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": "ResidentialGarage",3 "view_id": "l013_off0_r005",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/ResidentialGarage/l013_off0_r005/lit.png",5 "camera": {6 "location": [7 -656,8 -121,9 17110 ],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 -656,38 -121,39 171,40 141 ]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 "foreground": {54 "trash can": [55 {56 "object_id": "SM_Trashcan3_27",57 "bbox_2d": [58 630,59 569,60 919,61 89362 ],63 "bbox_3d": {64 "aabb": {65 "center": [66 -541.2132825956676,67 -456.0003864134095,68 95.4690628051757869 ],70 "extent": [71 71.28978721276482,72 70.58013529589266,73 64.4690628051757874 ]75 },76 "obb": {77 "center": [78 -541.2132825956676,79 -456.0003864134095,80 95.4690628051757881 ],82 "extent": [83 71.28978721276482,84 70.58013529589266,85 64.4690628051757886 ],87 "rotation": [88 0,89 -50.000091552734375,90 091 ]92 },93 "location": [94 -541.2132568359375,95 -456.00006103515625,96 3197 ],98 "rotation": [99 0,100 -50.000091552734375,101 0102 ],103 "scale": [104 1,105 1,106 1107 ]108 },109 "color": [110 127,111 255,112 255113 ]114 }115 ],116 "crate": [117 {118 "object_id": "SM_Crate_02_30",119 "bbox_2d": [120 1144,121 927,122 1190,123 963124 ],125 "bbox_3d": {126 "aabb": {127 "center": [128 -505.3538818359375,129 -297.3809814453125,130 60.4356689453125131 ],132 "extent": [133 32.78509053712662,134 32.88007702419014,135 30.373945236206055136 ]137 },138 "obb": {139 "center": [140 -505.3538818359375,141 -297.3809814453125,142 60.4356689453125143 ],144 "extent": [145 32.78509053712662,146 32.88007702419014,147 30.373945236206055148 ],149 "rotation": [150 0,151 -10.00004482269287,152 0153 ]154 },155 "location": [156 -505.3538818359375,157 -297.3809814453125,158 30.809616088867188159 ],160 "rotation": [161 0,162 -10.00004482269287,163 0164 ],165 "scale": [166 1,167 1,168 1169 ]170 },171 "color": [172 127,173 0,174 127175 ]176 },177 {178 "object_id": "SM_Crate_04_119",179 "bbox_2d": [180 564,181 296,182 730,183 448184 ],185 "bbox_3d": {186 "aabb": {187 "center": [188 -583.0209350585938,189 -467.9905071258545,190 224.73400497436523191 ],192 "extent": [193 24,194 24,195 23.999998092651367196 ]197 },198 "obb": {199 "center": [200 -583.0209350585938,201 -467.9905071258545,202 224.73400497436523203 ],204 "extent": [205 24,206 24,207 23.999998092651367208 ],209 "rotation": [210 0,211 0,212 0213 ]214 },215 "location": [216 -583.0209350585938,217 -467.9905090332031,218 200.7340087890625219 ],220 "rotation": [221 0,222 0,223 0224 ],225 "scale": [226 1,227 1,228 1229 ]230 },231 "color": [232 63,233 0,234 127235 ]236 },237 {238 "object_id": "SM_Crate_5",239 "bbox_2d": [240 742,241 321,242 887,243 455244 ],245 "bbox_3d": {246 "aabb": {247 "center": [248 -520.233761039955,249 -462.26687116178726,250 225.149169921875251 ],252 "extent": [253 32.78464897961635,254 32.78464967774221,255 24.00000000000003256 ]257 },258 "obb": {259 "center": [260 -520.233761039955,261 -462.26687116178726,262 225.149169921875263 ],264 "extent": [265 32.78464897961635,266 32.78464967774221,267 