license: mit
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>
}...
]
}...
]
}