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": "Studio_Apartment",3 "view_id": "l086_r001",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/Studio_Apartment/l086_r001/lit.png",5 "camera": {6 "location": [7 116,8 -22,9 19710 ],11 "rotation": [12 0,13 59.99999999999999,14 015 ],16 "fov": 90,17 "c2w": [18 [19 0.5,20 0.8660254037844385,21 0,22 023 ],24 [25 -0.8660254037844385,26 0.5,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 116,38 -22,39 197,40 141 ]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 "room": [54 {55 "object_id": "SM_Room_01",56 "bbox_2d": [57 0,58 230,59 348,60 107961 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 435.60748291015625,66 5.5621185302734375,67 137.0012512207031268 ],69 "extent": [70 5.818756103515625,71 192.51406860351562,72 137.0012512207031273 ]74 },75 "obb": {76 "center": [77 435.60748291015625,78 5.5621185302734375,79 137.0012512207031280 ],81 "extent": [82 5.818756103515625,83 192.51406860351562,84 137.0012512207031285 ],86 "rotation": [87 0,88 0,89 090 ]91 },92 "location": [93 0,94 0,95 096 ],97 "rotation": [98 0,99 0,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 255,110 0,111 255112 ]113 },114 {115 "object_id": "SM_Room_06",116 "bbox_2d": [117 1127,118 33,119 1919,120 1079121 ],122 "bbox_3d": {123 "aabb": {124 "center": [125 -117.57989501953125,126 146.01832580566406,127 137.00125122070312128 ],129 "extent": [130 293.01251220703125,131 5.8546905517578125,132 137.00125122070312133 ]134 },135 "obb": {136 "center": [137 -117.57989501953125,138 146.01832580566406,139 137.00125122070312140 ],141 "extent": [142 293.01251220703125,143 5.8546905517578125,144 137.00125122070312145 ],146 "rotation": [147 0,148 0,149 0150 ]151 },152 "location": [153 0,154 0,155 0156 ],157 "rotation": [158 0,159 0,160 0161 ],162 "scale": [163 1,164 1,165 1166 ]167 },168 "color": [169 255,170 255,171 127172 ]173 },174 {175 "object_id": "SM_Room_07",176 "bbox_2d": [177 812,178 381,179 892,180 1061181 ],182 "bbox_3d": {183 "aabb": {184 "center": [185 339.31402587890625,186 176.03245544433594,187 129.95407104492188188 ],189 "extent": [190 86.86801147460938,191 28.028411865234375,192 102.68250274658203193 ]194 },195 "obb": {196 "center": [197 339.31402587890625,198 176.03245544433594,199 129.95407104492188200 ],201 "extent": [202 86.86801147460938,203 28.028411865234375,204 102.68250274658203205 ],206 "rotation": [207 0,208 0,209 0210 ]211 },212 "location": [213 0,214 0,215 0216 ],217 "rotation": [218 0,219 0,220 0221 ],222 "scale": [223 1,224 1,225 1226 ]227 },228 "color": [229 0,230 127,231 0232 ]233 },234 {235 "object_id": "SM_Room_08",236 "bbox_2d": [237 628,238 380,239 811,240 1079241 ],242 "bbox_3d": {243 "aabb": {244 "center": [245 280.95758056640625,246 146.72813415527344,247 130.51634216308594248 ],249 "extent": [250 28.57500457763672,251 1.0949249267578125,252 102.12776184082031253 ]254 },255 "obb": {256 "center": [257 280.95758056640625,258 146.72813415527344,259 130.51634216308594260 ],261 "extent": [262 28.57500457763672,263 1.0949249267578125,264 102.12776184082031265 ],266 "rotation": [267 0,268 0,269 0270 ]271 },272 "location": [273 0,274 0,275 0276 ],277 "rotation": [278 0,279 0,280 0281 ],282 "scale": [283 1,284 1,285 1286 ]287 },288 "color": [289 0,290 127,291 255292 ]293 },294 {295 "object_id": "SM_Room_09",296 "bbox_2d": [297 486,298 399,299 627,300 1079301 ],302 "bbox_3d": {303 "aabb": {304 "center": [305 338.58258056640625,306 146.72813415527344,307 130.51634216308594308 ],309 "extent": [310 28.57501220703125,311 1.0949249267578125,312 102.12776184082031313 ]314 },315 "obb": {316 "center": [317 338.58258056640625,318 146.72813415527344,319 130.51634216308594320 ],321 "extent": [322 28.57501220703125,323 1.0949249267578125,324 102.12776184082031325 ],326 "rotation": [327 0,328 0,329 0330 ]331 },332 "location": [333 0,334 0,335 0336 ],337 "rotation": [338 0,339 0,340 0341 ],342 "scale": [343 1,344 1,345 1346 ]347 },348 "color": [349 255,350 127,351 0352 ]353 },354 {355 "object_id": "SM_Room_10",356 "bbox_2d": [357 372,358 414,359 485,360 1079361 ],362 "bbox_3d": {363 "aabb": {364 "center": [365 396.20758056640625,366 146.72813415527344,367 130.51634216308594368 ],369 "extent": [370 28.57501220703125,371 1.0949249267578125,372 102.12776184082031373 ]374 },375 "obb": {376 "center": [377 396.20758056640625,378 146.72813415527344,379 130.51634216308594380 ],381 "extent": [382 28.57501220703125,383 1.0949249267578125,384 102.12776184082031385 ],386 "rotation": [387 0,388 0,389 0390 ]391 },392 "location": [393 0,394 0,395 0396 ],397 "rotation": [398 0,399 0,400 0401 ],402 "scale": [403 1,404 1,405 1406 ]407 },408 "color": [409 255,410 127,411 255412 ]413 },414 {415 "object_id": "SM_Room_40",416 "bbox_2d": [417 10,418 0,419 666,420 239421 ],422 "bbox_3d": {423 "aabb": {424 "center": [425 9.376220703125,426 1.1887054443359375,427 272.7301025390625428 ],429 "extent": [430 424.5625,431 195.3359375,432 1.1112518310546875433 ]434 },435 "obb": {436 "center": [437 9.376220703125,438 1.1887054443359375,439 272.7301025390625440 ],441 "extent": [442 424.5625,443 195.3359375,444 1.1112518310546875445 ],446 "rotation": [447 0,448 0,449 0450 ]451 },452 "location": [453 0,454 0,455 0456 ],457 "rotation": [458 0,459 0,460 0461 ],462 "scale": [463 1,464 1,465 1466 ]467 },468 "color": [469 63,470 0,471 63472 ]473 },474 {475 "object_id": "SM_Room_38",476 "bbox_2d": [477 21,478 0,479 1919,480 337481 ],482 "bbox_3d": {483 "aabb": {484 "center": [485 6.82373046875,486 128.59304809570312,487 262.96240234375488 ],489 "extent": [490 423.84625244140625,491 62.72931671142578,492 3.2534942626953125493 ]494 },495 "obb": {496 "center": [497 6.82373046875,498 128.59304809570312,499 262.96240234375500 ],501 "extent": [502 423.84625244140625,503 62.72931671142578,504 3.2534942626953125505 ],506 "rotation": [507 0,508 0,509 0510 ]511 },512 "location": [513 0,514 0,515 0516 ],517 "rotation": [518 0,519 0,520 0521 ],522 "scale": [523 1,524 1,525 1526 ]527 },528 "color": [529 63,530 255,531 63532 ]533 },534 {535 "object_id": "SM_Room_39",536 "bbox_2d": [537 0,538 0,539 535,540 233541 ],542 "bbox_3d": {543 "aabb": {544 "center": [545 6.82373046875,546 -69.15577697753906,547 262.9625244140625548 ],549 "extent": [550 423.84625244140625,551 119.129150390625,552 3.253509521484375553 ]554 },555 "obb": {556 "center": [557 6.82373046875,558 -69.15577697753906,559 262.9625244140625560 ],561 "extent": [562 423.84625244140625,563 119.129150390625,564 3.253509521484375565 ],566 "rotation": [567 0,568 0,569 0570 ]571 },572 "location": [573 0,574 0,575 0576 ],577 "rotation": [578 0,579 0,580 0581 ],582 "scale": [583 1,584 1,585 1586 ]587 },588 "color": [589 63,590 127,591 63592 ]593 }594 ],595 "window divided": [596 {597 "object_id": "SM_Window_01",598 "bbox_2d": [599 88,600 467,601 144,602 1079603 ],604 "bbox_3d": {605 "aabb": {606 "center": [607 435.60748291015625,608 0.2272796630859375,609 137.16000366210938610 ],611 "extent": [612 5.818756103515625,613 