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": "l052_r003",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/PizzaStore/l052_r003/lit.png",5 "camera": {6 "location": [7 322,8 -38,9 20110 ],11 "rotation": [12 0,13 180,14 015 ],16 "fov": 90,17 "c2w": [18 [19 -0.9999999999999996,20 1.224646799147353e-16,21 0,22 023 ],24 [25 -1.224646799147353e-16,26 -0.9999999999999996,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 322,38 -38,39 201,40 141 ]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 "roof": [54 {55 "object_id": "SM_roof_5",56 "bbox_2d": [57 493,58 0,59 1159,60 36261 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 -3,66 -24.625823974609375,67 491.182006835937568 ],69 "extent": [70 1235.6843500952236,71 284.49486201703985,72 3.76006865501403873 ]74 },75 "obb": {76 "center": [77 -3,78 -24.625823974609375,79 491.182006835937580 ],81 "extent": [82 1235.6843500952236,83 284.49486201703985,84 3.76006865501403885 ],86 "rotation": [87 0,88 0,89 090 ]91 },92 "location": [93 -3,94 -24.625823974609375,95 491.182006835937596 ],97 "rotation": [98 0,99 0,100 0101 ],102 "scale": [103 1.0174999237060547,104 1.0950000286102295,105 1106 ]107 },108 "color": [109 255,110 255,111 255112 ]113 },114 {115 "object_id": "SM_roofmetal_21",116 "bbox_2d": [117 398,118 0,119 1106,120 375121 ],122 "bbox_3d": {123 "aabb": {124 "center": [125 -107.95600891113281,126 -49.59537506103514,127 450.57637139898725128 ],129 "extent": [130 840.7164306640622,131 266.835693359375,132 39.01462141495722133 ]134 },135 "obb": {136 "center": [137 -107.95600891113281,138 -49.595375061035156,139 450.57637139898725140 ],141 "extent": [142 840.7164306640622,143 266.835693359375,144 39.01462141495722145 ],146 "rotation": [147 0,148 180,149 0150 ]151 },152 "location": [153 -107.95594787597656,154 3.7793197631835938,155 451.0682678222656156 ],157 "rotation": [158 0,159 180,160 0161 ],162 "scale": [163 1,164 1,165 0.8899327516555786166 ]167 },168 "color": [169 0,170 127,171 255172 ]173 }174 ],175 "wall": [176 {177 "object_id": "SM_leftwall_8",178 "bbox_2d": [179 1107,180 0,181 1919,182 680183 ],184 "bbox_3d": {185 "aabb": {186 "center": [187 -512.0688954164282,188 -240.97154998867288,189 245.5155487060547190 ],191 "extent": [192 725.6351637653181,193 99.6704478559158,194 242.13623046875195 ]196 },197 "obb": {198 "center": [199 -512.0688954164282,200 -240.97154998867288,201 245.5155487060547202 ],203 "extent": [204 725.6351637653181,205 99.6704478559158,206 242.13623046875207 ],208 "rotation": [209 0,210 179.99977111816406,211 0212 ]213 },214 "location": [215 -512.0692138671875,216 -290.13128662109375,217 0218 ],219 "rotation": [220 0,221 179.99977111816406,222 0223 ],224 "scale": [225 1,226 1,227 1228 ]229 },230 "color": [231 0,232 0,233 127234 ]235 },236 {237 "object_id": "SM_rightwall_11",238 "bbox_2d": [239 0,240 0,241 844,242 1079243 ],244 "bbox_3d": {245 "aabb": {246 "center": [247 -26.000122070144926,248 201.00004196215752,249 248.09518432617188250 ],251 "extent": [252 1213.475322102896,253 56.19279383862782,254 242.13626098632812255 ]256 },257 "obb": {258 "center": [259 -26.000122070144926,260 