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": "l066_r005",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/jiawei/Shopping_mall/l066_r005/lit.png",5 "camera": {6 "location": [7 -12779,8 -776,9 38710 ],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 -12779,38 -776,39 387,40 141 ]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_17",56 "bbox_2d": [57 1335,58 503,59 1369,60 57961 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 -8589.999977084693,66 -3985.658921143344,67 33568 ],69 "extent": [70 200.0000318446546,71 19.929587462606378,72 33573 ]74 },75 "obb": {76 "center": [77 -8589.999977084693,78 -3985.658921143344,79 33580 ],81 "extent": [82 200.0000318446546,83 19.929587462606378,84 33585 ],86 "rotation": [87 0,88 179.99990844726562,89 090 ]91 },92 "location": [93 -8390,94 -4000,95 2096 ],97 "rotation": [98 0,99 179.99990844726562,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 31,110 223,111 15112 ]113 },114 {115 "object_id": "SM_Market_WallPanel_18",116 "bbox_2d": [117 1278,118 502,119 1334,120 574121 ],122 "bbox_3d": {123 "aabb": {124 "center": [125 -8989.999977084693,126 -3985.658921143344,127 335128 ],129 "extent": [130 200.0000318446546,131 19.929587462606378,132 335133 ]134 },135 "obb": {136 "center": [137 -8989.999977084693,138 -3985.658921143344,139 335140 ],141 "extent": [142 200.0000318446546,143 19.929587462606378,144 335145 ],146 "rotation": [147 0,148 179.99990844726562,149 0150 ]151 },152 "location": [153 -8790,154 -4000,155 20156 ],157 "rotation": [158 0,159 179.99990844726562,160 0161 ],162 "scale": [163 1,164 1,165 1166 ]167 },168 "color": [169 95,170 0,171 15172 ]173 },174 {175 "object_id": "SM_Market_WallPanel_19",176 "bbox_2d": [177 1216,178 503,179 1277,180 576181 ],182 "bbox_3d": {183 "aabb": {184 "center": [185 -9389.999977084693,186 -3985.658921143344,187 335188 ],189 "extent": [190 200.0000318446546,191 19.929587462606378,192 335193 ]194 },195 "obb": {196 "center": [197 -9389.999977084693,198 -3985.658921143344,199 335200 ],201 "extent": [202 200.0000318446546,203 19.929587462606378,204 335205 ],206 "rotation": [207 0,208 179.99990844726562,209 0210 ]211 },212 "location": [213 -9190,214 -4000,215 20216 ],217 "rotation": [218 0,219 179.99990844726562,220 0221 ],222 "scale": [223 1,224 1,225 1226 ]227 },228 "color": [229 95,230 255,231 15232 ]233 },234 {235 "object_id": "SM_Market_WallPanel_20",236 "bbox_2d": [237 1149,238 498,239 1215,240 578241 ],242 "bbox_3d": {243 "aabb": {244 "center": [245 -9789.999977084693,246 -3985.658921143344,247 335248 ],249 "extent": [250 200.0000318446546,251 19.929587462606378,252 335253 ]254 },255 "obb": {256 "center": [257 -9789.999977084693,258 -3985.658921143344,259 335260 ],261 "extent": [262 200.0000318446546,263 19.929587462606378,264 335265 ],266 "rotation": [267 0,268 179.99990844726562,269 0270 ]271 },272 "location": [273 -9590,274 -4000,275 20276 ],277 "rotation": [278 0,279 179.99990844726562,280 0281 ],282 "scale": [283 1,284 1,285 1286 ]287 },288 "color": [289 95,290 127,291 15292 ]293 },294 {295 "object_id": "SM_Market_WallPanel_21",296 "bbox_2d": [297 1074,298 495,299 1148,300 626301 ],302 "bbox_3d": {303 "aabb": {304 "center": [305 -10189.999977084693,306 -3985.658921143344,307 335308 ],309 "extent": [310 200.0000318446546,311 19.929587462606378,312 335313 ]314 },315 "obb": {316 "center": [317 -10189.999977084693,318 -3985.658921143344,319 335320 ],321 "extent": [322 200.0000318446546,323 19.929587462606378,324 335325 ],326 "rotation": [327 0,328 