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": "l043_off0_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/PizzaStore/l043_off0_r000/lit.png",5 "camera": {6 "location": [7 -889,8 -251,9 23110 ],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 -889,38 -251,39 231,40 141 ]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 1126,58 693,59 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": [119 866,120 0,121 1821,122 373123 ],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": [179 868,180 0,181 1919,182 401183 ],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 1158,240 374,241 1340,242 428243 ],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 1162,304 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 1158,362 60,363 1919,364 1004365 ],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 "pipe": [420 {421 "object_id": "SM_pipeskitchen3",422 "bbox_2d": [423 1238,424 475,425 1253,426 588427 ],428 "bbox_3d": {429 "aabb": {430 "center": [431 622.7100430042074,432 196.72460267988026,433 248.03538252564613434 ],435 "extent": [436 10.991213643204901,437 13.39884358308882,438 242.980073706829439 ]440 },441 "obb": {442 "center": [443 622.7100430042074,444 196.72460267988026,445 248.03538252564613446 ],447 "extent": [448 10.991213643204901,449 13.39884358308882,450 242.980073706829451 ],452 "rotation": [453 0,454 180,455 0456 ]457 },458 "location": [459 622.691650390625,460 191.47918701171875,461 5.055308818817139462 ],463 "rotation": [464 0,465 180,466 0467 ],468 "scale": [469 1.013401985168457,470 1.013401985168457,471 1.013401985168457472 ]473 },474 "color": [475 0,476 191,477 191478 ]479 }480 ]481 },482 "foreground": {483 "sofa": [484 {485 "object_id": "SM_sofa_10",486 "bbox_2d": [487 767,488 1011,489 1250,490 1079491 ],492 "bbox_3d": {493 "aabb": {494 "center": [495 -772.9204200793874,496 -238.85671997070312,497 60.0421596439719498 ],499 "extent": [500 135.43008252909203,501 59.66188049316406,502 53.81030763473973503 ]504 },505 "obb": {506 "center": [507 -772.9204200793874,508 -238.85671997070312,509 60.0421596439719510 ],511 "extent": [512 135.43008252909203,513 59.66188049316406,514 53.81030763473973515 ],516 "rotation": [517 0,518 0,519 0520 ]521 },522 "location": [523 -773.3128662109375,524 -236.76800537109375,525 6.208571910858154526 ],527 "rotation": [528 0,529 0,530 0531 ],532 "scale": [533 0.949999988079071,534 1,535 1.0600552558898926536 ]537 },538 "color": [539 127,540 127,541 63542 ]543 },544 {545 "object_id": "SM_sofa_12",546 "bbox_2d": [547 791,548 763,549 1219,550 1025551 ],552 "bbox_3d": {553 "aabb": {554 "center": [555 -503.6132301379812,556 -238.85671997070312,557 60.0419155033469558 ],559 "extent": [560 135.43008252909203,561 59.66188049316406,562 53.81030763473973563 ]564 },565 "obb": {566 "center": [567 -503.6132301379812,568 -238.85671997070312,569 60.0419155033469570 ],571 "extent": [572 135.43008252909203,573 59.66188049316406,574 53.81030763473973575 ],576 "rotation": [577 0,578 0,579 0580 ]581 },582 "location": [583 -504.00567626953125,584 -236.76800537109375,585 6.208327770233154586 ],587 "rotation": [588 0,589 0,590 0591 ],592 "scale": [593 0.949999988079071,594 1,595 1.0600552558898926596 ]597 },598 "color": [599 0,600 63,601 0602 ]603 }604 ],605 "desk 008 parts": [606 {607 "object_id": "SM_desk9",608 "bbox_2d": [609 1216,610 916,611 1508,612 1079613 ],614 "bbox_3d": {615 "aabb": {616 "center": [617 -565.0784759521484,618 -119.87359619140625,619 49.12735951261857620 ],621 "extent": [622 30.51487922668457,623 36.7234992980957,624 43.30350411253312625 ]626 },627 "obb": {628 "center": [629 -565.0784759521484,630 -119.87359619140625,631 49.12735951261857632 ],633 "extent": [634 30.51487922668457,635 36.7234992980957,636 43.30350411253312637 ],638 "rotation": [639 0,640 0,641 0642 ]643 },644 "location": [645 -565.0784912109375,646 -119.87359619140625,647 5.823855400085449648 ],649 "rotation": [650 0,651 0,652 0653 ],654 "scale": [655 1,656 1,657 0.9299650192260742658 ]659 },660 "color": [661 0,662 63,663 63664 ]665 },666 {667 "object_id": "SM_desk10",668 "bbox_2d": [669 1173,670 858,671 1408,672 1079673 ],674 "bbox_3d": {675 "aabb": {676 "center": [677 -501.6209259057787,678 -121.00936917037806,679 49.12735951261857680 ],681 "extent": [682 31.169145911191123,683 37.2653216098462,684 43.30350411253312685 ]686 },687 "obb": {688 "center": [689 -501.6209259057787,690 -121.00936917037806,691 49.12735951261857692 ],693 "extent": [694 31.169145911191123,695 37.2653216098462,696 43.30350411253312697 ],698 "rotation": [699 0,700 -1.0285085439682007,701 0702 ]703 },704 "location": [705 -501.6209411621094,706 -121.00936889648438,707 5.823855400085449708 ],709 "rotation": [710 0,711 -1.0285085439682007,712 0713 ],714 "scale": [715 1,716 1,717 0.9299650192260742718 ]719 },720 "color": [721 255,722 63,723 63724 ]725 },726 {727 "object_id": "SM_desk11",728 "bbox_2d": [729 1141,730 816,731 1334,732 1034733 ],734 "bbox_3d": {735 "aabb": {736 "center": [737 -437.7409210205078,738 -123.34284973144531,739 49.127434376052406740 ],741 "extent": [742 30.51487922668457,743 36.7234992980957,744 43.30350411253312745 ]746 },747 "obb": {748 "center": [749 -437.7409210205078,750 -123.34284973144531,751 49.127434376052406752 ],753 "extent": [754 30.51487922668457,755 36.7234992980957,756 43.30350411253312757 ],758 "rotation": [759 0,760 0,761 0762 ]763 },764 "location": [765 -437.7409362792969,766 -123.34284973144531,767 5.823930263519287768 ],769 "rotation": [770 0,771 0,772 0773 ],774 "scale": [775 1,776 1,777 0.9299650192260742778 ]779 },780 "color": [781 127,782 63,783 63784 ]785 },786 {787 "object_id": "SM_desk15",788 "bbox_2d": [789 1735,790 884,791 1919,792 1079793 ],794 "bbox_3d": {795 "aabb": {796 "center": [797 -532.0759124793296,798 98.14258541641031,799 49.12740433531144800 ],801 "extent": [802 31.320822984556003,803 37.39039804338098,804 43.30350411253312805 ]806 },807 "obb": {808 "center": [809 -532.0759124793296,810 98.14258541641033,811 49.12740433531144812 ],813 "extent": [814 31.320822984556003,815 37.39039804338098,816 43.30350411253312817 ],818 "rotation": [819 0,820 -1.2692129611968996,821 0822 ]823 },824 "location": [825 -532.075927734375,826 98.14258575439453,827 5.82390022277832828 ],829 "rotation": [830 0,831 -1.2692129611968996,832 0833 ],834 "scale": [835 1,836 1,837 0.9299650192260742838 ]839 },840 "color": [841 0,842 127,843 191844 ]845 },846 {847 "object_id": "SM_desk16",848 "bbox_2d": [849 1490,850 730,851 1576,852 869853 ],854 "bbox_3d": {855 "aabb": {856 "center": [857 -218.87796020507812,858 172.06649780273438,859 49.12738907652238860 ],861 "extent": [862 30.51487922668457,863 36.7234992980957,864 43.30350411253312865 ]866 },867 "obb": {868 "center": [869 -218.87796020507812,870 172.06649780273438,871 49.12738907652238872 ],873 "extent": [874 30.51487922668457,875 36.7234992980957,876 43.30350411253312877 ],878 "rotation": [879 0,880 0,881 0882 ]883 },884 "location": [885 -218.8779754638672,886 172.06649780273438,887 5.823884963989258888 ],889 "rotation": [890 0,891 0,892 0893 ],894 "scale": [895 1,896 1,897 0.9299650192260742898 ]899 },900 "color": [901 255,902 63,903 191904 ]905 },906 {907 "object_id": "SM_desk17",908 "bbox_2d": [909 1386,910 730,911 1536,912 869913 ],914 "bbox_3d": {915 "aabb": {916 "center": [917 -219.42434692382847,918 96.46644591965202,919 49.127373817733314920 ],921 "extent": [922 30.522578946237672,923 36.72989702269527,924 43.30350411253312925 ]926 },927 "obb": {928 "center": [929 -219.42434692382847,930 96.46644591965202,931 49.127373817733314932 ],933 "extent": [934 30.522578946237672,935 