| --- |
| license: cc-by-nc-4.0 |
| task_categories: |
| - robotics |
| - image-segmentation |
| - depth-estimation |
| tags: |
| - simready |
| - openusd |
| - usd |
| - usdz |
| - isaac-sim |
| - omniverse |
| - robotics |
| - embodied-ai |
| - synthetic-data |
| - home |
| - apartment |
| - floorplan |
| - multi-room |
| - indoor-navigation |
| - scene-graph |
| - digital-twin |
| pretty_name: "PhysicalAI SimReady Homes: Multi-Room Interiors" |
| size_categories: [1K<n<10K] |
| gated: manual |
| extra_gated_prompt: >- |
| Access to this dataset is granted for non-commercial research and evaluation. |
| Please tell us who you are and what you plan to evaluate. Commercial training, |
| fine-tuning, product development, or production use requires a separate written |
| license from Imagine. |
| extra_gated_fields: |
| Full name: text |
| Company or institution: text |
| Role / title: text |
| Country: country |
| Intended use: |
| type: select |
| options: |
| - Academic / non-commercial research |
| - Education |
| - Commercial internal evaluation |
| - Commercial model training |
| - Commercial model evaluation / benchmarking |
| - Simulation pipeline evaluation |
| - Dataset vendor / platform evaluation |
| - Other |
| Please describe what you want to evaluate: text |
| I acknowledge that public access is for non-commercial research only unless Imagine grants separate evaluation or commercial rights: checkbox |
| I agree not to redistribute, resell, sublicense, or publicly host the dataset or derivative datasets for commercial purposes without written permission from Imagine: checkbox |
| I agree not to use the dataset for commercial training, fine-tuning, product development, or production systems without a separate written license: checkbox |
| extra_gated_button_content: Request access |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: scenes.parquet |
| --- |
| |
| # PhysicalAI SimReady Homes: Multi-Room Interiors |
|
|
| **1,000 simulation-ready multi-room home interiors** in OpenUSD, each with physics, |
| PBR materials, HDRI lighting, an editable scene graph, and a SimReady metadata sidecar. |
|
|
| Built by [Imagine.io](https://www.imagine.io) with `simreadyfloorplans`. Companion to |
| [PhysicalAI SimReady Assets](https://huggingface.co/datasets/imagineio/PhysicalAI-SimReady-Assets), which holds the |
| object, material and HDRI library these scenes draw from. |
|
|
| | | | |
| |---|---| |
| | Scenes | **1,000** | |
| | Floorplans | **4** (`scandinavian_1br`, `scandinavian_2br`, `scandinavian_3bed`, `scandinavian_4br`) | |
| | Seeds per floorplan | **250** | |
| | Total size | **1.55 GB** (mean 1.55 MB per scene) | |
| | Objects per scene | ~322 | |
| | Distinct assets used | 513 | |
| | HDRI environments | 6 | |
| | Floor material packs | 25 | |
|
|
| ## Read this first — three things that will surprise you |
|
|
| **1. A scene needs network access to open.** The bundle holds the USD, not the geometry. |
| Every mesh, PBR texture and the HDRI resolves by `https://` URL from the *public, ungated* |
| [`imagineio/PhysicalAI-SimReady-Assets`](https://huggingface.co/datasets/imagineio/PhysicalAI-SimReady-Assets) at load time. That is |
| why a scene is under a megabyte instead of about a gigabyte, and it means you need a |
| resolver that speaks HTTPS — Isaac Sim's `OmniUsdResolver` does, the PyPI `usd-core` build |
| does **not** (it opens the stage and shows an empty room). Access here is enough; the assets |
| repo needs no separate grant. |
|
|
| If assets come up missing after a network blip, **Omniverse caches the failed fetch**. Clear |
