---
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 |