24.00000000000003268 ],269 "rotation": [270 -90,271 -165.96375653207352,272 -164.0359764391179273 ]274 },275 "location": [276 -541.018310546875,277 -474.2669677734375,278 225.149169921875279 ],280 "rotation": [281 -90,282 -165.96375653207352,283 -164.0359764391179284 ],285 "scale": [286 1,287 1,288 1289 ]290 },291 "color": [292 63,293 255,294 0295 ]296 }297 ],298 "container": [299 {300 "object_id": "SM_Tank_Acetylene_34",301 "bbox_2d": [302 1157,303 750,304 1190,305 940306 ],307 "bbox_3d": {308 "aabb": {309 "center": [310 -494.14160346984863,311 -286.7164316177368,312 82.98037719726562313 ],314 "extent": [315 11.076629638671875,316 11.2475004196167,317 38.148719787597656318 ]319 },320 "obb": {321 "center": [322 -494.14160346984863,323 -286.7164316177368,324 82.98037719726562325 ],326 "extent": [327 11.076629638671875,328 11.2475004196167,329 38.148719787597656330 ],331 "rotation": [332 0,333 0,334 0335 ]336 },337 "location": [338 -494.1416015625,339 -286.7164306640625,340 44.8316650390625341 ],342 "rotation": [343 0,344 0,345 0346 ],347 "scale": [348 1,349 1,350 1351 ]352 },353 "color": [354 127,355 127,356 0357 ]358 },359 {360 "object_id": "SM_Tank_Acetylene2",361 "bbox_2d": [362 1063,363 746,364 1096,365 753366 ],367 "bbox_3d": {368 "aabb": {369 "center": [370 -517.0382059638383,371 -304.9162591576424,372 82.98043823242188373 ],374 "extent": [375 12.861439195420559,376 13.000043087260622,377 38.148719787597656378 ]379 },380 "obb": {381 "center": [382 -517.0382059638383,383 -304.9162591576424,384 82.98043823242188385 ],386 "extent": [387 12.861439195420559,388 13.000043087260622,389 38.148719787597656390 ],391 "rotation": [392 0,393 170.0001220703125,394 0395 ]396 },397 "location": [398 -517.0382080078125,399 -304.916259765625,400 44.83172607421875401 ],402 "rotation": [403 0,404 170.0001220703125,405 0406 ],407 "scale": [408 1,409 1,410 1411 ]412 },413 "color": [414 127,415 127,416 255417 ]418 },419 {420 "object_id": "SM_Tank_Oxygen_38",421 "bbox_2d": [422 946,423 562,424 1020,425 740426 ],427 "bbox_3d": {428 "aabb": {429 "center": [430 -506.90127490420934,431 -365.3692633083233,432 99.76908874511719433 ],434 "extent": [435 15.736009223089923,436 15.714946372325755,437 64.71481323242188438 ]439 },440 "obb": {441 "center": [442 -506.90127490420934,443 -365.3692633083233,444 99.76908874511719445 ],446 "extent": [447 15.736009223089923,448 15.714946372325755,449 64.71481323242188450 ],451 "rotation": [452 0,453 -40.00006103515626,454 0455 ]456 },457 "location": [458 -506.9012756347656,459 -365.3692626953125,460 35.05427551269531461 ],462 "rotation": [463 0,464 -40.00006103515626,465 0466 ],467 "scale": [468 1,469 1,470 1471 ]472 },473 "color": [474 127,475 127,476 127477 ]478 }479 ],480 "shelves": [481 {482 "object_id": "SM_Shelves_03_44",483 "bbox_2d": [484 538,485 244,486 1102,487 737488 ],489 "bbox_3d": {490 "aabb": {491 "center": [492 -542.6163813303235,493 -428.1188439389139,494 188.90119171142578495 ],496 "extent": [497 71.57638804410976,498 77.66929427027628,499 81.05601501464844500 ]501 },502 "obb": {503 "center": [504 -542.6163813303235,505 -428.1188439389139,506 