| --- |
| license: cc-by-nc-sa-4.0 |
| pretty_name: "SpatialGym Environmental Scenes" |
| tags: |
| - 3d |
| - indoor-scenes |
| - usd |
| - navigation |
| task_categories: |
| - other |
| viewer: false |
| --- |
| |
| # SpatialGym Environmental Scenes |
|
|
| Indoor scenes for the two environmental tasks of SpatialGym — **Camera Relocalization** and |
| **Novel Path Discovery** — with the navigation grids and task pairs precomputed, so the |
| environments run right after download. |
| **License:** CC BY-NC-SA 4.0 |
|
|
| ## Overview |
|
|
| | Source | Scenes | Camera Relocalization pairs (d1 / d2 / d3) | Novel Path Discovery pairs (d1 / d2 / d3) | Download | Unpacked | |
| |--------|-------:|------------------------------------------:|------------------------------------------:|---------:|---------:| |
| | **interioragent** | 25 | 34 564 / 23 150 / 44 300 | 3 723 / 4 042 / 7 767 | 10.6 GB | 14 GB | |
| | **internscenes-gen** | 116 (bedroom 35, diningroom 42, livingroom 39) | 160 203 / 155 106 / 171 394 | 18 021 / 21 866 / 14 153 | 18.0 GB | 31 GB | |
| | **scenesmith** | 194 (29 house + 165 room) | 198 030 / 145 847 / 268 644 | 29 352 / 29 615 / 39 458 | 172 GB (5 parts) | 224 GB | |
| | **Total** | **335** | 392 797 / 324 103 / 484 338 | 51 096 / 55 523 / 61 378 | **~201 GB** | **~270 GB** | |
|
|
| Every scene carries a walkable grid and both tasks' pair tables; the per-task manifests list the |
| scenes each task draws from (`manifest_*.json` for Camera Relocalization, `manifest_npd_*.json` for |
| Novel Path Discovery). |
|
|
| ## Files |
|
|
| ``` |
| SpatialGym_Environmental/ |
| ├── README.md |
| ├── manifest.json # Camera Relocalization, all sources |
| ├── manifest_interioragent.json # … per source (runs use one source at a time) |
| ├── manifest_internscenes-gen.json |
| ├── manifest_scenesmith.json |
| ├── manifest_npd.json # Novel Path Discovery, all sources |
| ├── manifest_npd_interioragent.json |
| ├── manifest_npd_internscenes-gen.json |
| ├── manifest_npd_scenesmith.json |
| ├── interioragent.tar.gz # unpacks to interioragent/ |
| ├── internscenes-gen.tar.gz # unpacks to internscenes-gen/ |
| ├── scenesmith.tar.gz.part-00 … -04 # one gzip stream in five numbered pieces (50 GB file cap): |
| │ # cat scenesmith.tar.gz.part-* | tar xz → scenesmith/ |
| ├── SHA256SUMS # checksums of the archives above |
| └── figures/ # the images in this README |
| ``` |
|
|
| Unpack the archives next to the manifests; manifest paths are relative to that directory. |
| `SpatialGym_IsaacLab/assets/download.sh camera_relocalization` in the SpatialGym repository |
| fetches, verifies and unpacks everything (or a subset of the sources). |
|
|
| ## Per-scene structure |
|
|
| Common to every scene (written by the SpatialGym preprocessing, identical format across sources): |
|
|
| | File | Description | |
| |------|-------------| |
| | `walkable_cells.json` | 0.25 m navigation grid: cells, per-room ids, 4-neighbour adjacency, height map | |
| | `visibility.json`, `fov_cells.json` | Per-state field-of-view tables (1.6 m camera, 90°×90°) | |
| | `pair_candidates.json` | All reachable (init, goal) state pairs | |
| | `camera_relocalization/pairs.json` | Camera Relocalization pairs with difficulty tier | |
| | `novel_path_discovery/pairs.json` | Novel Path Discovery demo tours, obstacles and tiers | |
| | `walkable_grid.png` | Top-down grid visualisation | |
|
|
| **interioragent** — `kujiale_XXXX/` |
|
|
| <p align="center"><img src="figures/interioragent.png" width="90%" /></p> |
|
|
| | File / Folder | Description | |
| |---------------|-------------| |
| | `kujiale_XXXX.usda` | Scene USD (with its own lights) | |
| | `Meshes/`, `Materials/` | Per-object meshes, PBR materials and textures | |
| | `rooms.json` | Room polygons | |
| | `*.hdr` | Environment map | |
|
|
| **internscenes-gen** — `{bedroom,diningroom,livingroom}/{scene_id}/` |
|
|
| <p align="center"><img src="figures/internscenes-gen.png" width="90%" /></p> |
|
|
| | File / Folder | Description | |
| |---------------|-------------| |
| | `composed_scene_no_doors.usd` | Scene USD with doors removed (`composed_scene.usd` for the one scene that has none, livingroom/6032) | |
| | `layout.json` | Object layout (category, model id, bounding box) | |
| | `StructureMesh/` | Floor / wall meshes and `boundary_points.json` | |
| | `textures/` | Texture assets | |
| | `renders/` | Preview renders | |
|
|
| **scenesmith** — `{house,room}/scene_XXX/` |
|
|
| <p align="center"><img src="figures/scenesmith_house.png" width="90%" /></p> |
| <p align="center"><img src="figures/scenesmith_room.png" width="90%" /></p> |
|
|
| | File / Folder | Description | |
| |---------------|-------------| |
| | `mujoco/usd/scene_scene_XXX.usda` | Scene USD (MuJoCo export; ceiling fixtures removed) | |
| | `mujoco/meshes/` | Mesh assets | |
| | `combined_house/house.dmd.yaml` | Object list | |
| | `room_geometry/` | Per-room geometry | |
| | `room_*/` | Per-room assets | |
|
|
