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": "l035_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/PizzaStore/l035_r000/lit.png",5 "camera": {6 "location": [7 -314,8 22,9 20110 ],11 "rotation": [12 0,13 0,14 015 ],16 "fov": 90,17 "c2w": [18 [19 1,20 0,21 0,22 023 ],24 [25 0,26 1,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 -314,38 22,39 201,40 141 ]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": [57 521,58 751,59 1163,60 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": [119 645,120 0,121 1163,122 356123 ],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": [179 656,180 0,181 1137,182 231183 ],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": [239 656,240 195,241 1163,242 292243 ],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 0,303 659,304 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_rightwall_11",360 "bbox_2d": [361 1060,362 0,363 1919,364 1079365 ],366 "bbox_3d": {367 "aabb": {368 "center": [369 -26.000122070144926,370 201.00004196215752,371 248.09518432617188372 ],373 "extent": [374 1213.475322102896,375 56.19279383862782,376 242.13626098632812377 ]378 },379 "obb": {380 "center": [381 -26.000122070144926,382 201.00004196215752,383 248.09518432617188384 ],385 "extent": [386 1213.475322102896,387 56.19279383862782,388 242.13626098632812389 ],390 "rotation": [391 0,392 179.99977111816406,393 0394 ]395 },396 "location": [397 -26,398 201,399 9.81463623046875400 ],401 "rotation": [402 0,403 179.99977111816406,404 0405 ],406 "scale": [407 1,408 1,409 1410 ]411 },412 "color": [413 0,414 255,415 127416 ]417 },418 {419 "object_id": "SM_backwall_14",420 "bbox_2d": [421 656,422 357,423 1059,424 592425 ],426 "bbox_3d": {427 "aabb": {428 "center": [429 727,430 -42,431 244.2459716796875432 ],433 "extent": [434 513.4542740243764,435 298.30824864120177,436 243.74131774902344437 ]438 },439 "obb": {440 "center": [441 726.9999999999999,442 -42,443 244.2459716796875444 ],445 "extent": [446 513.4542740243764,447 298.30824864120177,448 243.74131774902344449 ],450 "rotation": [451 0,452 179.999755859375,453 0454 ]455 },456 "location": [457 727,458 -42,459 -1.56610107421875460 ],461 "rotation": [462 0,463 179.999755859375,464 0465 ],466 "scale": [467 1,468 1,469 1470 ]471 },472 "color": [473 255,474 0,475 127476 ]477 }478 ],479 "door frame": [480 {481 "object_id": "SM_doorframe_17",482 "bbox_2d": [483 0,484 95,485 224,486 1079487 ],488 "bbox_3d": {489 "aabb": {490 "center": [491 -157.67118806118947,492 -155.33301375058022,493 141.48603439331055494 ],495 "extent": [496 59.778804806042736,497 13.562216479467907,498 135.9108123779297499 ]500 },501 "obb": {502 "center": [503 -157.67118806118947,504 -155.33301375058022,505 141.48603439331055506 ],507 "extent": [508 59.778804806042736,509 13.562216479467907,510 135.9108123779297511 ],512 "rotation": [513 0,514 179.30589294433597,515 0516 ]517 },518 "location": [519 -157.67112731933594,520 -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": [535 255,536 255,537 127538 ]539 },540 {541 "object_id": "SM_doorframe2",542 "bbox_2d": [543 435,544 300,545 584,546 1079547 ],548 "bbox_3d": {549 "aabb": {550 "center": [551 49.11266356234569,552 -155.33301375058022,553 141.48603439331055554 ],555 "extent": [556 59.77880480604274,557 13.562216479467907,558 135.9108123779297559 ]560 },561 "obb": {562 "center": [563 49.11266356234569,564 -155.33301375058022,565 141.48603439331055566 ],567 "extent": [568 59.77880480604274,569 13.562216479467907,570 135.9108123779297571 ],572 "rotation": [573 0,574 179.30589294433597,575 0576 ]577 },578 "location": [579 49.11272430419922,580 -155.33303833007812,581 7.076168060302734582 ],583 "rotation": [584 0,585 179.30589294433597,586 0587 ],588 "scale": [589 1,590 1,591 1592 ]593 },594 "color": [595 0,596 127,597 0598 ]599 }600 ],601 "door": [602 {603 "object_id": "SM_wooddoor_39",604 "bbox_2d": [605 0,606 135,607 190,608 1079609 ],610 "bbox_3d": {611 "aabb": {612 "center": [613 -156.7989273071289,614 -145.8241720199585,615 147.42587280273438616 ],617 "extent": [618 56.42961883544922,619 8.872248649597168,620 124.50353240966797621 ]622 },623 "obb": {624 "center": [625 -156.7989273071289,626 -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 -156.7989501953125,642 -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 0660 ]661 },662 {663 "object_id": "SM_wooddoor2",664 "bbox_2d": [665 435,666 320,667 572,668 1068669 ],670 "bbox_3d": {671 "aabb": {672 "center": [673 51.556976318359375,674 -145.8241720199585,675 147.42587280273438676 ],677 "extent": [678 56.42961883544922,679 8.872248649597168,680 124.50353240966797681 ]682 },683 "obb": {684 "center": [685 51.556976318359375,686 -145.8241720199585,687 147.42587280273438688 ],689 "extent": [690 56.42961883544922,691 8.872248649597168,692 124.50353240966797693 ],694 "rotation": [695 0,696 0,697 0698 ]699 },700 "location": [701 51.55695343017578,702 -145.8241729736328,703 22.922348022460938704 ],705 "rotation": [706 0,707 0,708 0709 ],710 "scale": [711 1,712 1,713 1714 ]715 },716 "color": [717 255,718 127,719 255720 ]721 }722 ],723 "pipe": [724 {725 "object_id": "SM_Pipes_87",726 "bbox_2d": [727 954,728 378,729 1050,730 592731 ],732 "bbox_3d": {733 "aabb": {734 "center": [735 1164.9854568957085,736 86.61339285034592,737 248.83089232729253738 ],739 "extent": [740 17.764735660944098,741 75.6964546231211,742 244.47722919016087743 ]744 },745 "obb": {746 "center": [747 1164.9854568957085,748 86.6133928503459,749 248.83089232729253750 ],751 "extent": [752 17.764735660944098,753 75.6964546231211,754 244.47722919016087755 ],756 "rotation": [757 0,758 90.00000000000001,759 0760 ]761 },762 "location": [763 1174.117431640625,764 55.71179962158203,765 6.208587646484375766 ],767 "rotation": [768 0,769 90.00000000000001,770 0771 ],772 "scale": [773 1.384575366973877,774 1.384575366973877,775 1.384575366973877776 ]777 },778 "color": [779 63,780 191,781 255782 ]783 },784 {785 "object_id": "SM_pipeskitchen_90",786 "bbox_2d": [787 774,788 354,789 779,790 487791 ],792 "bbox_3d": {793 "aabb": {794 "center": [795 1177.9559863401912,796 -261.75722317782504,797 246.57614497792383798 ],799 "extent": [800 13.398842006945642,801 10.99121235027792,802 242.9800451244082803 ]804 },805 "obb": {806 "center": [807 1177.9559863401912,808 -261.75722317782504,809 246.57614497792383810 ],811 "extent": [812 13.398842006945642,813 10.99121235027792,814 242.9800451244082815 ],816 "rotation": [817 0,818 90.00000000000001,819 0820 ]821 },822 "location": [823 1172.7105712890625,824 -261.73883056640625,825 3.596099853515625826 ],827 "rotation": [828 0,829 90.00000000000001,830 0831 ],832 "scale": [833 1.0134018659591675,834 1.0134018659591675,835 1.0134018659591675836 ]837 },838 "color": [839 63,840 191,841 127842 ]843 },844 {845 "object_id": "SM_pipeskitchen3",846 "bbox_2d": [847 1129,848 378,849 1154,850 669851 ],852 "bbox_3d": {853 "aabb": {854 "center": [855 622.7100430042074,856 196.72460267988026,857 248.03538252564613858 ],859 "extent": [860 10.991213643204901,861 13.39884358308882,862 242.980073706829863 ]864 },865 "obb": {866 "center": [867 622.7100430042074,868 196.72460267988026,869 248.03538252564613870 ],871 "extent": [872 10.991213643204901,873 13.39884358308882,874 242.980073706829875 ],876 "rotation": [877 0,878 180,879 0880 ]881 },882 "location": [883 622.691650390625,884 191.47918701171875,885 5.055308818817139886 ],887 "rotation": [888 0,889 180,890 0891 ],892 "scale": [893 1.013401985168457,894 1.013401985168457,895 1.013401985168457896 ]897 },898 "color": [899 0,900 191,901 191902 ]903 }904 ]905 },906 "foreground": {907 "chair": [908 {909 "object_id": "SM_chair_21",910 "bbox_2d": [911 1181,912 1050,913 1440,914 1079915 ],916 "bbox_3d": {917 "aabb": {918 "center": [919 -142.41350819569928,920 92.69991471038334,921 49.59094765017085922 ],923 "extent": [924 34.21821829541875,925 31.55237528602568,926 43.28227930600315927 ]928 },929 "obb": {930 "center": [931 -142.41350819569928,932 92.69991471038334,933 49.59094765017085934 ],935 "extent": [936 34.21821829541875,937 31.55237528602568,938 43.28227930600315939 ],940 "rotation": [941 0,942 85.64340209960939,943 0944 ]945 },946 "location": [947 -142.99664306640625,948 91.1350326538086,949 6.208571910858154950 ],951 "rotation": [952 0,953 85.64340209960939,954 0955 ],956 "scale": [957 0.9599999785423279,958 0.9599999785423279,959 0.9599999785423279960 ]961 },962 "color": [963 127,964 63,965 191966 ]967 },968 {969 "object_id": "SM_chair_24",970 "bbox_2d": [971 1090,972 884,973 1163,974 1079975 ],976 "bbox_3d": {977 "aabb": {978 "center": [979 -20.306517504168653,980 97.73099086623577,981 56.874258077518334982 ],983 "extent": [984 34.746985705362235,985 35.30214874096422,986 50.20029117735385987 ]988 },989 "obb": {990 "center": [991 -20.306517504168653,992 97.73099086623577,993 56.874258077518334994 ],995 "extent": [996 34.746985705362235,997 35.30214874096422,998 50.20029117735385999 ],1000 "rotation": [1001 0,1002 -95.81829833984376,1003 01004 ]1005 },1006 "location": [1007 -19.9573917388916,1008 97.33317565917969,1009 6.20863342285156251010 ],1011 "rotation": [1012 0,1013 -95.81829833984376,1014 01015 ],1016 "scale": [1017 0.9449999928474426,1018 0.9449999928474426,1019 0.94499999284744261020 ]1021 },1022 "color": [1023 0,1024 191,1025 01026 ]1027 },1028 {1029 "object_id": "SM_chair_25",1030 "bbox_2d": [1031 1050,1032 784,1033 1163,1034 10561035 ],1036 "bbox_3d": {1037 "aabb": {1038 "center": [1039 78.37954523814199,1040 89.68561150994722,1041 49.590840838647411042 ],1043 "extent": [1044 33.357246151221574,1045 30.594501460831253,1046 43.282279306003151047 ]1048 },1049 "obb": {1050 "center": [1051 78.37954523814199,1052 89.68561150994722,1053 49.590840838647411054 ],1055 "extent": [1056 33.357246151221574,1057 30.594501460831253,1058 43.282279306003151059 ],1060 "rotation": [1061 0,1062 92.54388427734376,1063 01064 ]1065 },1066 "location": [1067 77.9886474609375,1068 88.06200408935547,1069 6.2084650993347171070 ],1071 "rotation": [1072 0,1073 92.54388427734376,1074 01075 ],1076 "scale": [1077 0.9599999785423279,1078 0.9599999785423279,1079 0.95999997854232791080 ]1081 },1082 "color": [1083 0,1084 191,1085 2551086 ]1087 }1088 ],1089 "desk 008 parts": [1090 {1091 "object_id": "SM_desk19",1092 "bbox_2d": [1093 1053,1094 808,1095 1163,1096 10791097 ],1098 "bbox_3d": {1099 "aabb": {1100 "center": [1101 44.53288269042935,1102 96.46658324875361,1103 49.12740481214861104 ],1105 "extent": [1106 30.522578880587098,1107 36.7298969681481,1108 43.303504112533121109 ]1110 },1111 "obb": {1112 "center": [1113 44.53288269042936,1114 96.46658324875361,1115 49.12740481214861116 ],1117 "extent": [1118 30.522578880587098,1119 36.7298969681481,1120 43.303504112533121121 ],1122 "rotation": [1123 0,1124 -0.012013999745249746,1125 01126 ]1127 },1128 "location": [1129 44.532867431640625,1130 96.46658325195312,1131 5.82390069961547851132 ],1133 "rotation": [1134 0,1135 -0.012013999745249746,1136 01137 ],1138 "scale": [1139 1,1140 1,1141 0.92996501922607421142 ]1143 },1144 "color": [1145 63,1146 127,1147 1911148 ]1149 }1150 ],1151 "shelving": [1152 {1153 "object_id": "SM_kitchenshelf_02_69",1154 "bbox_2d": [1155 1143,1156 636,1157 1158,1158 7621159 ],1160 "bbox_3d": {1161 "aabb": {1162 "center": [1163 491.3492431640625,1164 93.78185272216797,1165 61.1104965209960941166 ],1167 "extent": [1168 39.9998779296875,1169 99.99972534179693,1170 54.998950958251951171 ]1172 },1173 "obb": {1174 "center": [1175 491.3492431640625,1176 93.78185272216798,1177 61.1104965209960941178 ],1179 "extent": [1180 39.9998779296875,1181 99.99972534179693,1182 54.998950958251951183 ],1184 "rotation": [1185 0,1186 90.00000000000001,1187 01188 ]1189 },1190 "location": [1191 491.3492431640625,1192 93.78185272216797,1193 3.66861343383789061194 ],1195 "rotation": [1196 0,1197 90.00000000000001,1198 01199 ],1200 "scale": [