188.90119171142578507 ],508 "extent": [509 71.57638804410976,510 77.66929427027628,511 81.05601501464844512 ],513 "rotation": [514 0,515 90.00011444091797,516 0517 ]518 },519 "location": [520 -511.6278381347656,521 -505.7879333496094,522 229.42919921875523 ],524 "rotation": [525 0,526 90.00011444091797,527 0528 ],529 "scale": [530 1,531 1,532 1533 ]534 },535 "color": [536 0,537 0,538 63539 ]540 }541 ],542 "furniture": [543 {544 "object_id": "SM_Workbench_47",545 "bbox_2d": [546 0,547 237,548 325,549 1079550 ],551 "bbox_3d": {552 "aabb": {553 "center": [554 -801.9268035888367,555 -454.60545349130234,556 139.423583984375557 ],558 "extent": [559 122.86773369653031,560 51.91443761182211,561 108.61392211914062562 ]563 },564 "obb": {565 "center": [566 -801.9268035888367,567 -454.60545349130234,568 139.423583984375569 ],570 "extent": [571 122.86773369653031,572 51.91443761182211,573 108.61392211914062574 ],575 "rotation": [576 0,577 90.00011444091797,578 0579 ]580 },581 "location": [582 -801.9267578125,583 -454.6054382324219,584 30.809661865234375585 ],586 "rotation": [587 0,588 90.00011444091797,589 0590 ],591 "scale": [592 1,593 1,594 1595 ]596 },597 "color": [598 0,599 255,600 63601 ]602 }603 ],604 "electric box": [605 {606 "object_id": "SM_Electric_Box_02_50",607 "bbox_2d": [608 378,609 169,610 477,611 264612 ],613 "bbox_3d": {614 "aabb": {615 "center": [616 -648.9482426407768,617 -500.7864398956208,618 283.203426361084619 ],620 "extent": [621 15.355793452480384,622 5.001598988597152,623 14.187763214111328624 ]625 },626 "obb": {627 "center": [628 -648.9482426407768,629 -500.7864398956208,630 283.203426361084631 ],632 "extent": [633 15.355793452480384,634 5.001598988597152,635 14.187763214111328636 ],637 "rotation": [638 0,639 90.00011444091797,640 0641 ]642 },643 "location": [644 -648.9482421875,645 -505.78802490234375,646 283.20343017578125647 ],648 "rotation": [649 0,650 90.00011444091797,651 0652 ],653 "scale": [654 1,655 1,656 1657 ]658 },659 "color": [660 0,661 127,662 63663 ]664 },665 {666 "object_id": "SM_Electric_Box_06_166",667 "bbox_2d": [668 0,669 200,670 29,671 239672 ],673 "bbox_3d": {674 "aabb": {675 "center": [676 -766.0641472968604,677 -480.0321062845065,678 255.3004035949707679 ],680 "extent": [681 24.22781149007733,682 23.336527542026317,683 7.262913703918457684 ]685 },686 "obb": {687 "center": [688 -766.0641472968604,689 -480.0321062845065,690 255.3004035949707691 ],692 "extent": [693 24.22781149007733,694 23.336527542026317,695 7.262913703918457696 ],697 "rotation": [698 90,699 180,700 69.99978637695312701 ]702 },703 "location": [704 -766.0641479492188,705 -480.0321044921875,706 248.03749084472656707 ],708 "rotation": [709 90,710 180,711 69.99978637695312712 ],713 "scale": [714 1,715 1,716 1717 ]718 },719 "color": [720 0,721 255,722 191723 ]724 }725 ],726 "storage": [727 {728 "object_id": "SM_Tools_Chest_62",729 "bbox_2d": [730 319,731 637,732 789,733 1079734 ],735 "bbox_3d": {736 "aabb": {737 "center": [738 -614.3455584647409,739 -397.1461339201929,740 85.58172225952148741 ],742 "extent": [743 67.64282966998371,744 64.58744032890445,745 