| `%LOCALAPPDATA%\ov\cache` (Windows) or `~/.cache/ov` (Linux) before retrying. |
|
|
| **2. There are 4 floorplans, not 1,000.** Each is furnished 250 |
| times. A seed is a genuine re-furnish, not a re-skin: measured between two seeds of one |
| floorplan, 73 of 98 shared objects move, the object count rises 112 → 139, the kitchen |
| re-tiles, and every material pack and asset pick changes. But **the walls do not move** — |
| room polygons, door positions and the footprint are identical across all seeds of a |
| floorplan. If you need architectural diversity, this is 4 architectures. |
|
|
| **3. A scene is one archive, and it nests.** Download `<scene_digest>.zip`, unpack it, then |
| open `model.usdz` — you cannot point a viewer at the download. There is no text-readable USD |
| layer at any level; the root inside the package is a binary crate (`model.usdc`). |
|
|
| ## What's in each scene |
|
|
| ``` |
| scenes/<style>/<scene_digest>.zip ~1.55 MB |
| model.usdz the scene: geometry, physics, materials, lighting, cameras |
| metadata.json SimReady sidecar — rooms, objects, physics index, design choices |
| topdown.png plan sheet (imperial drafting sheet) |
| scene_graph.json editable room/object graph with poses and asset refs |
| floorplan.json the source floorplan the scene was built from |
| ``` |
|
|
| The archive is named by a digest of its scene graph, so identical scenes are identical files. |
| `layouts/<style>/` carries each floorplan's authored inputs once. |
|
|
| ## Browse the index |
|
|
| `scenes.parquet` is the index — and because nothing inside a bundle has its own URL, it is the |
| *only* index. Every variation axis is a column, so you filter here and download only what you |
| want. The `preview` column embeds a 256 px thumbnail, so the Data Studio viewer above shows a |
| plan sheet for every row. |
|
|
| ```python |
| import pandas as pd |
| df = pd.read_parquet("hf://datasets/imagineio/PhysicalAI-SimReady-Homes/scenes.parquet") |
| |
| hits = df[(df.bedrooms == 3) & (df.interior_run == "island") & (df.tv_mount == "wall")] |
| print(hits[["style", "seed", "scene_id", "zip_url"]]) |
| ``` |
|
|
| ### Variation axes you can filter on |
|
|
| | Group | Columns | |
| |---|---| |
| | Identity | `scene_id` (= `scene_digest`), `style`, `seed`, `zip_url`, `hf_path` | |
| | Plan shape | `room_count`, `bedrooms`, `bathrooms`, `room_types`, `room_areas_m2`, `floor_area_m2`, `footprint_w_m`, `footprint_d_m` | |
| | Typology | `circulation`, `open_kitchen`, `has_courtyard`, `veranda_depth` | |
| | Surfaces | `floor_pack_living`, `floor_pack_kitchen`, `floor_pack_bathroom`, `floor_pack_balcony`, `wall_pack_exterior`, `wall_pack_interior`, `ceiling_pack`, `wall_tile_pack`, `wall_tile_m`, `rug_packs`, `mat_packs` | |
| | Kitchen design | `kitchen_shape`, `kitchen_run_count`, `cabinet_door_style`, `cabinet_handle_variant`, `countertop_finish`, `cook_mode`, `oven_housing`, `interior_run` | |
| | Living design | `sofa_shape`, `tv_mount` | |
| | Lighting | `hdri`, `lighting_mode`, `sun_azimuth`, `color_temp`, `light_count` | |
| | Assets | `asset_ids`, `asset_names`, `assets_by_class`, `door_assets`, `window_assets`, `balcony_door_assets`, `object_variants` | |
| | Composition | `object_count`, `referenced_count`, `placeholder_count`, `class_histogram` | |
| | Physics | `rigid_body_count`, `static_body_count`, `collider_count`, `joint_count`, `articulation_root_count`, `material_count`, `camera_count` | |
| | Quality | `dropped_required`, `dropped_bathroom_core`, `scale_up_factor`, `scale_up_capped`, `bath_openings_clamped` | |
