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": "l053_off1_r004",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/PizzaStore/l053_off1_r004/lit.png",5 "camera": {6 "location": [7 410,8 167,9 26110 ],11 "rotation": [12 0,13 -120.00000000000007,14 015 ],16 "fov": 90,17 "c2w": [18 [19 -0.5000000000000007,20 -0.8660254037844379,21 0,22 023 ],24 [25 0.8660254037844379,26 -0.5000000000000007,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 410,38 167,39 261,40 141 ]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 0,58 780,59 1261,60 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 78,120 0,121 644,122 130123 ],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": [179 162,180 0,181 1833,182 63183 ],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": [239 549,240 0,241 1542,242 285243 ],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 51,303 1078,304 1043305 ],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 1079,362 0,363 1919,364 1079365 ],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": [423 318,424 510,425 439,426 979427 ],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": [483 539,484 503,485 719,486 1079487 ],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": [545 326,546 520,547 429,548 961549 ],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": [605 554,606 515,607 706,608 1055609 ],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 "pipe": [664 {665 "object_id": "SM_pipeskitchen2",666 "bbox_2d": [667 1082,668 281,669 1107,670 727671 ],672 "bbox_3d": {673 "aabb": {674 "center": [675 227.54487258468762,676 -284.40251964971355,677 248.0353830024833678 ],679 "extent": [680 11.047083256055203,681 13.444635788883545,682 242.980073706829683 ]684 },685 "obb": {686 "center": [687 227.54487258468762,688 -284.40251964971355,689 248.0353830024833690 ],691 "extent": [692 11.047083256055203,693 13.444635788883545,694 242.980073706829695 ],696 "rotation": [697 0,698 -0.23931884765624997,699 0700 ]701 },702 "location": [703 227.58517456054688,704 -279.1572265625,705 5.055309295654297706 ],707 "rotation": [708 0,709 -0.23931884765624997,710 0711 ],712 "scale": [713 1.013401985168457,714 1.013401985168457,715 1.013401985168457716 ]717 },718 "color": [719 63,720 191,721 63722 ]723 }724 ]725 },726 "foreground": {727 "sofa": [728 {729 "object_id": "SM_sofa_01_2",730 "bbox_2d": [731 0,732 661,733 120,734 784735 ],736 "bbox_3d": {737 "aabb": {738 "center": [739 -1043.258188634075,740 -238.85671997070312,741 60.04216012080906742 ],743 "extent": [744 135.43008252909203,745 59.66188049316406,746 53.81030763473973747 ]748 },749 "obb": {750 "center": [751 -1043.258188634075,752 -238.85671997070312,753 60.04216012080906754 ],755 "extent": [756 135.43008252909203,757 59.66188049316406,758 53.81030763473973759 ],760 "rotation": [761 0,762 0,763 0764 ]765 },766 "location": [767 -1043.650634765625,768 -236.76800537109375,769 6.2085723876953125770 ],771 "rotation": [772 0,773 0,774 0775 ],776 "scale": [777 0.949999988079071,778 1,779 1.0600552558898926780 ]781 },782 "color": [783 127,784 255,785 63786 ]787 },788 {789 "object_id": "SM_sofa_10",790 "bbox_2d": [791 0,792 676,793 202,794 823795 ],796 "bbox_3d": {797 "aabb": {798 "center": [799 -772.9204200793874,800 -238.85671997070312,801 60.0421596439719802 ],803 "extent": [804 135.43008252909203,805 59.66188049316406,806 53.81030763473973807 ]808 },809 "obb": {810 "center": [811 -772.9204200793874,812 -238.85671997070312,813 60.0421596439719814 ],815 "extent": [816 135.43008252909203,817 59.66188049316406,818 53.81030763473973819 ],820 "rotation": [821 0,822 0,823 0824 ]825 },826 "location": [827 -773.3128662109375,828 -236.76800537109375,829 6.208571910858154830 ],831 "rotation": [832 0,833 0,834 0835 ],836 "scale": [837 0.949999988079071,838 1,839 1.0600552558898926840 ]841 },842 "color": [843 127,844 127,845 63846 ]847 },848 {849 "object_id": "SM_sofa_12",850 "bbox_2d": [851 109,852 702,853 202,854 837855 ],856 "bbox_3d": {857 "aabb": {858 "center": [859 -503.6132301379812,860 -238.85671997070312,861 60.0419155033469862 ],863 "extent": [864 135.43008252909203,865 59.66188049316406,866 53.81030763473973867 ]868 },869 "obb": {870 "center": [871 -503.6132301379812,872 -238.85671997070312,873 60.0419155033469874 ],875 "extent": [876 135.43008252909203,877 59.66188049316406,878 