201.00004196215752,261 248.09518432617188262 ],263 "extent": [264 1213.475322102896,265 56.19279383862782,266 242.13626098632812267 ],268 "rotation": [269 0,270 179.99977111816406,271 0272 ]273 },274 "location": [275 -26,276 201,277 9.81463623046875278 ],279 "rotation": [280 0,281 179.99977111816406,282 0283 ],284 "scale": [285 1,286 1,287 1288 ]289 },290 "color": [291 0,292 255,293 127294 ]295 },296 {297 "object_id": "SM_frontwall_5",298 "bbox_2d": [299 845,300 363,301 984,302 387303 ],304 "bbox_3d": {305 "aabb": {306 "center": [307 -1240.4295752343487,308 -48.000000000007816,309 246.48490142822266310 ],311 "extent": [312 10.572162284987598,313 198.86315791456767,314 242.13623046875315 ]316 },317 "obb": {318 "center": [319 -1240.4295752343487,320 -48.000000000007816,321 246.48490142822266322 ],323 "extent": [324 10.572162284987598,325 198.86315791456767,326 242.13623046875327 ],328 "rotation": [329 0,330 -179.9999542236328,331 0332 ]333 },334 "location": [335 -1240.4295654296875,336 -48,337 4.831062316894531338 ],339 "rotation": [340 0,341 -179.9999542236328,342 0343 ],344 "scale": [345 0.6425582766532898,346 1.0200690031051636,347 1348 ]349 },350 "color": [351 95,352 0,353 127354 ]355 }356 ],357 "door frame": [358 {359 "object_id": "SM_doorframe2",360 "bbox_2d": [361 1261,362 198,363 1439,364 680365 ],366 "bbox_3d": {367 "aabb": {368 "center": [369 49.11266356234569,370 -155.33301375058022,371 141.48603439331055372 ],373 "extent": [374 59.77880480604274,375 13.562216479467907,376 135.9108123779297377 ]378 },379 "obb": {380 "center": [381 49.11266356234569,382 -155.33301375058022,383 141.48603439331055384 ],385 "extent": [386 59.77880480604274,387 13.562216479467907,388 135.9108123779297389 ],390 "rotation": [391 0,392 179.30589294433597,393 0394 ]395 },396 "location": [397 49.11272430419922,398 -155.33303833007812,399 7.076168060302734400 ],401 "rotation": [402 0,403 179.30589294433597,404 0405 ],406 "scale": [407 1,408 1,409 1410 ]411 },412 "color": [413 0,414 127,415 0416 ]417 }418 ],419 "door": [420 {421 "object_id": "SM_wooddoor2",422 "bbox_2d": [423 1278,424 238,425 1419,426 680427 ],428 "bbox_3d": {429 "aabb": {430 "center": [431 51.556976318359375,432 -145.8241720199585,433 147.42587280273438434 ],435 "extent": [436 56.42961883544922,437 8.872248649597168,438 124.50353240966797439 ]440 },441 "obb": {442 "center": [443 51.556976318359375,444 -145.8241720199585,445 147.42587280273438446 ],447 "extent": [448 56.42961883544922,449 8.872248649597168,450 124.50353240966797451 ],452 "rotation": [453 0,454 0,455 0456 ]457 },458 "location": [459 51.55695343017578,460 -145.8241729736328,461 22.922348022460938462 ],463 "rotation": [464 0,465 0,466 0467 ],468 "scale": [469 1,470 1,471 1472 ]473 },474 "color": [475 255,476 127,477 255478 ]479 }480 ]481 },482 "foreground": {483 "desk 008 parts": [484 {485 "object_id": "SM_desk18",486 "bbox_2d": [487 26,488 879,489 418,490 1033491 ],492 "bbox_3d": {493 "aabb": {494 "center": [495 44.798126220703125,496 172.06663513183594,497 49.127373817733314498 ],499 "extent": [500 30.51487922668457,501 36.7234992980957,502 43.30350411253312503 ]504 },505 "obb": {506 "center": [507 44.798126220703125,508 172.06663513183594,509 49.127373817733314510 ],511 "extent": [512 30.51487922668457,513 36.7234992980957,514 43.30350411253312515 ],516 "rotation": [517 0,518 0,519 0520 ]521 },522 "location": [523 44.79811096191406,524 172.06663513183594,525 5.823869705200195526 ],527 "rotation": [528 0,529 0,530 0531 ],532 "scale": [533 1,534 1,535 0.9299650192260742536 ]537 },538 "color": [539 63,540 255,541 191542 ]543 },544 {545 "object_id": "SM_desk19",546 "bbox_2d": [547 295,548 879,549 482,550 967551 ],552 "bbox_3d": {553 "aabb": {554 "center": [555 44.53288269042935,556 96.46658324875361,557 49.1274048121486558 ],559 "extent": [560 30.522578880587098,561 36.7298969681481,562 43.30350411253312563 ]564 },565 "obb": {566 "center": [567 44.53288269042936,568 96.46658324875361,569 49.1274048121486570 ],571 "extent": [572 30.522578880587098,573 36.7298969681481,574 43.30350411253312575 ],576 "rotation": [577 0,578 -0.012013999745249746,579 0580 ]581 },582 "location": [583 44.532867431640625,584 96.46658325195312,585 5.8239006996154785586 ],587 "rotation": [588 0,589 -0.012013999745249746,590 0591 ],592 "scale": [593 1,594 1,595 0.9299650192260742596 ]597 },598 "color": [599 63,600 127,601 191602 ]603 }604 ],605 "chair": [606 {607 "object_id": "SM_chair_23",608 "bbox_2d": [609 251,610 821,611 480,612 1027613 ],614 "bbox_3d": {615 "aabb": {616 "center": [617 -15.04451004740286,618 167.3403968691295,619 49.590932391381784620 ],621 "extent": [622 33.078338578108834,623 30.285558657286288,624 43.28227930600315625 ]626 },627 "obb": {628 "center": [629 -15.04451004740286,630 167.3403968691295,631 49.590932391381784632 ],633 "extent": [634 33.078338578108834,635 30.285558657286288,636 43.28227930600315637 ],638 "rotation": [639 0,640 -91.97135925292972,641 0642 ]643 },644 "location": [645 -14.527008056640625,646 168.92819213867188,647 6.208556652069092648 ],649 "rotation": [650 0,651 -91.97135925292972,652 0653 ],654 "scale": [655 0.9599999785423279,656 0.9599999785423279,657 0.9599999785423279658 ]659 },660 "color": [661 63,662 63,663 191664 ]665 },666 {667 "object_id": "SM_chair_24",668 "bbox_2d": [669 510,670 783,671 617,672 838673 ],674 "bbox_3d": {675 "aabb": {676 "center": [677 -20.306517504168653,678 97.73099086623577,679 56.874258077518334680 ],681 "extent": [682 34.746985705362235,683 35.30214874096422,684 50.20029117735385685 ]686 },687 "obb": {688 "center": [689 -20.306517504168653,690 97.73099086623577,691 56.874258077518334692 ],693 "extent": [694 34.746985705362235,695 35.30214874096422,696 50.20029117735385697 ],698 "rotation": [699 0,700 -95.81829833984376,701 0702 ]703 },704 "location": [705 -19.9573917388916,706 97.33317565917969,707 6.2086334228515625708 ],709 "rotation": [710 0,711 -95.81829833984376,712 0713 ],714 "scale": [715 0.9449999928474426,716 0.9449999928474426,717 0.9449999928474426718 ]719 },720 "color": [721 0,722 191,723 0724 ]725 },726 {727 "object_id": "SM_chair_25",728 "bbox_2d": [729 295,730 996,731 311,732 1012733 ],734 "bbox_3d": {735 "aabb": {736 "center": [737 78.37954523814199,738 89.68561150994722,739 49.59084083864741740 ],741 "extent": [742 33.357246151221574,743 30.594501460831253,744 43.28227930600315745 ]746 },747 "obb": {748 "center": [749 78.37954523814199,750 89.68561150994722,751 49.59084083864741752 ],753 "extent": [754 33.357246151221574,755 30.594501460831253,756 43.28227930600315757 ],758 "rotation": [759 0,760 92.54388427734376,761 0762 ]763 },764 "location": [765 77.9886474609375,766 88.06200408935547,767 6.208465099334717768 ],769 "rotation": [770 0,771 92.54388427734376,772 0773 ],774 "scale": [775 0.9599999785423279,776 0.9599999785423279,777 0.9599999785423279778 ]779 },780 "color": [781 0,782 191,783 255784 ]785 },786 {787 "object_id": "SM_chair_26",788 "bbox_2d": [789 0,790 942,791 277,792 1079793 ],794 "bbox_3d": {795 "aabb": {796 "center": [797 71.89703494450275,798 160.54825788821637,799 56.87418178357302800 ],801 "extent": [802 35.539341791008,803 36.07528669451199,804 50.20029117735385805 ]806 },807 "obb": {808 "center": [809 71.89703494450276,810 160.54825788821637,811 56.87418178357302812 ],813 "extent": [814 35.539341791008,815 36.07528669451199,816 50.20029117735385817 ],818 "rotation": [819 0,820 82.58309173583984,821 0822 ]823 },824 "location": [825 71.55914306640625,826 160.95565795898438,827 6.20855712890625828 ],829 "rotation": [830 0,831 82.58309173583984,832 0833 ],834 "scale": [835 0.9449999928474426,836 0.9449999928474426,837 0.9449999928474426838 ]839 },840 "color": [841 0,842 191,843 127844 ]845 }846 ],847 "lamp": [848 {849 "object_id": "SM_lamp_01_135",850 "bbox_2d": [851 855,852 0,853 1127,854 246855 ],856 "bbox_3d": {857 "aabb": {858 "center": [859 -155.69004873376252,860 -53.48185731531885,861 419.36306829580644862 ],863 "extent": [864 67.05482144542475,865 67.05480329110287,866 68.9042566781718867 ]868 },869 "obb": {870 "center": [871 -155.69004873376252,872 -53.48185731531885,873 419.36306829580644874 ],875 "extent": [876 67.05482144542475,877 67.05480329110287,878 68.9042566781718879 ],880 "rotation": [881 0,882 0,883 0884 ]885 },886 "location": [887 -154.6347198486328,888 -54.026309967041016,889 487.3963623046875890 ],891 "rotation": [892 0,893 0,894 0895 ],896 "scale": [897 1.1897616386413574,898 1.1897616386413574,899 1.1897616386413574900 ]901 },902 "color": [903 191,904 127,905 127906 ]907 },908 {909 "object_id": "SM_lamp_3",910 "bbox_2d": [911 855,912 350,913 1025,914 389915 ],916 "bbox_3d": {917 "aabb": {918 "center": [919 -980.0181427001953,920 -17.849369049072266,921 435.204345703125922 ],923 "extent": [924 77.56246948242188,925 133.66229248046875,926 52.4345703125927 ]928 },929 "obb": {930 "center": [931 -980.0181427001953,932 -17.849369049072266,933 435.204345703125934 ],935 "extent": [936 77.56246948242188,937 133.66229248046875,938 52.4345703125939 ],940 "rotation": [941 0,942 0,943 0944 ]945 },946 "location": [947 -979.4650268554688,948 -9.948307037353516,949 487.09869384765625950 ],951 "rotation": [952 0,953 0,954 0955 ],956 "scale": [957 1,958 1,959 1960 ]961 },962 "color": [963 191,964 63,965 63966 ]967 },968 {969 "object_id": "SM_lamp_5",970 "bbox_2d": [971 777,972 200,973 1094,974 351975 ],976 "bbox_3d": {977 "aabb": {978 "center": [979 -540.7869415283203,980 -17.849308013916016,981 435.2052917480469982 ],983 "extent": [984 77.56246948242188,985 133.66229248046875,986 52.4345703125987 ]988 },989 "obb": {990 "center": [991 -540.7869415283203,992 -17.849308013916016,993 435.2052917480469994 ],995 "extent": [996 77.56246948242188,997 133.66229248046875,998 52.4345703125999 ],1000 "rotation": [1001 0,1002 0,1003 01004 ]1005 },1006 "location": [1007 -540.2338256835938,1008 -9.948246002197266,1009 487.09963989257811010 ],1011 "rotation": [1012 0,1013 0,1014 01015 ],1016 "scale": [1017 1,1018 1,1019 11020 ]1021 },1022 "color": [1023 191,1024 0,1025 1911026 ]1027 },1028 {1029 "object_id": "SM_simplelamp6_24",1030 "bbox_2d": [1031 94,1032 806,1033 177,1034 9421035 ],1036 "bbox_3d": {1037 "aabb": {1038 "center": [1039 59.571617126464844,1040 186.89749145507812,1041 109.816457748413091042 ],1043 "extent": [1044 8.617121696472168,1045 8.617121696472168,1046 17.3123931884765621047 ]1048 },1049 "obb": {1050 "center": [1051 59.571617126464844,1052 186.89749145507812,1053 109.816457748413091054 ],1055 "extent": [1056 8.617121696472168,1057 8.617121696472168,1058 17.3123931884765621059 ],1060 "rotation": [1061 0,1062 0,1063 01064 ]1065 },1066 "location": [1067 59.571617126464844,1068 186.89749145507812,1069 92.373115539550781070 ],1071 "rotation": [1072 0,1073 0,1074 01075 ],1076 "scale": [1077 1,1078 1,1079 11080 ]1081 },1082 "color": [1083 0,1084 31,1085 1911086 ]1087 },1088 {1089 "object_id": "SM_lamp_2",1090 "bbox_2d": [1091 913,1092 285,1093 1038,1094 3771095 ],1096 "bbox_3d": {1097 "aabb": {1098 "center": [1099 -763.8600051710182,1100 -69.62036678713093,1101 402.12578681544711102 ],1103 "extent": [1104 84.0441918516135,1105 84.04416909761494,1106 86.362209947368681107 ]1108 },1109 "obb": {1110 "center": [1111 -763.8600051710182,1112 -69.62036678713093,1113 402.12578681544711114 ],1115 "extent": [1116 84.0441918516135,1117 84.04416909761494,1118 86.362209947368681119 ],1120 "rotation": [1121 0,1122 0,1123 01124 ]1125 },1126 "location": [1127 -762.5372924804688,1128 -70.30276489257812,1129 487.39636230468751130 ],1131 "rotation": [1132 0,1133 0,1134 01135 ],1136 "scale": [1137 1.4912060499191284,1138 1.4912060499191284,1139 1.49120604991912841140 ]1141 },1142 "color": [1143 95,1144 127,1145 1911146 ]1147 }1148 ],1149 "decor": [1150 {1151 "object_id": "SM_decorativepaint_11",1152 "bbox_2d": [1153 8,1154 105,1155 272,1156 6261157 ],1158 "bbox_3d": {1159 "aabb": {1160 "center": [1161 27.53418270111069,1162 207.16076493859293,1163 246.146906299591141164 ],1165 "extent": [1166 45.593048578582966,1167 1.7322236014988448,1168 67.624218397595541169 ]1170 },1171 "obb": {1172 "center": [1173 27.534182701110687,1174 207.16076493859293,1175 246.146906299591141176 ],1177 "extent": [1178 45.593048578582966,1179 1.7322236014988448,1180 67.624218397595541181 ],1182 "rotation": [1183 0,1184 90.00000000000001,1185 01186 ]1187 },1188 "location": [1189 27.53417205810547,1190 207.1607666015625,1191 246.146911621093751192 ],1193 "rotation": [1194 0,1195 90.00000000000001,1196 01197 ],1198 "scale": [1199 0.6974999904632568,1200 0.6974999904632568,