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": "Shopping_mall",3 "view_id": "l030_r002",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/Shopping_mall/l030_r002/lit.png",5 "camera": {6 "location": [7 -16495,8 -2960,9 27510 ],11 "rotation": [12 0,13 119.99999999999999,14 015 ],16 "fov": 90,17 "c2w": [18 [19 -0.4999999999999998,20 0.8660254037844384,21 0,22 023 ],24 [25 -0.8660254037844384,26 -0.4999999999999998,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 -16495,38 -2960,39 275,40 141 ]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 "mall": [54 {55 "object_id": "SM_Market_WallPanel_92",56 "bbox_2d": [57 1499,58 516,59 1539,60 51961 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 -19145.65958693362,66 -1399.9999751756607,67 33568 ],69 "extent": [70 19.92961409421332,71 200.00003449835344,72 33573 ]74 },75 "obb": {76 "center": [77 -19145.65958693362,78 -1399.9999751756607,79 33580 ],81 "extent": [82 19.92961409421332,83 200.00003449835344,84 33585 ],86 "rotation": [87 0,88 90.00009918212892,89 090 ]91 },92 "location": [93 -19160,94 -1600,95 2096 ],97 "rotation": [98 0,99 90.00009918212892,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 15,110 127,111 223112 ]113 },114 {115 "object_id": "SM_Market_WallPanel_93",116 "bbox_2d": [117 1724,118 519,119 1745,120 523121 ],122 "bbox_3d": {123 "aabb": {124 "center": [125 -19145.65958693362,126 -1799.9999751756607,127 335128 ],129 "extent": [130 19.92961409421332,131 200.00003449835344,132 335133 ]134 },135 "obb": {136 "center": [137 -19145.65958693362,138 -1799.9999751756607,139 335140 ],141 "extent": [142 19.92961409421332,143 200.00003449835344,144 335145 ],146 "rotation": [147 0,148 90.00009918212892,149 0150 ]151 },152 "location": [153 -19160,154 -2000,155 20156 ],157 "rotation": [158 0,159 90.00009918212892,160 0161 ],162 "scale": [163 1,164 1,165 1166 ]167 },168 "color": [169 15,170 63,171 0172 ]173 },174 {175 "object_id": "SM_Market_WallPanel_94",176 "bbox_2d": [177 1910,178 520,179 1911,180 541181 ],182 "bbox_3d": {183 "aabb": {184 "center": [185 -19145.65958693362,186 -2199.999975175661,187 335188 ],189 "extent": [190 19.92961409421332,191 200.00003449835333,192 335193 ]194 },195 "obb": {196 "center": [197 -19145.65958693362,198 -2199.999975175661,199 335200 ],201 "extent": [202 19.92961409421332,203 200.00003449835333,204 335205 ],206 "rotation": [207 0,208 90.00009918212892,209 0210 ]211 },212 "location": [213 -19160,214 -2400,215 20216 ],217 "rotation": [218 0,219 90.00009918212892,220 0221 ],222 "scale": [223 1,224 1,225 1226 ]227 },228 "color": [229 15,230 63,231 255232 ]233 },234 {235 "object_id": "SM_Mall_FloorCeiling_689",236 "bbox_2d": [237 4,238 0,239 215,240 131241 ],242 "bbox_3d": {243 "aabb": {244 "center": [245 -16190.000213052774,246 -2199.9997869469994,247 340.0000915527344248 ],249 "extent": [250 200.0002130527737,251 200.0002130527737,252 320.00006103515625253 ]254 },255 "obb": {256 "center": [257 -16190.000213052774,258 -2199.9997869469994,259 340.0000915527344260 ],261 "extent": [262 200.0002130527737,263 200.0002130527737,264 320.00006103515625265 ],266 "rotation": [267 0,268 179.99993896484375,269 0270 ]271 },272 "location": [273 -15990,274 -2000,275 0276 ],277 "rotation": [278 0,279 179.99993896484375,280 0281 ],282 "scale": [283 1,284 1,285 1286 ]287 },288 "color": [289 15,290 127,291 47292 ]293 },294 {295 "object_id": "SM_Mall_FloorCeiling_696",296 "bbox_2d": [297 534,298 0,299 1113,300 1079301 ],302 "bbox_3d": {303 "aabb": {304 "center": [305 -16590.000213052772,306 -2599.9997869469994,307 340.0000915527344308 ],309 "extent": [310 200.00021305277187,311 200.0002130527737,312 320.00006103515625313 ]314 },315 "obb": {316 "center": [317 -16590.000213052772,318 -2599.9997869469994,319 