54.772071838378906746 ]747 },748 "obb": {749 "center": [750 -614.3455584647409,751 -397.1461339201929,752 85.58172225952148753 ],754 "extent": [755 67.64282966998371,756 64.58744032890445,757 54.772071838378906758 ],759 "rotation": [760 0,761 120.000129699707,762 0763 ]764 },765 "location": [766 -614.1258544921875,767 -397.019287109375,768 30.809661865234375769 ],770 "rotation": [771 0,772 120.000129699707,773 0774 ],775 "scale": [776 1,777 1,778 1779 ]780 },781 "color": [782 127,783 0,784 63785 ]786 }787 ],788 "equipment": [789 {790 "object_id": "SM_MilitaryTransceiver_65",791 "bbox_2d": [792 0,793 541,794 222,795 680796 ],797 "bbox_3d": {798 "aabb": {799 "center": [800 -734.3081632413018,801 -444.85534305663595,802 155.2363338470459803 ],804 "extent": [805 40.14047572445247,806 39.58409467387719,807 15.466011047363281808 ]809 },810 "obb": {811 "center": [812 -734.3081632413018,813 -444.85534305663595,814 155.2363338470459815 ],816 "extent": [817 40.14047572445247,818 39.58409467387719,819 15.466011047363281820 ],821 "rotation": [822 0,823 130.00009155273435,824 0825 ]826 },827 "location": [828 -733.4338989257812,829 -445.8972473144531,830 139.77032470703125831 ],832 "rotation": [833 0,834 130.00009155273435,835 0836 ],837 "scale": [838 1,839 1,840 1841 ]842 },843 "color": [844 127,845 255,846 63847 ]848 },849 {850 "object_id": "SM_Jerrycan2_98",851 "bbox_2d": [852 0,853 748,854 2,855 992856 ],857 "bbox_3d": {858 "aabb": {859 "center": [860 -757.3353891372681,861 -432.52016258239746,862 88.50036239624023863 ],864 "extent": [865 12.012489318847656,866 24.87461280822754,867 33.80266189575195868 ]869 },870 "obb": {871 "center": [872 -757.3353891372681,873 -432.52016258239746,874 88.50036239624023875 ],876 "extent": [877 12.012489318847656,878 24.87461280822754,879 33.80266189575195880 ],881 "rotation": [882 0,883 0,884 0885 ]886 },887 "location": [888 -757.3353881835938,889 -424.0024719238281,890 54.69770812988281891 ],892 "rotation": [893 0,894 0,895 0896 ],897 "scale": [898 1,899 1,900 1901 ]902 },903 "color": [904 0,905 63,906 63907 ]908 },909 {910 "object_id": "SM_Welding_Torch_197",911 "bbox_2d": [912 0,913 452,914 201,915 482916 ],917 "bbox_3d": {918 "aabb": {919 "center": [920 -734.6937210114654,921 -501.258045916779,922 192.6959114074707923 ],924 "extent": [925 23.11457519210228,926 1.635971212820209,927 3.9694595336914062928 ]929 },930 "obb": {931 "center": [932 -734.6937210114654,933 -501.258045916779,934 192.6959114074707935 ],936 "extent": [937 23.11457519210228,938 1.635971212820209,939 3.9694595336914062940 ],941 "rotation": [942 -90,943 -165.96375653207352,944 -104.03640368521164945 ]946 },947 "location": [948 -745.8221435546875,949 -502.8939208984375,950 192.69590759277344951 ],952 "rotation": [953 -90,954 -165.96375653207352,955 -104.03640368521164956 ],957 "scale": [958 1,959 1,960 1961 ]962 },963 "color": [964 127,965 63,966 191967 ]968 },969 {970 "object_id": "SM_Welder_Set_278",971 "bbox_2d": [972 1371,973 584,974 1919,975 1079976 ],977 "bbox_3d": {978 "aabb": {979 "center": [980 -489.1560464855612,981 -183.8213890914018,982 