53.81030763473973879 ],880 "rotation": [881 0,882 0,883 0884 ]885 },886 "location": [887 -504.00567626953125,888 -236.76800537109375,889 6.208327770233154890 ],891 "rotation": [892 0,893 0,894 0895 ],896 "scale": [897 0.949999988079071,898 1,899 1.0600552558898926900 ]901 },902 "color": [903 0,904 63,905 0906 ]907 }908 ],909 "desk 008 parts": [910 {911 "object_id": "SM_desk7",912 "bbox_2d": [913 36,914 732,915 37,916 733917 ],918 "bbox_3d": {919 "aabb": {920 "center": [921 -740.1458587646484,922 -121.00930786132812,923 49.127434852889564924 ],925 "extent": [926 30.51487922668457,927 36.7234992980957,928 43.30350411253312929 ]930 },931 "obb": {932 "center": [933 -740.1458587646484,934 -121.00930786132812,935 49.127434852889564936 ],937 "extent": [938 30.51487922668457,939 36.7234992980957,940 43.30350411253312941 ],942 "rotation": [943 0,944 0,945 0946 ]947 },948 "location": [949 -740.1458740234375,950 -121.00930786132812,951 5.823930740356445952 ],953 "rotation": [954 0,955 0,956 0957 ],958 "scale": [959 1,960 1,961 0.9299650192260742962 ]963 },964 "color": [965 127,966 63,967 255968 ]969 },970 {971 "object_id": "SM_desk8",972 "bbox_2d": [973 0,974 734,975 58,976 751977 ],978 "bbox_3d": {979 "aabb": {980 "center": [981 -676.3581390545284,982 -117.64012075178451,983 49.12745011167863984 ],985 "extent": [986 32.186373375425205,987 38.10015462524674,988 43.30350411253312989 ]990 },991 "obb": {992 "center": [993 -676.3581390545284,994 -117.64012075178451,995 49.12745011167863996 ],997 "extent": [998 32.186373375425205,999 38.10015462524674,1000 43.303504112533121001 ],1002 "rotation": [1003 0,1004 2.6601128578186044,1005 01006 ]1007 },1008 "location": [1009 -676.358154296875,1010 -117.64012145996094,1011 5.8239459991455081012 ],1013 "rotation": [1014 0,1015 2.6601128578186044,1016 01017 ],1018 "scale": [1019 1,1020 1,1021 0.92996501922607421022 ]1023 },1024 "color": [1025 127,1026 63,1027 1271028 ]1029 },1030 {1031 "object_id": "SM_desk9",1032 "bbox_2d": [1033 0,1034 747,1035 122,1036 8821037 ],1038 "bbox_3d": {1039 "aabb": {1040 "center": [1041 -565.0784759521484,1042 -119.87359619140625,1043 49.127359512618571044 ],1045 "extent": [1046 30.51487922668457,1047 36.7234992980957,1048 43.303504112533121049 ]1050 },1051 "obb": {1052 "center": [1053 -565.0784759521484,1054 -119.87359619140625,1055 49.127359512618571056 ],1057 "extent": [1058 30.51487922668457,1059 36.7234992980957,1060 43.303504112533121061 ],1062 "rotation": [1063 0,1064 0,1065 01066 ]1067 },1068 "location": [1069 -565.0784912109375,1070 -119.87359619140625,1071 5.8238554000854491072 ],1073 "rotation": [1074 0,1075 0,1076 01077 ],1078 "scale": [1079 1,1080 1,1081 0.92996501922607421082 ]1083 },1084 "color": [1085 0,1086 63,1087 631088 ]1089 },1090 {1091 "object_id": "SM_desk10",1092 "bbox_2d": [1093 0,1094 755,1095 160,1096 8971097 ],1098 "bbox_3d": {1099 "aabb": {1100 "center": [1101 -501.6209259057787,1102 -121.00936917037806,1103 49.127359512618571104 ],1105 "extent": [1106 31.169145911191123,1107 37.2653216098462,1108 43.303504112533121109 ]1110 },1111 "obb": {1112 "center": [1113 -501.6209259057787,1114 -121.00936917037806,1115 49.127359512618571116 ],1117 "extent": [1118 31.169145911191123,1119 37.2653216098462,1120 43.303504112533121121 ],1122 "rotation": [1123 0,1124 -1.0285085439682007,1125 01126 ]1127 },1128 "location": [1129 -501.6209411621094,1130 -121.00936889648438,1131 5.8238554000854491132 ],1133 "rotation": [1134 0,1135 -1.0285085439682007,1136 01137 ],1138 "scale": [1139 1,1140 1,1141 0.92996501922607421142 ]1143 },1144 "color": [1145 255,1146 63,1147 631148 ]1149 },1150 {1151 "object_id": "SM_desk11",1152 "bbox_2d": [1153 37,1154 764,1155 202,1156 9141157 ],1158 "bbox_3d": {1159 "aabb": {1160 "center": [1161 -437.7409210205078,1162 -123.34284973144531,1163 49.1274343760524061164 ],1165 "extent": [1166 30.51487922668457,1167 36.7234992980957,1168 43.303504112533121169 ]1170 },1171 "obb": {1172 "center": [1173 -437.7409210205078,1174 -123.34284973144531,1175 49.1274343760524061176 ],1177 "extent": [1178 30.51487922668457,1179 36.7234992980957,1180 43.303504112533121181 ],1182 "rotation": [1183 0,1184 0,1185 01186 ]1187 },1188 "location": [1189 -437.7409362792969,1190 -123.34284973144531,1191 5.8239302635192871192 ],1193 "rotation": [1194 0,1195 0,1196 01197 ],1198 "scale": [1199 1,1200 1,