179.99990844726562,329 0330 ]331 },332 "location": [333 -9990,334 -4000,335 20336 ],337 "rotation": [338 0,339 179.99990844726562,340 0341 ],342 "scale": [343 1,344 1,345 1346 ]347 },348 "color": [349 95,350 63,351 15352 ]353 },354 {355 "object_id": "SM_Market_WallPanel_22",356 "bbox_2d": [357 992,358 498,359 1073,360 609361 ],362 "bbox_3d": {363 "aabb": {364 "center": [365 -10589.999977084693,366 -3985.658921143344,367 335368 ],369 "extent": [370 200.0000318446546,371 19.929587462606378,372 335373 ]374 },375 "obb": {376 "center": [377 -10589.999977084693,378 -3985.658921143344,379 335380 ],381 "extent": [382 200.0000318446546,383 19.929587462606378,384 335385 ],386 "rotation": [387 0,388 179.99990844726562,389 0390 ]391 },392 "location": [393 -10390,394 -4000,395 20396 ],397 "rotation": [398 0,399 179.99990844726562,400 0401 ],402 "scale": [403 1,404 1,405 1406 ]407 },408 "color": [409 95,410 191,411 15412 ]413 },414 {415 "object_id": "SM_Market_WallPanel_23",416 "bbox_2d": [417 900,418 489,419 991,420 605421 ],422 "bbox_3d": {423 "aabb": {424 "center": [425 -10989.999977084693,426 -3985.658921143344,427 335428 ],429 "extent": [430 200.0000318446546,431 19.929587462606378,432 335433 ]434 },435 "obb": {436 "center": [437 -10989.999977084693,438 -3985.658921143344,439 335440 ],441 "extent": [442 200.0000318446546,443 19.929587462606378,444 335445 ],446 "rotation": [447 0,448 179.99990844726562,449 0450 ]451 },452 "location": [453 -10790,454 -4000,455 20456 ],457 "rotation": [458 0,459 179.99990844726562,460 0461 ],462 "scale": [463 1,464 1,465 1466 ]467 },468 "color": [469 95,470 31,471 15472 ]473 },474 {475 "object_id": "SM_Market_WallPanel_24",476 "bbox_2d": [477 798,478 486,479 899,480 608481 ],482 "bbox_3d": {483 "aabb": {484 "center": [485 -11389.999977084693,486 -3985.658921143344,487 335488 ],489 "extent": [490 200.0000318446546,491 19.929587462606378,492 335493 ]494 },495 "obb": {496 "center": [497 -11389.999977084693,498 -3985.658921143344,499 335500 ],501 "extent": [502 200.0000318446546,503 19.929587462606378,504 335505 ],506 "rotation": [507 0,508 179.99990844726562,509 0510 ]511 },512 "location": [513 -11190,514 -4000,515 20516 ],517 "rotation": [518 0,519 179.99990844726562,520 0521 ],522 "scale": [523 1,524 1,525 1526 ]527 },528 "color": [529 95,530 95,531 15532 ]533 },534 {535 "object_id": "SM_Market_WallPanel_25",536 "bbox_2d": [537 682,538 484,539 797,540 585541 ],542 "bbox_3d": {543 "aabb": {544 "center": [545 -11789.999977084693,546 -3985.658921143344,547 335548 ],549 "extent": [550 200.0000318446546,551 19.929587462606378,552 335553 ]554 },555 "obb": {556 "center": [557 -11789.999977084693,558 -3985.658921143344,559 335560 ],561 "extent": [562 200.0000318446546,563 19.929587462606378,564 335565 ],566 "rotation": [567 0,568 179.99990844726562,569 0570 ]571 },572 "location": [573 -11590,574 -4000,575 20576 ],577 "rotation": [578 0,579 179.99990844726562,580 0581 ],582 "scale": [583 1,584 1,585 1586 ]587 },588 "color": [589 95,590 159,591 15592 ]593 },594 {595 "object_id": "SM_Market_WallPanel_26",596 "bbox_2d": [597 551,598 479,599 681,600 588601 ],602 "bbox_3d": {603 "aabb": {604 "center": [605 -12189.999977084693,606 -3985.658921143344,607 335608 ],609 "extent": [610 200.0000318446546,611 19.929587462606378,612 335613 ]614 },615 "obb": {616 "center": [617 -12189.999977084693,618 -3985.658921143344,619 335620 ],621 "extent": [622 200.0000318446546,623 19.929587462606378,624 335625 ],626 "rotation": [627 0,628 179.99990844726562,629 0630 ]631 },632 "location": [633 -11990,634 -4000,635 20636 ],637 "rotation": [638 0,639 179.99990844726562,640 0641 ],642 "scale": [643 1,644 1,645 1646 ]647 },648 "color": [649 95,650 223,651 15652 ]653 },654 {655 "object_id": "SM_Market_WallPanel_27",656 "bbox_2d": [657 401,658 474,659 550,660 592661 ],662 "bbox_3d": {663 "aabb": {664 "center": [665 -12589.999977084693,666 -3985.658921143344,667 335668 ],669 "extent": [670 200.0000318446546,671 19.929587462606378,672 335673 ]674 },675 "obb": {676 "center": [677 -12589.999977084693,678 -3985.658921143344,679 335680 ],681 "extent": [682 200.0000318446546,683 19.929587462606378,684 335685 ],686 "rotation": [687 0,688 179.99990844726562,689 0690 ]691 },692 "location": [693 -12390,694 -4000,695 20696 ],697 "rotation": [698 0,699 179.99990844726562,700 0701 ],702 "scale": [703 1,704 1,705 1706 ]707 },708 "color": [709 159,710 0,711 15712 ]713 },714 {715 "object_id": "SM_Market_WallPanel_28",716 "bbox_2d": [717 228,718 469,719 400,720 596721 ],722 "bbox_3d": {723 "aabb": {724 "center": [725 -12989.999977084693,726 -3985.658921143344,727 335728 ],729 "extent": [730 200.0000318446546,731 19.929587462606378,732 335733 ]734 },735 "obb": {736 "center": [737 -12989.999977084693,738 -3985.658921143344,739 335740 ],741 "extent": [742 200.0000318446546,743 19.929587462606378,744 335745 ],746 "rotation": [747 0,748 179.99990844726562,749 0750 ]751 },752 "location": [753 -12790,754 -4000,755 20756 ],757 "rotation": [758 0,759 179.99990844726562,760 0761 ],762 "scale": [763 1,764 1,765 1766 ]767 },768 "color": [769 159,770 255,771 15772 ]773 },774 {775 "object_id": "SM_Market_WallPanel_29",776 "bbox_2d": [777 25,778 462,779 227,780 601781 ],782 "bbox_3d": {783 "aabb": {784 "center": [785 -13389.999977084693,786 -3985.658921143344,787 335788 ],789 "extent": [790 200.0000318446546,791 19.929587462606378,792 335793 ]794 },795 "obb": {796 "center": [797 -13389.999977084693,798 -3985.658921143344,799 335800 ],801 "extent": [802 200.0000318446546,803 19.929587462606378,804 335805 ],806 "rotation": [807 0,808 179.99990844726562,809 0810 ]811 },812 "location": [813 -13190,814 -4000,815 20816 ],817 "rotation": [818 0,819 179.99990844726562,820 0821 ],822 "scale": [823 1,824 1,825 1826 ]827 },828 "color": [829 159,830 127,831 15832 ]833 },834 {835 "object_id": "SM_Market_WallPanel_30",836 "bbox_2d": [837 0,838 462,839 24,840 601841 ],842 "bbox_3d": {843 "aabb": {844 "center": [845 -13789.999977084693,846 -3985.658921143344,847 335848 ],849 "extent": [850 200.0000318446546,851 19.929587462606378,852 335853 ]854 },855 "obb": {856 "center": [857 -13789.999977084693,858 -3985.658921143344,859 335860 ],861 "extent": [862 200.0000318446546,863 19.929587462606378,864 335865 ],866 "rotation": [867 0,868 179.99990844726562,869 0870 ]871 },872 "location": [873 -13590,874 -4000,875 20876 ],877 "rotation": [878 0,879 179.99990844726562,880 0881 ],882 "scale": [883 1,884 1,885 1886 ]887 },888 "color": [889 159,890 63,891 15892 ]893 },894 {895 "object_id": "SM_Mall_FloorCeiling_494",896 "bbox_2d": [897 1414,898 495,899 1510,900 624901 ],902 "bbox_3d": {903 "aabb": {904 "center": [905 -8590.000213052774,906 -3399.9997869469994,907 340.0000915527344908 ],909 "extent": [910 200.0002130527737,911 200.0002130527737,912 320.00006103515625913 ]914 },915 "obb": {916 "center": [917 -8590.000213052774,918 -3399.9997869469994,919 340.0000915527344920 ],921 "extent": [922 200.0002130527737,923 200.0002130527737,924 320.00006103515625925 ],926 "rotation": [927 0,928 179.99993896484375,929 