [850 {851 "object_id": "SM_chair_10",852 "bbox_2d": [853 0,854 825,855 17,856 1079857 ],858 "bbox_3d": {859 "aabb": {860 "center": [861 -418.9440161449248,862 -91.04469986498734,863 49.59096290895991864 ],865 "extent": [866 36.2767468080782,867 38.358072387904315,868 43.28227930600315869 ]870 },871 "obb": {872 "center": [873 -418.9440161449248,874 -91.04469986498734,875 49.59096290895991876 ],877 "extent": [878 36.2767468080782,879 38.358072387904315,880 43.28227930600315881 ],882 "rotation": [883 0,884 165.56617736816406,885 0886 ]887 },888 "location": [889 -417.50531005859375,890 -91.89265441894531,891 6.208587169647217892 ],893 "rotation": [894 0,895 165.56617736816406,896 0897 ],898 "scale": [899 0.9599999785423279,900 0.9599999785423279,901 0.9599999785423279902 ]903 },904 "color": [905 63,906 255,907 63908 ]909 },910 {911 "object_id": "SM_chair_20",912 "bbox_2d": [913 280,914 1023,915 350,916 1079917 ],918 "bbox_3d": {919 "aabb": {920 "center": [921 -299.7014622870114,922 97.71896802283929,923 56.87418178357302924 ],925 "extent": [926 33.752413922546225,927 34.33024546734423,928 50.20029117735385929 ]930 },931 "obb": {932 "center": [933 -299.7014622870114,934 97.7189680228393,935 56.87418178357302936 ],937 "extent": [938 33.752413922546225,939 34.33024546734423,940 50.20029117735385941 ],942 "rotation": [943 0,944 -93.88452148437503,945 0946 ]947 },948 "location": [949 -299.339111328125,950 97.33316040039062,951 6.20855712890625952 ],953 "rotation": [954 0,955 -93.88452148437503,956 0957 ],958 "scale": [959 0.9449999928474426,960 0.9449999928474426,961 0.9449999928474426962 ]963 },964 "color": [965 127,966 127,967 191968 ]969 },970 {971 "object_id": "SM_chair_21",972 "bbox_2d": [973 1522,974 817,975 1919,976 1079977 ],978 "bbox_3d": {979 "aabb": {980 "center": [981 -142.41350819569928,982 92.69991471038334,983 49.59094765017085984 ],985 "extent": [986 34.21821829541875,987 31.55237528602568,988 43.28227930600315989 ]990 },991 "obb": {992 "center": [993 -142.41350819569928,994 92.69991471038334,995 49.59094765017085996 ],997 "extent": [998 34.21821829541875,999 31.55237528602568,1000 43.282279306003151001 ],1002 "rotation": [1003 0,1004 85.64340209960939,1005 01006 ]1007 },1008 "location": [1009 -142.99664306640625,1010 91.1350326538086,1011 6.2085719108581541012 ],1013 "rotation": [1014 0,1015 85.64340209960939,1016 01017 ],1018 "scale": [1019 0.9599999785423279,1020 0.9599999785423279,1021 0.95999997854232791022 ]1023 },1024 "color": [1025 127,1026 63,1027 1911028 ]1029 },1030 {1031 "object_id": "SM_chair_22",1032 "bbox_2d": [1033 1882,1034 887,1035 1919,1036 9491037 ],1038 "bbox_3d": {1039 "aabb": {1040 "center": [1041 -180.17657345393476,1042 160.5481205591148,1043 56.874181783573021044 ],1045 "extent": [1046 35.539341791007985,1047 36.07528669451199,1048 50.200291177353851049 ]1050 },1051 "obb": {1052 "center": [1053 -180.17657345393476,1054 160.5481205591148,1055 56.874181783573021056 ],1057 "extent": [1058 35.539341791007985,1059 36.07528669451199,1060 50.200291177353851061 ],1062 "rotation": [1063 0,1064 82.58309173583984,1065 01066 ]1067 },1068 "location": [1069 -180.51446533203125,1070 160.9555206298828,1071 6.208557128906251072 ],1073 "rotation": [1074 0,1075 82.58309173583984,1076 01077 ],1078 "scale": [1079 0.9449999928474426,1080 0.9449999928474426,1081 0.94499999284744261082 ]1083 },1084 "color": [1085 63,1086 0,1087 1911088 ]1089 }1090 ],1091 "rack": [1092 {1093 "object_id": "SM_potrack_98",1094 "bbox_2d": [1095 1517,1096 413,1097 1629,1098 4621099 ],1100 "bbox_3d": {1101 "aabb": {1102 "center": [1103 552.9032776829881,1104 -272.0926284614452,1105 208.360216624831081106 ],1107 "extent": [1108 57.77327762029381,1109 24.881000084882558,1110 47.00491595015411111 ]1112 },1113 "obb": {1114 "center": [1115 552.9032776829881,1116 -272.0926284614452,1117 208.360216624831081118 ],1119 "extent": [1120 57.77327762029381,1121 24.881000084882558,1122 47.00491595015411123 ],1124 "rotation": [1125 0,1126 90.00000000000001,1127 01128 ]1129 },1130 "location": [1131 552.9215698242188,1132 -272.63623046875,1133 180.72663879394531134 ],1135 "rotation": [1136 0,1137 90.00000000000001,1138 01139 ],1140 "scale": [1141 1.2925000190734863,1142 1.2925000190734863,1143 1.29250001907348631144 ]1145 },1146 "color": [1147 255,1148 191,1149 1911150 ]1151 },1152 {1153 "object_id": "SM_potrack2_101",1154 "bbox_2d": [1155 1591,1156 422,1157 1660,1158 4511159 ],1160 "bbox_3d": {1161 "aabb": {1162 "center": [1163 668.0903504368944,1164 -272.0927200141796,1165 208.360216624831081166 ],1167 "extent": [1168 57.77327762029381,1169 24.881000084882558,1170 47.00491595015411171 ]1172 },1173 "obb": {1174 "center": [1175 668.0903504368944,1176 -272.0927200141796,1177 208.360216624831081178 ],1179 "extent": [1180 57.77327762029381,1181 24.881000084882558,1182 47.00491595015411183 ],1184 "rotation": [1185 0,1186 90.00000000000001,1187 01188 ]1189 },1190 "location": [1191 668.108642578125,1192 -272.6363220214844,1193 180.72663879394531194 ],1195 "rotation": [1196 0,1197 90.00000000000001,1198 01199 ],1200 "scale": [