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": "SciOffice",3 "view_id": "l037_off0_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/SciOffice/l037_off0_r000/lit.png",5 "camera": {6 "location": [7 -1167,8 -1430,9 186.333328247070310 ],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 -1167,38 -1430,39 186.3333282470703,40 141 ]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 "window": [54 {55 "object_id": "SM_Wall_3",56 "bbox_2d": [57 272,58 612,59 1456,60 105261 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 -600,66 710,67 159.9999847412109468 ],69 "extent": [70 100.25001287677517,71 11.000188794644828,72 150.2573 ]74 },75 "obb": {76 "center": [77 -600,78 710,79 159.9999847412109480 ],81 "extent": [82 100.25001287677517,83 11.000188794644828,84 150.2585 ],86 "rotation": [87 0,88 179.99989318847656,89 090 ]91 },92 "location": [93 -600,94 710,95 1096 ],97 "rotation": [98 0,99 179.99989318847656,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 255,110 255,111 255112 ]113 },114 {115 "object_id": "SM_Wall_8",116 "bbox_2d": [117 1337,118 1006,119 1440,120 1012121 ],122 "bbox_3d": {123 "aabb": {124 "center": [125 -920,126 310,127 159.99998474121094128 ],129 "extent": [130 200.25000585892695,131 11.000108566948711,132 150.25133 ]134 },135 "obb": {136 "center": [137 -920,138 310,139 159.99998474121094140 ],141 "extent": [142 200.25000585892695,143 11.000108566948711,144 150.25145 ],146 "rotation": [147 0,148 -3.0517578125e-05,149 0150 ]151 },152 "location": [153 -920,154 310,155 10156 ],157 "rotation": [158 0,159 -3.0517578125e-05,160 0161 ],162 "scale": [163 1,164 1,165 1166 ]167 },168 "color": [169 255,170 127,171 255172 ]173 },174 {175 "object_id": "SM_Wall_16",176 "bbox_2d": [177 277,178 621,179 363,180 663181 ],182 "bbox_3d": {183 "aabb": {184 "center": [185 -710,186 -300,187 159.99998474121094188 ],189 "extent": [190 11.000428545730301,191 200.2500234353672,192 150.25193 ]194 },195 "obb": {196 "center": [197 -710,198 -300,199 159.99998474121094200 ],201 "extent": [202 11.000428545730301,203 200.2500234353672,204 150.25205 ],206 "rotation": [207 0,208 90.00012207031251,209 0210 ]211 },212 "location": [213 -710,214 -300,215 10216 ],217 "rotation": [218 0,219 90.00012207031251,220 0221 ],222 "scale": [223 1,224 1,225 1226 ]227 },228 "color": [229 127,230 255,231 255232 ]233 },234 {235 "object_id": "SM_Wall_149",236 "bbox_2d": [237 1240,238 274,239 1919,240 916241 ],242 "bbox_3d": {243 "aabb": {244 "center": [245 -710,246 -1100,247 159.99998474121094248 ],249 "extent": [250 11.00026855634303,251 200.250014647211,252 150.25253 ]254 },255 "obb": {256 "center": [257 -710,258 -1100,259 159.99998474121094260 ],261 "extent": [262 11.00026855634303,263 200.250014647211,264 150.25265 ],266 "rotation": [267 0,268 90.00007629394531,269 0270 ]271 },272 "location": [273 -710,274 -1100,275 10276 ],277 "rotation": [278 0,279 90.00007629394531,280 0281 ],282 "scale": [283 1,284 1,285 1286 ]287 },288 "color": [289 63,290 127,291 191292 ]293 },294 {295 "object_id": "SM_Wall_150",296 "bbox_2d": [297 393,298 274,299 1239,300 916301 ],302 "bbox_3d": {303 "aabb": {304 "center": [305 -710,306 -1500,307 159.99998474121094308 ],309 "extent": [310 11.00026855634303,311 200.25001464721095,312 150.25313 ]314 },315 "obb": {316 "center": [317 -710,318 -1500,319 159.99998474121094320 ],321 "extent": [322 11.00026855634303,323 