| | Provenance | `code_rev`, `asset_index_sha256`, `generated_at`, `remote_assets_remote`, `remote_assets_local`, `build_s`, `stage_timings_s` | |
|
|
| ## Quick start |
|
|
| ```bash |
| pip install huggingface_hub pandas pyarrow |
| huggingface-cli login # gated: request access first |
| |
| python dataset_tools/download_scene.py --style scandinavian_3bed --seed 7 --out ./scenes --extract |
| python dataset_tools/validate_scene.py ./scenes/scandinavian_3bed_s7 |
| <isaac>/python.sh dataset_tools/load_isaac.py ./scenes/scandinavian_3bed_s7/model.usdz |
| ``` |
|
|
| `dataset_tools/` in this repo holds `download_scene.py`, `extract_scene.py`, |
| `validate_scene.py` and `load_isaac.py`. |
|
|
| ## Physics and SimReady |
|
|
| Every scene is authored for direct use in Isaac Sim: rigid bodies with mass and inertia, |
| collision approximations per object class, PhysX materials with real friction/restitution/ |
| density, articulated openings (doors, cabinet doors, drawers) with joints, and per-object |
| semantic labels. `metadata.json` carries a `physics_index` naming every rigid body, static |
| body, collider, joint, articulation root, material, light and camera by prim path. |
|
|
| The `design` block in `metadata.json` records the seeded per-room choices — the door style a |
| kitchen's casework wears, the countertop stone, the sofa shape — at the point each was drawn. |
| These are not derivable from the geometry and are mirrored into the index columns above. |
|
|
| ## Metadata schema |
|
|
| `metadata.json` is `simready_scene_metadata_v2`: `schema`, `schema_version`, `scene_id`, |
| `units`, `coordinate_system`, `usd_export`, `packaging`, `variation_config`, |
| `source_floorplan`, `functional_layout`, `dropped_furniture`, `design`, `rooms`, `objects`, |
| `physics_index`, `build_stats`. |
|
|
| ## Reproducibility |
|
|
| Each row carries `code_rev`, `asset_index_sha256`, `seed` and the build flags, which together |
| name the exact inputs a scene came from. |
|
|
| **One caveat, stated plainly:** asset URLs point at `resolve/main/` of the assets repo rather |
| than a pinned commit. Scenes therefore track that repo's `main` branch — asset fixes reach |
| already-published scenes for free, but a restructuring there would affect every scene here at |
| once. |
|
|
| ## Known limits |
|
|
| - **4 floorplans.** See point 2 above. |
| - **Ceiling material is constant.** The library ships exactly one ceiling pack, so every |
| scene shares it. |
| - **Wall materials are thin** — 7 packs across the corpus. |
| - **HDRI is keyed on the seed alone**, from a pool of 6, so all floorplans at a |
| given seed share their lighting. |
| - **Scenes are not SimReady-validated per scene** in this release. The rules exist in the |
| generator and pass on spot-checked scenes, but the corpus run did not gate on them. |
|
|
| ## License |
|
|
| [CC BY-NC 4.0](https://creativecommons.org/licenses/by-nc/4.0/) — non-commercial research and |
| evaluation. Commercial training, fine-tuning, product development or production use requires a |
| separate written license from Imagine. See the access form above. |
|
|
| ## Citation |
|
|
| ```bibtex |
| @misc{imagineio_physicalai_simready_homes, |
| title = {PhysicalAI SimReady Homes: Multi-Room Interiors}, |
| author = {Imagine.io}, |
| year = {2026}, |
| url = {https://huggingface.co/datasets/imagineio/PhysicalAI-SimReady-Homes} |
| } |
| ``` |
|
|
| ## About Imagine.io |
|
|
| [Imagine.io](https://www.imagine.io) builds 3D content and simulation pipelines for retail, |
| furniture and robotics. We generate SimReady environments at scale — get in touch if you need |
| a corpus shaped to your task. |
|
|
