aiozai/HierSceneDataset

Scene construction with hierarchical layout (outdoor and indoor).

The scene is stored in Rivermark/island02_demo.usd, which can be loaded using IsaacSim Simulation.

Update 1: We added some scenes in Scene_in_out_v2.zip, including scene1_mit.usd, scene2_mit.usd and scene4_mit.usd. Corresponding metadata files in JSON format are also provided for these scenes.

Here is the format of each JSON file:

# list of buildings
{
  'props':[
      'name': id
      'world_transform:  a world tranforms matrix with shape 4x4
      'translation': a 1x3 vector which can be shown in Property tab in Isaacsim
      'scale':  a 1x3 vector which can be shown in Property tab in Isaacsim
      'indoor_layout':[  #list of objects in that building 
        {
            'name': id
            'world_transform:  a world tranforms matrix with shape 4x4
            'translation': a 1x3 vector which can be shown in Property tab in Isaacsim
            'scale':  a 1x3 vector which can be shown in Property tab in Isaacsim
        }
        ....
      ]  
  
  ...
  ],
  'drivable_surface': {
    'world_transform:  a world tranforms matrix with shape 4x4
    'translation': a 1x3 vector which can be shown in Property tab in Isaacsim
    'scale':  a 1x3 vector which can be shown in Property tab in Isaacsim
  }

}
    

Update 2: We upload the full scene (rivermark.usd), along with metadata (rivermark.json) for drone navigation.

After extracting Scene_in_out_v2.zip, move the file rivermark.usd to folder Rivermark to enabel all assets.

Update 3: We upload the scene (rivermarkDoor.usd) with doors that can be interacted, along with metadata (rivermarkDoor.json) in Scene_in_out_v3.zip

After extracting Scene_in_out_v3.zip, keep the file rivermarkDoor.usd in folder Rivermark to enabel all assets.

The format of rivermarkDoor.json is described below:

{
    # buildings that contain interactable objects (mostly doors)
    "props": [
        {
            "prim_name": <prim_name>
            "prim_path": <prim_path>,
            "interactable_objects":
            [
                {
                    "sub_prim_name":<sub_prim_name>,
                    "sub_prim_path":<sub_prim_path>
                }...
            ]

        }...

    ]
}