0930 ]931 },932 "location": [933 -8390,934 -3200,935 0936 ],937 "rotation": [938 0,939 179.99993896484375,940 0941 ],942 "scale": [943 1,944 1,945 1946 ]947 },948 "color": [949 63,950 15,951 127952 ]953 },954 {955 "object_id": "SM_Mall_FloorCeiling_495",956 "bbox_2d": [957 1414,958 495,959 1479,960 628961 ],962 "bbox_3d": {963 "aabb": {964 "center": [965 -8990.000213052774,966 -3399.9997869469994,967 340.0000915527344968 ],969 "extent": [970 200.0002130527737,971 200.0002130527737,972 320.00006103515625973 ]974 },975 "obb": {976 "center": [977 -8990.000213052774,978 -3399.9997869469994,979 340.0000915527344980 ],981 "extent": [982 200.0002130527737,983 200.0002130527737,984 320.00006103515625985 ],986 "rotation": [987 0,988 179.99993896484375,989 0990 ]991 },992 "location": [993 -8790,994 -3200,995 0996 ],997 "rotation": [998 0,999 179.99993896484375,1000 01001 ],1002 "scale": [1003 1,1004 1,1005 11006 ]1007 },1008 "color": [1009 63,1010 15,1011 631012 ]1013 },1014 {1015 "object_id": "SM_Mall_FloorCeiling_496",1016 "bbox_2d": [1017 1334,1018 628,1019 1402,1020 6331021 ],1022 "bbox_3d": {1023 "aabb": {1024 "center": [1025 -9390.000213052774,1026 -3399.9997869469994,1027 340.00009155273441028 ],1029 "extent": [1030 200.0002130527737,1031 200.0002130527737,1032 320.000061035156251033 ]1034 },1035 "obb": {1036 "center": [1037 -9390.000213052774,1038 -3399.9997869469994,1039 340.00009155273441040 ],1041 "extent": [1042 200.0002130527737,1043 200.0002130527737,1044 320.000061035156251045 ],1046 "rotation": [1047 0,1048 179.99993896484375,1049 01050 ]1051 },1052 "location": [1053 -9190,1054 -3200,1055 01056 ],1057 "rotation": [1058 0,1059 179.99993896484375,1060 01061 ],1062 "scale": [1063 1,1064 1,1065 11066 ]1067 },1068 "color": [1069 63,1070 15,1071 1911072 ]1073 },1074 {1075 "object_id": "SM_Mall_FloorCeiling_497",1076 "bbox_2d": [1077 1258,1078 632,1079 1343,1080 6371081 ],1082 "bbox_3d": {1083 "aabb": {1084 "center": [1085 -9790.000213052774,1086 -3399.9997869469994,1087 340.00009155273441088 ],1089 "extent": [1090 200.0002130527737,1091 200.0002130527737,1092 320.000061035156251093 ]1094 },1095 "obb": {1096 "center": [1097 -9790.000213052774,1098 -3399.9997869469994,1099 340.00009155273441100 ],1101 "extent": [1102 200.0002130527737,1103 200.0002130527737,1104 320.000061035156251105 ],1106 "rotation": [1107 0,1108 179.99993896484375,1109 01110 ]1111 },1112 "location": [1113 -9590,1114 -3200,1115 01116 ],1117 "rotation": [1118 0,1119 179.99993896484375,1120 01121 ],1122 "scale": [1123 1,1124 1,1125 11126 ]1127 },1128 "color": [1129 63,1130 15,1131 311132 ]1133 },1134 {1135 "object_id": "SM_Mall_FloorCeiling_498",1136 "bbox_2d": [1137 1335,1138 499,1139 1414,1140 5011141 ],1142 "bbox_3d": {1143 "aabb": {1144 "center": [1145 -8590.000213052774,1146 -3799.9997869469994,1147 340.00009155273441148 ],1149 "extent": [1150 200.0002130527737,1151 200.0002130527737,1152 320.000061035156251153 ]1154 },1155 "obb": {1156 "center": [1157 -8590.000213052774,1158 -3799.9997869469994,1159 340.00009155273441160 ],1161 "extent": [1162 200.0002130527737,1163 200.0002130527737,1164 320.000061035156251165 ],1166 "rotation": [1167 0,1168 179.99993896484375,1169 01170 ]1171 },1172 "location": [1173 -8390,1174 -3600,1175 01176 ],1177 "rotation": [1178 0,1179 179.99993896484375,1180 01181 ],1182 "scale": [1183 1,1184 1,1185 11186 ]1187 },1188 "color": [1189 63,1190 15,1191 951192 ]1193 },1194 {1195 "object_id": "SM_Mall_FloorCeiling_499",1196 "bbox_2d": [1197 1346,1198 499,1199 1359,1200 500