36.72989702269527,936 43.30350411253312937 ],938 "rotation": [939 0,940 -0.012014102190732956,941 0942 ]943 },944 "location": [945 -219.4243621826172,946 96.46644592285156,947 5.823869705200195948 ],949 "rotation": [950 0,951 -0.012014102190732956,952 0953 ],954 "scale": [955 1,956 1,957 0.9299650192260742958 ]959 },960 "color": [961 127,962 0,963 191964 ]965 },966 {967 "object_id": "SM_desk19",968 "bbox_2d": [969 1270,970 678,971 1340,972 774973 ],974 "bbox_3d": {975 "aabb": {976 "center": [977 44.53288269042935,978 96.46658324875361,979 49.1274048121486980 ],981 "extent": [982 30.522578880587098,983 36.7298969681481,984 43.30350411253312985 ]986 },987 "obb": {988 "center": [989 44.53288269042936,990 96.46658324875361,991 49.1274048121486992 ],993 "extent": [994 30.522578880587098,995 36.7298969681481,996 43.30350411253312997 ],998 "rotation": [999 0,1000 -0.012013999745249746,1001 01002 ]1003 },1004 "location": [1005 44.532867431640625,1006 96.46658325195312,1007 5.82390069961547851008 ],1009 "rotation": [1010 0,1011 -0.012013999745249746,1012 01013 ],1014 "scale": [1015 1,1016 1,1017 0.92996501922607421018 ]1019 },1020 "color": [1021 63,1022 127,1023 1911024 ]1025 }1026 ],1027 "chair": [1028 {1029 "object_id": "SM_chair_6",1030 "bbox_2d": [1031 1362,1032 920,1033 1571,1034 10791035 ],1036 "bbox_3d": {1037 "aabb": {1038 "center": [1039 -567.6064304166046,1040 -84.15324953611183,1041 49.590962908959911042 ],1043 "extent": [1044 29.6256146756225,1045 32.480683026996005,1046 43.282279306003151047 ]1048 },1049 "obb": {1050 "center": [1051 -567.6064304166046,1052 -84.15324953611183,1053 49.590962908959911054 ],1055 "extent": [1056 29.6256146756225,1057 32.480683026996005,1058 43.282279306003151059 ],1060 "rotation": [1061 0,1062 -179.2333984375,1063 01064 ]1065 },1066 "location": [1067 -565.9957275390625,1068 -84.59431457519531,1069 6.2085871696472171070 ],1071 "rotation": [1072 0,1073 -179.2333984375,1074 01075 ],1076 "scale": [1077 0.9599999785423279,1078 0.9599999785423279,1079 0.95999997854232791080 ]1081 },1082 "color": [1083 63,1084 127,1085 01086 ]1087 },1088 {1089 "object_id": "SM_chair_8",1090 "bbox_2d": [1091 1705,1092 1057,1093 1793,1094 10791095 ],1096 "bbox_3d": {1097 "aabb": {1098 "center": [1099 -659.7238429504501,1100 -64.518178772039,1101 49.590962908959911102 ],1103 "extent": [1104 38.88106151647628,1105 40.52246523064862,1106 43.282279306003151107 ]1108 },1109 "obb": {1110 "center": [1111 -659.7238429504501,1112 -64.518178772039,1113 49.590962908959911114 ],1115 "extent": [1116 38.88106151647628,1117 40.52246523064862,1118 43.282279306003151119 ],1120 "rotation": [1121 0,1122 158.64361572265625,1123 01124 ]1125 },1126 "location": [1127 -658.3978271484375,1128 -65.53335571289062,1129 6.2085871696472171130 ],1131 "rotation": [1132 0,1133 158.64361572265625,1134 01135 ],1136 "scale": [1137 0.9599999785423279,1138 0.9599999785423279,1139 0.95999997854232791140 ]1141 },1142 "color": [1143 63,1144 127,1145 1271146 ]1147 },1148 {1149 "object_id": "SM_chair_9",1150 "bbox_2d": [1151 1293,1152 830,1153 1473,1154 10791155 ],1156 "bbox_3d": {1157 "aabb": {1158 "center": [1159 -498.5816229367251,1160 -83.8694826783277,1161 56.8741970423620841162 ],1163 "extent": [1164 35.34649195179455,1165 34.79240148903466,1166 50.200291177353851167 ]1168 },1169 "obb": {1170 "center": [1171 -498.5816229367251,1172 -83.8694826783277,1173 56.8741970423620841174 ],1175 "extent": [1176 35.34649195179455,1177 34.79240148903466,1178 50.200291177353851179 ],1180 "rotation": [1181 0,1182 -174.09153747558594,1183 01184 ]1185 },1186 "location": [1187 -498.9001770019531,1188 -84.29217529296875,1189 6.20857238769531251190 ],1191 "rotation": [1192 0,1193 -174.09153747558594,1194 01195 ],1196 "scale": [1197 0.9449999928474426,1198 0.9449999928474426,1199 0.94499999284744261200 ]