340.0000915527344320 ],321 "extent": [322 200.00021305277187,323 200.0002130527737,324 320.00006103515625325 ],326 "rotation": [327 0,328 179.99993896484375,329 0330 ]331 },332 "location": [333 -16390,334 -2400,335 0336 ],337 "rotation": [338 0,339 179.99993896484375,340 0341 ],342 "scale": [343 1,344 1,345 1346 ]347 },348 "color": [349 15,350 15,351 47352 ]353 },354 {355 "object_id": "SM_Mall_FloorCeiling_698",356 "bbox_2d": [357 493,358 213,359 738,360 811361 ],362 "bbox_3d": {363 "aabb": {364 "center": [365 -16590.000213052772,366 -1799.9997869469994,367 340.0000915527344368 ],369 "extent": [370 200.00021305277187,371 200.0002130527737,372 320.00006103515625373 ]374 },375 "obb": {376 "center": [377 -16590.000213052772,378 -1799.9997869469994,379 340.0000915527344380 ],381 "extent": [382 200.00021305277187,383 200.0002130527737,384 320.00006103515625385 ],386 "rotation": [387 0,388 179.99993896484375,389 0390 ]391 },392 "location": [393 -16390,394 -1600,395 0396 ],397 "rotation": [398 0,399 179.99993896484375,400 0401 ],402 "scale": [403 1,404 1,405 1406 ]407 },408 "color": [409 0,410 47,411 255412 ]413 },414 {415 "object_id": "SM_Mall_FloorCeiling_699",416 "bbox_2d": [417 191,418 0,419 921,420 1014421 ],422 "bbox_3d": {423 "aabb": {424 "center": [425 -16590.000213052772,426 -2199.9997869469994,427 340.0000915527344428 ],429 "extent": [430 200.00021305277187,431 200.0002130527737,432 320.00006103515625433 ]434 },435 "obb": {436 "center": [437 -16590.000213052772,438 -2199.9997869469994,439 340.0000915527344440 ],441 "extent": [442 200.00021305277187,443 200.0002130527737,444 320.00006103515625445 ],446 "rotation": [447 0,448 179.99993896484375,449 0450 ]451 },452 "location": [453 -16390,454 -2000,455 0456 ],457 "rotation": [458 0,459 179.99993896484375,460 0461 ],462 "scale": [463 1,464 1,465 1466 ]467 },468 "color": [469 0,470 47,471 127472 ]473 },474 {475 "object_id": "SM_Mall_FloorCeiling_700",476 "bbox_2d": [477 530,478 362,479 577,480 691481 ],482 "bbox_3d": {483 "aabb": {484 "center": [485 -16590.000213052772,486 -999.9997869469992,487 340.0000915527344488 ],489 "extent": [490 200.00021305277187,491 200.00021305277363,492 320.00006103515625493 ]494 },495 "obb": {496 "center": [497 -16590.000213052772,498 -999.9997869469992,499 340.0000915527344500 ],501 "extent": [502 200.00021305277187,503 200.00021305277363,504 320.00006103515625505 ],506 "rotation": [507 0,508 179.99993896484375,509 0510 ]511 },512 "location": [513 -16390,514 -800,515 0516 ],517 "rotation": [518 0,519 179.99993896484375,520 0521 ],522 "scale": [523 1,524 1,525 1526 ]527 },528 "color": [529 0,530 47,531 63532 ]533 },534 {535 "object_id": "SM_Mall_FloorCeiling_701",536 "bbox_2d": [537 530,538 311,539 651,540 735541 ],542 "bbox_3d": {543 "aabb": {544 "center": [545 -16590.000213052772,546 -1399.9997869469994,547 340.0000915527344548 ],549 "extent": [550 200.00021305277187,551 200.0002130527737,552 320.00006103515625553 ]554 },555 "obb": {556 "center": [557 -16590.000213052772,558 -1399.9997869469994,559 340.0000915527344560 ],561 "extent": [562 200.00021305277187,563 200.0002130527737,564 320.00006103515625565 ],566 "rotation": [567 0,568 179.99993896484375,569 0570 ]571 },572 "location": [573 -16390,574 -1200,575 0576 ],577 "rotation": [578 0,579 179.99993896484375,580 0581 ],582 "scale": [583 1,584 1,585 1586 ]587 },588 "color": [589 0,590 47,591 191592 ]593 },594 {595 "object_id": "SM_Mall_FloorCeiling_702",596 "bbox_2d": [597 527,598 634,599 532,600 643601 ],602 "bbox_3d": {603 "aabb": {604 "center": [605 -16590.000213052772,606 -199.9997869469993,607 340.0000915527344608 ],609 "extent": [610 200.00021305277187,611 200.00021305277366,612 320.00006103515625613 ]614 },615 "obb": {616 "center": [617 -16590.000213052772,618 -199.9997869469993,619 340.0000915527344620 ],621 "extent": [622 200.00021305277187,623 200.00021305277366,624 320.00006103515625625 ],626 "rotation": [627 0,628 179.99993896484375,629 0630 ]631 },632 "location": [633 -16390,634 0,635 0636 ],637 "rotation": [638 0,639 179.99993896484375,640 0641 ],642 "scale": [643 1,644 1,645 1646 ]647 },648 "color": [649 0,650 47,651 31652 ]653 },654 {655 "object_id": "SM_Mall_FloorCeiling_703",656 "bbox_2d": [657 527,658 644,659 549,660 663661 ],662 "bbox_3d": {663 "aabb": {664 "center": [665 -16590.000213052772,666 -599.9997869469993,667 340.0000915527344668 ],669 "extent": [670 200.00021305277187,671 200.0002130527737,672 320.00006103515625673 ]674 },675 "obb": {676 "center": [677 -16590.000213052772,678 -599.9997869469993,679 340.0000915527344680 ],681 "extent": [682 200.00021305277187,683 200.0002130527737,684 320.00006103515625685 ],686 "rotation": [687 0,688 179.99993896484375,689 0690 ]691 },692 "location": [693 -16390,694 -400,695 0696 ],697 "rotation": [698 0,699 179.99993896484375,700 0701 ],702 "scale": [703 1,704 1,705 1706 ]707 },708 "color": [709 0,710 47,711 95712 ]713 },714 {715 "object_id": "SM_Mall_FloorCeiling_706",716 "bbox_2d": [717 923,718 0,719 1919,720 1079721 ],722 "bbox_3d": {723 "aabb": {724 "center": [725 -16990.000213052772,726 -2599.9997869469994,727 340.0000915527344728 ],729 "extent": [730 200.00021305277187,731 200.0002130527737,732 320.00006103515625733 ]734 },735 "obb": {736 "center": [737 -16990.000213052772,738 -2599.9997869469994,739 340.0000915527344740 ],741 "extent": [742 200.00021305277187,743 200.0002130527737,744 320.00006103515625745 ],746 "rotation": [747 0,748 179.99993896484375,749 0750 ]751 },752 "location": [753 -16790,754 -2400,755 0756 ],757 "rotation": [758 0,759 179.99993896484375,760 0761 ],762 "scale": [763 1,764 1,765 1766 ]767 },768 "color": [769 0,770 47,771 15772 ]773 },774 {775 "object_id": "SM_Mall_FloorCeiling_708",776 "bbox_2d": [777 653,778 243,779 998,780 752781 ],782 "bbox_3d": {783 "aabb": {784 "center": [785 -16990.000213052772,786 -1799.9997869469994,787 340.0000915527344788 ],789 "extent": [790 200.00021305277187,791 200.0002130527737,792 320.00006103515625793 ]794 },795 "obb": {796 "center": [797 -16990.000213052772,798 -1799.9997869469994,799 340.0000915527344800 ],801 "extent": [802 200.00021305277187,803 200.0002130527737,804 320.00006103515625805 ],806 "rotation": [807 0,808 179.99993896484375,809 0810 ]811 },812 "location": [813 -16790,814 -1600,815 0816 ],817 "rotation": [818 0,819 179.99993896484375,820 0821 ],822 "scale": [823 1,824 1,825 1826 ]827 },828 "color": [829 255,830 47,831 255832 ]833 },834 {835 "object_id": "SM_Mall_FloorCeiling_709",836 "bbox_2d": [837 740,838 86,839 1258,840 926841 ],842 "bbox_3d": {843 "aabb": {844 "center": [845 -16990.000213052772,846 -2199.9997869469994,847 340.0000915527344848 ],849 "extent": [850 200.00021305277187,851 200.0002130527737,852 320.00006103515625853 ]854 },855 "obb": {856 "center": [857 -16990.000213052772,858 -2199.9997869469994,859 340.0000915527344860 ],861 "extent": [862 200.00021305277187,863 200.0002130527737,864 320.00006103515625865 ],866 "rotation": [867 0,868 179.99993896484375,869 0870 ]871 },872 "location": [873 -16790,874 -2000,875 0876 ],877 "rotation": [878 0,879 179.99993896484375,880 0881 ],882 "scale": [883 1,884 1,885 1886 ]887 },888 "color": [889 255,890 47,891 127892 ]893 },894 {895 "object_id": "SM_Mall_FloorCeiling_710",896 "bbox_2d": [897 576,898 368,899 815,900 670901 ],902 "bbox_3d": {903 "aabb": {904 "center": [905 -16990.000213052772,906 -999.9997869469992,907 340.0000915527344908 ],909 "extent": [910 200.00021305277187,911 200.00021305277363,912 320.00006103515625913 ]914 },915 "obb": {916 "center": [917 -16990.000213052772,918 -999.9997869469992,919 340.0000915527344920 ],921 "extent": [922 200.00021305277187,923 200.00021305277363,924 320.00006103515625925 ],926 "rotation": [927 0,928 179.99993896484375,929 0930 ]931 },932 "location": [933 -16790,934 -800,935 0936 ],937 "rotation": [938 0,939 179.99993896484375,940 0941 ],942 "scale": [943 1,944 1,945 1946 ]947 },948 "color": [949 255,950 47,951 63952 ]953 },954 {955 "object_id": "SM_Mall_FloorCeiling_711",956 "bbox_2d": [957 619,958 321,959 826,960 724961 ],962 "bbox_3d": {963 "aabb": {964 "center": [965 -16990.000213052772,966 -1399.9997869469994,967 340.0000915527344968 ],969 "extent": [970 200.00021305277187,971 200.0002130527737,972 320.00006103515625973 ]974 },975 "obb": {976 "center": [977 -16990.000213052772,978 -1399.9997869469994,979 340.0000915527344980 ],981 "extent": [982 200.00021305277187,983 200.0002130527737,984 320.00006103515625985 ],986 "rotation": [987 0,988 179.99993896484375,989 0990 ]991 },992 "location": [993 -16790,994 -1200,995 0996 ],997 "rotation": [998 0,999 179.99993896484375,1000 01001 ],1002 "scale": [1003 1,1004 1,1005 11006 ]1007 },1008 "color": [1009 255,1010 47,1011 1911012 ]1013 },1014 {1015 "object_id": "SM_Mall_FloorCeiling_712",1016 "bbox_2d": [1017 531,1018 420,1019 693,1020 6351021 ],1022 "bbox_3d": {1023 "aabb": {1024 "center": [1025 -16990.000213052772,1026 -199.9997869469993,1027 340.00009155273441028 ],1029 "extent": [1030 200.00021305277187,1031 200.00021305277366,1032 320.000061035156251033 ]1034 },1035 "obb": {1036 "center": [1037 -16990.000213052772,1038 -199.9997869469993,1039 340.00009155273441040 ],1041 "extent": [1042 200.00021305277187,1043 200.00021305277366,1044 320.000061035156251045 ],1046 "rotation": [1047 0,1048 179.99993896484375,1049 01050 ]1051 },1052 "location": [1053 -16790,1054 0,1055 01056 ],1057 "rotation": [1058 0,1059 179.99993896484375,1060 01061 ],1062 "scale": [1063 1,1064 1,1065 11066 ]1067 },1068 "color": [1069 255,1070 47,1071 311072 ]1073 },1074 {1075 "object_id": "SM_Mall_FloorCeiling_713",1076 "bbox_2d": [1077 564,1078 397,1079 699,1080 4171081 ],1082 "bbox_3d": {1083 "aabb": {1084 "center": [1085 -16990.000213052772,1086 -599.9997869469993,1087 340.00009155273441088 ],1089 "extent": [1090 200.00021305277187,1091 200.0002130527737,1092 320.000061035156251093 ]1094 },1095 "obb": {1096 "center": [1097 -16990.000213052772,1098 -599.9997869469993,1099 340.00009155273441100 ],1101 "extent": [1102 200.00021305277187,1103 200.0002130527737,1104 320.000061035156251105 ],1106 "rotation": [1107 0,1108 179.99993896484375,1109 01110 ]1111 },1112 "location": [1113 -16790,1114 -400,1115 01116 ],1117 "rotation": [1118 0,1119 179.99993896484375,1120 01121 ],1122 "scale": [1123 1,1124 1,1125 11126 ]1127 },1128 "color": [1129 255,1130 47,1131 951132 ]1133 },1134 {1135 "object_id": "SM_Mall_FloorCeiling_716",1136 "bbox_2d": [1137 1403,1138 0,1139 1919,1140 10201141 ],1142 "bbox_3d": {1143 "aabb": {1144 "center": [1145 -17390.000213052772,1146 -2599.9997869469994,1147 340.00009155273441148 ],1149 "extent": [1150 200.00021305277187,1151 200.0002130527737,1152 320.000061035156251153 ]1154 },1155 "obb": {1156 "center": [1157 -17390.000213052772,1158 -2599.9997869469994,1159 340.00009155273441160 ],1161 "extent": [1162 200.00021305277187,1163 200.0002130527737,1164 320.000061035156251165 ],1166 "rotation": [1167 0,1168 179.99993896484375,1169 01170 ]1171 },1172 "location": [1173 -17190,1174 -2400,1175 01176 ],1177 "rotation": [1178 0,1179 179.99993896484375,1180 01181 ],1182 "scale": [1183 1,1184 1,1185 11186 ]1187 },1188 "color": [1189 255,1190 47,1191 151192 ]1193 },1194 {1195 "object_id": "SM_Mall_FloorCeiling_718",1196 "bbox_2d": [1197 929,1198 337,1199 944,1200 352