|
|
--- |
|
|
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> |
|
|
}... |
|
|
] |
|
|
|
|
|
}... |
|
|
|
|
|
] |
|
|
} |
|
|
|
|
|
``` |