200.25001464721095,324 150.25325 ],326 "rotation": [327 0,328 90.00007629394531,329 0330 ]331 },332 "location": [333 -710,334 -1500,335 10336 ],337 "rotation": [338 0,339 90.00007629394531,340 0341 ],342 "scale": [343 1,344 1,345 1346 ]347 },348 "color": [349 63,350 63,351 191352 ]353 },354 {355 "object_id": "SM_Wall_77",356 "bbox_2d": [357 1240,358 84,359 1919,360 273361 ],362 "bbox_3d": {363 "aabb": {364 "center": [365 -710,366 -1100,367 359.99999237060547368 ],369 "extent": [370 11.000426638381668,371 200.25002343536312,372 50.24999237060547373 ]374 },375 "obb": {376 "center": [377 -710,378 -1100,379 359.99999237060547380 ],381 "extent": [382 11.000426638381668,383 200.25002343536312,384 50.24999237060547385 ],386 "rotation": [387 0,388 90.00012207031251,389 0390 ]391 },392 "location": [393 -710,394 -1100,395 310396 ],397 "rotation": [398 0,399 90.00012207031251,400 0401 ],402 "scale": [403 1,404 1,405 1406 ]407 },408 "color": [409 0,410 191,411 255412 ]413 },414 {415 "object_id": "SM_Wall_78",416 "bbox_2d": [417 381,418 61,419 1239,420 273421 ],422 "bbox_3d": {423 "aabb": {424 "center": [425 -710,426 -1500,427 359.99999237060547428 ],429 "extent": [430 11.000426638381668,431 200.25002343536312,432 50.24999237060547433 ]434 },435 "obb": {436 "center": [437 -710,438 -1500,439 359.99999237060547440 ],441 "extent": [442 11.000426638381668,443 200.25002343536312,444 50.24999237060547445 ],446 "rotation": [447 0,448 90.00012207031251,449 0450 ]451 },452 "location": [453 -710,454 -1500,455 310456 ],457 "rotation": [458 0,459 90.00012207031251,460 0461 ],462 "scale": [463 1,464 1,465 1466 ]467 },468 "color": [469 0,470 191,471 127472 ]473 },474 {475 "object_id": "SM_Wall_165",476 "bbox_2d": [477 211,478 0,479 380,480 188481 ],482 "bbox_3d": {483 "aabb": {484 "center": [485 -920,486 -1709.9998779296875,487 359.99999237060547488 ],489 "extent": [490 200.250005858926,491 11.000106659600078,492 50.24999237060547493 ]494 },495 "obb": {496 "center": [497 -920,498 -1709.9998779296875,499 359.99999237060547500 ],501 "extent": [502 200.250005858926,503 11.000106659600078,504 50.24999237060547505 ],506 "rotation": [507 0,508 -3.0517578125e-05,509 0510 ]511 },512 "location": [513 -920,514 -1709.9998779296875,515 310516 ],517 "rotation": [518 0,519 -3.0517578125e-05,520 0521 ],522 "scale": [523 1,524 1,525 1526 ]527 },528 "color": [529 255,530 191,531 127532 ]533 },534 {535 "object_id": "SM_Wall_90",536 "bbox_2d": [537 298,538 629,539 334,540 647541 ],542 "bbox_3d": {543 "aabb": {544 "center": [545 -1010,546 1320,547 359.99999237060547548 ],549 "extent": [550 11.000426638381668,551 200.25002343536312,552 50.24999237060547553 ]554 },555 "obb": {556 "center": [557 -1010,558 1320,559 359.99999237060547560 ],561 "extent": [562 11.000426638381668,563 200.25002343536312,564 50.24999237060547565 ],566 "rotation": [567 0,568 90.00012207031251,569 0570 ]571 },572 "location": [573 -1010,574 1320,575 310576 ],577 "rotation": [578 0,579 90.00012207031251,580 0581 ],582 "scale": [583 1,584 1,585 1586 ]587 },588 "color": [589 191,590 255,591 255592 ]593 },594 {595 "object_id": "SM_Wall_47",596 "bbox_2d": [597 283,598 627,599 362,600 663601 ],602 "bbox_3d": {603 "aabb": {604 "center": [605 -649.9999923705058,606 500.0000798948132,607 419.9999400788846608 ],609 "extent": [610 50.25032553195547,611 200.25008163795474,612 11.000084685866113613 ]614 },615 "obb": {616 "center": [617 -649.9999923705058,618 500.0000798948132,619 419.9999400788846620 ],621 "extent": [622 50.25032553195547,623 200.25008163795474,624 11.000084685866113625 ],626 "rotation": [627 7.000000091289134e-06,628 -90.00009155273438,629 -90.00006866455077630 ]631 },632 "location": [633 -600,634 500,635 420636 ],637 "rotation": [638 7.000000091289134e-06,639 -90.00009155273438,640 -90.00006866455077641 ],642 "scale": [643 1,644 1,645 1646 ]647 },648 "color": [649 95,650 255,651 255652 ]653 }654 ],655 "wall div": [656 {657 "object_id": "SM_WallDiv_34",658 "bbox_2d": [659 1421,660 1049,661 1421,662 1049663 ],664 "bbox_3d": {665 "aabb": {666 "center": [667 -1020,668 -895,669 359.99999618530273670 ],671 "extent": [672 100.24999237060547,673 5.500002861022949,674 50.249996185302734675 ]676 },677 "obb": {678 "center": [679 -1020,680 -895,681 359.99999618530273682 ],683 "extent": [684 100.24999237060547,685 5.500002861022949,686 50.249996185302734687 ],688 "rotation": [689 0,690 0,691 0692 ]693 },694 "location": [695 -1020,696 -895,697 310698 ],699 "rotation": [700 0,701 0,702 0703 ],704 "scale": [705 1,706 1,707 1708 ]709 },710 "color": [711 255,712 127,713 191714 ]715 },716 {717 "object_id": "SM_WallDiv_44",718 "bbox_2d": [719 1337,720 994,721 1390,722 1023723 ],724 "bbox_3d": {725 "aabb": {726 "center": [727 -295,728 -1400,729 359.99999618530273730 ],731 "extent": [732 5.500216446513662,733 100.25000408829283,734 50.249996185302734735 ]736 },737 "obb": {738 "center": [739 -295,740 -1400,741 359.99999618530273742 ],743 "extent": [744 5.500216446513662,745 100.25000408829283,746 50.249996185302734747 ],748 "rotation": [749 0,750 -90.00012207031251,751 0752 ]753 },754 "location": [755 -295,756 -1400,757 310758 ],759 "rotation": [760 0,761 -90.00012207031251,762 0763 ],764 "scale": [765 1,766 1,767 1768 ]769 },770 "color": [771 255,772 191,773 255774 ]775 }776 ],777 "pipe": [778 {779 "object_id": "SM_Pipe_14",780 "bbox_2d": [781 289,782 0,783 426,784 110785 ],786 "bbox_3d": {787 "aabb": {788 "center": [789 -700,790 -1680,791 380792 ],793 "extent": [794 200,795 10,796 10797 ]798 },799 "obb": {800 "center": [801 -700,802 -1680,803 380804 ],805 "extent": [806 200,807 10,808 10809 ],810 "rotation": [811 0,812 0,813 0814 ]815 },816 "location": [817 -700,818 -1680,819 380820 ],821 "rotation": [822 0,823 0,824 0825 ],826 "scale": [827 1,828 1,829 1830 ]831 },832 "color": [833 95,834 191,835 63836 ]837 }838 ],839 "pipe connector": [840 {841 "object_id": "SM_Pipe_Con_19",842 "bbox_2d": [843 406,844 82,845 450,846 129847 ],848 "bbox_3d": {849 "aabb": {850 "center": [851 -710,852 -1680,853 379.8999996185303854 ],855 "extent": [856 25,857 13.199999809265137,858 13.300000190734863859 ]860 },861 "obb": {862 "center": [863 -710,864 -1680,865 379.8999996185303866 ],867 "extent": [868 25,869 13.199999809265137,870 13.300000190734863871 ],872 "rotation": [873 0,874 0,875 0876 ]877 },878 "location": [879 -710,880 -1680,881 380882 ],883 "rotation": [884 0,885 0,886 0887 ],888 "scale": [889 1,890 1,891 1892 ]893 },894 "color": [895 95,896 0,897 159898 ]899 },900 {901 "object_id": "SM_Pipe_Con_26",902 "bbox_2d": [903 1278,904 1001,905 1349,906 1016907 ],908 "bbox_3d": {909 "aabb": {910 "center": [911 -1905,912 -285,913 379.8999996185303914 ],915 "extent": [916 25,917 13.199999809265137,918 13.300000190734863919 ]920 },921 "obb": {922 "center": [923 -1905,924 -285,925 379.8999996185303926 ],927 "extent": [928 25,929 13.199999809265137,930 13.300000190734863931 ],932 "rotation": [933 0,934 0,935 0936 ]937 },938 "location": [939 -1905,940 -285,941 380942 ],943 "rotation": [944 0,945 0,946 0947 ],948 "scale": [949 1,950 1,951 1952 ]953 },954 "color": [955 255,956 159,957 255958 ]959 }960 ],961 "cable rail": [962 {963 "object_id": "SM_CableRail_35",964 "bbox_2d": [965 304,966 646,967 338,968 665969 ],970 "bbox_3d": {971 "aabb": {972 "center": [973 620,974 500,975 397.50000047683716976 ],977 "extent": [978 13.00042705941928,979 200.00002769642344,980 3.500000238418579981 ]982 },983 "obb": {984 "center": [985 620,986 500,987 397.50000047683716988 ],989 "extent": [990 13.00042705941928,991 200.00002769642344,992 3.500000238418579993 ],994 "rotation": [995 0,996 -90.00012207031251,997 0998 ]999 },1000 "location": [1001 620,1002 500,1003 3951004 ],1005 "rotation": [1006 0,1007 -90.00012207031251,1008 01009 ],1010 "scale": [1011 1,1012 1,1013 11014 ]1015 },1016 "color": [1017 159,1018 255,1019 2551020 ]1021 },1022 {1023 "object_id": "SM_CableRail_39",1024 "bbox_2d": [1025 1377,1026 43,1027 1919,1028 831029 ],1030 "bbox_3d": {1031 "aabb": {1032 "center": [1033 -740,1034 -1040,1035 397.500000476837161036 ],1037 "extent": [1038 13.001918429061675,1039 200.00012462675636,1040 3.5000002384185791041 ]1042 },1043 "obb": {1044 "center": [1045 -740,1046 -1040,1047 397.500000476837161048 ],1049 "extent": [1050 13.001918429061675,1051 200.00012462675636,1052 3.5000002384185791053 ],1054 "rotation": [1055 0,1056 89.99945068359376,1057 01058 ]1059 },1060 "location": [1061 -740,1062 -1040,1063 3951064 ],1065 "rotation": [1066 0,1067 89.99945068359376,1068 01069 ],1070 "scale": [1071 1,1072 1,1073 11074 ]1075 },1076 "color": [1077 191,1078 223,1079 1591080 ]1081 },1082 {1083 "object_id": "SM_CableRail_116",1084 "bbox_2d": [1085 402,1086 0,1087 603,1088 831089 ],1090 "bbox_3d": {1091 "aabb": {1092 "center": [1093 -758.5624747181213,1094 -1621.4374747181555,1095 397.500000476837161096 ],1097 "extent": [1098 31.562547955037303,1099 31.43754813812984,1100 3.5000002384185791101 ]1102 },1103 "obb": {1104 "center": [1105 -758.5624747181213,1106 -1621.4374747181555,1107 397.500000476837161108 ],1109 "extent": [1110 31.562547955037303,1111 31.43754813812984,1112 3.5000002384185791113 ],1114 "rotation": [1115 0,1116 -90.00008392333984,1117 01118 ]1119 },1120 "location": [1121 -740,1122 -1640,1123 3951124 ],1125 "rotation": [1126 0,1127 -90.00008392333984,1128 01129 ],1130 "scale": [1131 1,1132 1,1133 11134 ]1135 },1136 "color": [1137 31,1138 223,1139 01140 ]1141 },1142 {1143 "object_id": "SM_CableRail_40",1144 "bbox_2d": [1145 938,1146 43,1147 1399,1148 831149 ],1150 "bbox_3d": {1151 "aabb": {1152 "center": [1153 -740,1154 -1340,1155 397.500000476837161156 ],1157 "extent": [1158 13.000973006857976,1159 100.00012636227848,1160 3.5000002384185791161 ]1162 },1163 "obb": {1164 "center": [1165 -740,1166 -1340,1167 397.500000476837161168 ],1169 "extent": [1170 13.000973006857976,1171 100.00012636227848,1172 3.5000002384185791173 ],1174 "rotation": [1175 0,1176 89.99944305419923,1177 01178 ]1179 },1180 "location": [1181 -740,1182 -1340,1183 3951184 ],1185 "rotation": [1186 0,1187 89.99944305419923,1188 01189 ],1190 "scale": [1191 1,1192 1,1193 11194 ]1195 },1196 "color": [1197 31,1198 223,1199 2551200 ]