96.8656005859375983 ],984 "extent": [985 52.420153885433706,986 43.07717652778976,987 66.18585205078125988 ]989 },990 "obb": {991 "center": [992 -489.1560464855612,993 -183.8213890914018,994 96.8656005859375995 ],996 "extent": [997 52.420153885433706,998 43.07717652778976,999 66.185852050781251000 ],1001 "rotation": [1002 0,1003 100.00010681152345,1004 01005 ]1006 },1007 "location": [1008 -496.4034423828125,1009 -186.4806365966797,1010 30.8096618652343751011 ],1012 "rotation": [1013 0,1014 100.00010681152345,1015 01016 ],1017 "scale": [1018 1,1019 1,1020 11021 ]1022 },1023 "color": [1024 191,1025 0,1026 1271027 ]1028 }1029 ],1030 "boxes": [1031 {1032 "object_id": "SM_Electric_Boxes_86",1033 "bbox_2d": [1034 1051,1035 17,1036 1190,1037 4641038 ],1039 "bbox_3d": {1040 "aabb": {1041 "center": [1042 -477.6299681663503,1043 -332.03957597228685,1044 248.95508956909181045 ],1046 "extent": [1047 7.660930649300042,1048 41.55128736168024,1049 55.9063148498535161050 ]1051 },1052 "obb": {1053 "center": [1054 -477.6299681663503,1055 -332.03957597228685,1056 248.95508956909181057 ],1058 "extent": [1059 7.660930649300042,1060 41.55128736168024,1061 55.9063148498535161062 ],1063 "rotation": [1064 0,1065 179.9999237060547,1066 01067 ]1068 },1069 "location": [1070 -470.7650146484375,1071 -332.0395812988281,1072 248.955093383789061073 ],1074 "rotation": [1075 0,1076 179.9999237060547,1077 01078 ],1079 "scale": [1080 1,1081 1,1082 11083 ]1084 },1085 "color": [1086 255,1087 63,1088 1271089 ]1090 }1091 ],1092 "paint": [1093 {1094 "object_id": "SM_Paint_Bucket_01_101",1095 "bbox_2d": [1096 0,1097 776,1098 245,1099 10491100 ],1101 "bbox_3d": {1102 "aabb": {1103 "center": [1104 -713.3002338409566,1105 -446.1956443786692,1106 77.403106689453121107 ],1108 "extent": [1109 30.74020320322211,1110 43.30811326888181,1111 22.7054004669189451112 ]1113 },1114 "obb": {1115 "center": [1116 -713.3002338409566,1117 -446.1956443786692,1118 77.403106689453121119 ],1120 "extent": [1121 30.74020320322211,1122 43.30811326888181,1123 22.7054004669189451124 ],1125 "rotation": [1126 0,1127 -179.99978637695312,1128 01129 ]1130 },1131 "location": [1132 -713.3002319335938,1133 -446.1956481933594,1134 54.697708129882811135 ],1136 "rotation": [1137 0,1138 -179.99978637695312,1139 01140 ],1141 "scale": [1142 1,1143 1,1144 11145 ]1146 },1147 "color": [1148 255,1149 63,1150 631151 ]1152 },1153 {1154 "object_id": "SM_Caulk_01_142",1155 "bbox_2d": [1156 210,1157 799,1158 245,1159 10281160 ],1161 "bbox_3d": {1162 "aabb": {1163 "center": [1164 -692.5295320709495,1165 -410.2672150088983,1166 81.531974792480471167 ],1168 "extent": [1169 5.600078299434472,1170 5.600078997566982,1171 26.834255218505861172 ]1173 },1174 "obb": {1175 "center": [1176 -692.5295320709495,1177 -410.2672150088983,1178 81.531974792480471179 ],1180 "extent": [1181 5.600078299434472,1182 5.600078997566982,1183 26.834255218505861184 ],1185 "rotation": [1186 0,1187 120.00012207031249,1188 01189 ]1190 },1191 "location": [1192 -692.529541015625,1193 -410.2672119140625,1194 54.697719573974611195 ],1196 "rotation": [1197 0,1198 120.00012207031249,1199 01200 ],