89.87129211425781,614 106.68000793457031615 ]616 },617 "obb": {618 "center": [619 435.60748291015625,620 0.2272796630859375,621 137.16000366210938622 ],623 "extent": [624 5.818756103515625,625 89.87129211425781,626 106.68000793457031627 ],628 "rotation": [629 0,630 0,631 0632 ]633 },634 "location": [635 0,636 0,637 0638 ],639 "rotation": [640 0,641 0,642 0643 ],644 "scale": [645 1,646 1,647 1648 ]649 },650 "color": [651 63,652 127,653 0654 ]655 }656 ]657 },658 "foreground": {659 "wood": [660 {661 "object_id": "SM_Wood_05",662 "bbox_2d": [663 1067,664 186,665 1126,666 1079667 ],668 "bbox_3d": {669 "aabb": {670 "center": [671 181.16998291015625,672 169.11827087402344,673 137.00125122070312674 ],675 "extent": [676 5.740631103515625,677 28.954681396484375,678 137.00125122070312679 ]680 },681 "obb": {682 "center": [683 181.16998291015625,684 169.11827087402344,685 137.00125122070312686 ],687 "extent": [688 5.740631103515625,689 28.954681396484375,690 137.00125122070312691 ],692 "rotation": [693 0,694 0,695 0696 ]697 },698 "location": [699 0,700 0,701 0702 ],703 "rotation": [704 0,705 0,706 0707 ],708 "scale": [709 1,710 1,711 1712 ]713 },714 "color": [715 0,716 0,717 127718 ]719 },720 {721 "object_id": "SM_Wood_01",722 "bbox_2d": [723 807,724 1055,725 1012,726 1079727 ],728 "bbox_3d": {729 "aabb": {730 "center": [731 218.62017822265625,732 166.37686157226562,733 77.74700164794922734 ],735 "extent": [736 34.54273986816406,737 20.296142578125,738 2.063751220703125739 ]740 },741 "obb": {742 "center": [743 218.62017822265625,744 166.37686157226562,745 77.74700164794922746 ],747 "extent": [748 34.54273986816406,749 20.296142578125,750 2.063751220703125751 ],752 "rotation": [753 0,754 0,755 0756 ]757 },758 "location": [759 0,760 0,761 0762 ],763 "rotation": [764 0,765 0,766 0767 ],768 "scale": [769 1,770 1,771 1772 ]773 },774 "color": [775 0,776 127,777 127778 ]779 },780 {781 "object_id": "SM_Wood_02",782 "bbox_2d": [783 807,784 874,785 1066,786 984787 ],788 "bbox_3d": {789 "aabb": {790 "center": [791 218.62017822265625,792 166.3185272216797,793 114.53752136230469794 ],795 "extent": [796 34.54273986816406,797 20.354476928710938,798 2.063751220703125799 ]800 },801 "obb": {802 "center": [803 218.62017822265625,804 166.3185272216797,805 114.53752136230469806 ],807 "extent": [808 34.54273986816406,809 20.354476928710938,810 2.063751220703125811 ],812 "rotation": [813 0,814 0,815 0816 ]817 },818 "location": [819 0,820 0,821 0822 ],823 "rotation": [824 0,825 0,826 0827 ],828 "scale": [829 1,830 1,831 1832 ]833 },834 "color": [835 255,836 127,837 127838 ]839 },840 {841 "object_id": "SM_Wood_03",842 "bbox_2d": [843 807,844 672,845 1066,846 733847 ],848 "bbox_3d": {849 "aabb": {850 "center": [851 218.62017822265625,852 166.3185272216797,853 162.1446075439453854 ],855 "extent": [856 34.54273986816406,857 20.354476928710938,858 2.063751220703125859 ]860 },861 "obb": {862 "center": [863 218.62017822265625,864 166.3185272216797,865 162.1446075439453866 ],867 "extent": [868 34.54273986816406,869 20.354476928710938,870 2.063751220703125871 ],872 "rotation": [873 0,874 0,875 0876 ]877 },878 "location": [879 0,880 0,881 0882 ],883 "rotation": [884 0,885 0,886 0887 ],888 "scale": [889 1,890 1,891 1892 ]893 },894 "color": [895 127,896 0,897 0898 ]899 },900 {901 "object_id": "SM_Wood_04",902 "bbox_2d": [903 943,904 951,905 1031,906 1079907 ],908 "bbox_3d": {909 "aabb": {910 "center": [911 215.27008056640625,912 166.1374969482422,913 96.53587341308594914 ],915 "extent": [916 1.746246337890625,917 20.223175048828125,918 16.694549560546875919 ]920 },921 "obb": {922 "center": [923 215.27008056640625,924 166.1374969482422,925 96.53587341308594926 ],927 "extent": [928 1.746246337890625,929 20.223175048828125,930 16.694549560546875931 ],932 "rotation": [933 0,934 0,935 0936 ]937 },938 "location": [939 0,940 0,941 0942 ],943 "rotation": [944 0,945 0,946 0947 ],948 "scale": [949 1,950 1,951 1952 ]953 },954 "color": [955 127,956 0,957 255958 ]959 },960 {961 "object_id": "SM_Wood_06",962 "bbox_2d": [963 861,964 712,965 890,966 916967 ],968 "bbox_3d": {969 "aabb": {970 "center": [971 235.85162353515625,972 166.1374969482422,973 138.355224609375974 ],975 "extent": [976 1.746246337890625,977 20.223175048828125,978 21.753944396972656979 ]980 },981 "obb": {982 "center": [983 235.85162353515625,984 166.1374969482422,985 138.355224609375986 ],987 "extent": [988 1.746246337890625,989 20.223175048828125,990 21.753944396972656991 ],992 "rotation": [993 0,994 0,995 0996 ]997 },998 "location": [999 0,1000 0,1001 01002 ],1003 "rotation": [1004 0,1005 0,1006 01007 ],1008 "scale": [1009 1,1010 1,1011 11012 ]1013 },1014 "color": [1015 127,1016 255,1017 01018 ]1019 },1020 {1021 "object_id": "SM_Wood_07",1022 "bbox_2d": [1023 891,1024 715,1025 983,1026 9241027 ],1028 "bbox_3d": {1029 "aabb": {1030 "center": [1031 228.05767822265625,1032 166.1374969482422,1033 138.3552246093751034 ],1035 "extent": [1036 1.746246337890625,1037 20.223175048828125,1038 21.7539443969726561039 ]1040 },1041 "obb": {1042 "center": [1043 228.05767822265625,1044 166.1374969482422,1045 138.3552246093751046 ],1047 "extent": [1048 1.746246337890625,1049 20.223175048828125,1050 21.7539443969726561051 ],1052 "rotation": [1053 0,1054 0,1055 01056 ]1057 },1058 "location": [1059 0,1060 0,1061 01062 ],1063 "rotation": [1064 0,1065 0,1066 01067 ],1068 "scale": [1069 1,1070 1,1071 11072 ]1073 },1074 "color": [1075 127,1076 255,1077 2551078 ]1079 },1080 {1081 "object_id": "SM_Wood_10",1082 "bbox_2d": [1083 349,1084 201,1085 1066,1086 10791087 ],1088 "bbox_3d": {1089 "aabb": {1090 "center": [1091 305.3981018066406,1092 164.16519165039062,1093 141.674713134765621094 ],1095 "extent": [1096 124.41561889648438,1097 22.50775146484375,1098 118.037780761718751099 ]1100 },1101 "obb": {1102 "center": [1103 305.3981018066406,1104 164.16519165039062,1105 141.674713134765621106 ],1107 "extent": [1108 124.41561889648438,1109 22.50775146484375,1110 118.037780761718751111 ],1112 "rotation": [1113 0,1114 0,1115 01116 ]1117 },1118 "location": [1119 0,1120 0,1121 01122 ],1123 "rotation": [1124 0,1125 0,1126 01127 ],1128 "scale": [1129 1,1130 1,1131 11132 ]1133 },1134 "color": [1135 63,1136 127,1137 1271138 ]1139 }1140 ],1141 "glass": [1142 {1143 "object_id": "SM_Glass_02",1144 "bbox_2d": [1145 476,1146 288,1147 1066,1148 10361149 ],1150 "bbox_3d": {1151 "aabb": {1152 "center": [1153 309.22662353515625,1154 182.16807556152344,1155 141.699035644531251156 ],1157 "extent": [1158 122.20001220703125,1159 1.71630859375,1160 115.764228820800781161 ]1162 },1163 "obb": {1164 "center": [1165 309.22662353515625,1166 182.16807556152344,1167 141.699035644531251168 ],1169 "extent": [1170 122.20001220703125,1171 1.71630859375,1172 115.764228820800781173 ],1174 "rotation": [1175 0,1176 0,1177 01178 ]1179 },1180 "location": [1181 0,1182 0,1183 01184 ],1185 "rotation": [1186 0,1187 0,1188 01189 ],1190 "scale": [1191 1,1192 1,1193 11194 ]1195 },1196 "color": [1197 255,1198 63,1199 01200 ]