Staer Warehouses — v0.2

Synthetic stereo walkthroughs through procedurally-generated and curated warehouses, rendered with NVIDIA Isaac Sim. Each scene includes RGB, depth, semantic segmentation, instance segmentation, IMU, and a scene-graph JSON with per-asset class labels and oriented bounding boxes (OBBs) in world coordinates.

👉 Interactive preview: https://huggingface.co/spaces/staerrobotics/warehouses-viewer

What's new in this release

• Structured scene descriptions — every scene now ships with a scene_graph.json that enumerates each object in the warehouse with its class label, oriented bounding box (OBB) in world coordinates, axis-aligned bounding box, and pose (position + quaternion). One file per scene, shared across all walkthroughs of that scene. This is the first release with full per-object structured annotations alongside the per-pixel modalities.
• All authored trajectories shipped per scene — previous releases shipped a single representative walkthrough per scene; this release ships all 138 authored trajectories across 15 scenes, giving substantially more pose / viewpoint diversity for the same set of warehouse environments.

Contents

• 15 scenes, 138 walkthrough trajectories total
• Per walkthrough: stereo cam0/cam1, ~300–2400 frames at 20 fps (≈15s–2min camera paths)
• 1920×1080 RGB / 16-bit inverse depth / semantic+instance maps
• Per-scene scene_graph.json with OBB + class for every object
• IMU + ground-truth poses per camera, EuRoC-ASL convention

Scenes

#	Name	Walkthroughs	Objects	Top classes
01	scene01	7	33254	box(14128), crate(12614), pallet(2728)
02	scene02	10	11599	box(3742), crate(2421), pallet(1512)
03	scene03	9	14661	rack(4150), box(2430), pallet(2010)
04	scene04	8	18339	box(5067), rack(3240), crate(2713)
05	scene05	9	15653	box(4583), rack(3300), crate(2595)
06	scene06	12	4303	box(587), ceiling_light(448), rack(440)
07	scene07	8	15294	box(5341), crate(2850), pallet(2305)
08	scene08	8	5085	box(1655), crate(1041), pallet(534)
09	scene09	10	360	drum(150), jerrican(52), railing(36)
10	scene10	10	945	conveyor(417), belt_item(144), box(142)
11	scene11	9	471	box(206), pallet(66), crate(36)
12	scene12	10	441	box(177), belt_item(43), tote(36)
13	scene13	10	677	box(189), shelving(153), bin(107)
14	scene14	9	643	box(246), pallet(60), bin(54)
15	scene15	9	567	box(145), tote(66), drum(63)

Class taxonomy

51 unique classes across the release. Top 20 by count:

Class	Count
box	38,638
crate	26,046
pallet	14,809
rack	13,769
ceiling_light	4,620
pipe	3,588
wall	2,964
fire_equipment	2,312
wiring	2,236
ceiling	1,576
truss	1,320
floor	1,320
decor	1,172
camera	692
ventilation	660
phone	660
column	660
wall_light	576
electrical_panel	576
alarm	552

File layout

warehouse-v0.2/
├── README.md
├── overview.png              # 5×3 montage of scene thumbnails
├── scene01/
│   ├── thumbnail.jpg         # representative frame for the scene
│   ├── scene_graph.json      # objects[]: class, OBB, pose (per-scene)
│   └── walkthroughs/
│       ├── 001/
│       │   ├── preview.mp4   # 2×2 grid: RGB | depth | semantic | instance
│       │   ├── manifest.json # EuRoC-ASL header (timestamps, fps, frameCount)
│       │   ├── metadata.json # asset metadata (modalities, resolution, …)
│       │   ├── cam0/
│       │   │   ├── poses.csv  # T_WC (Hamilton w,x,y,z) at frame timestamps
│       │   │   ├── sensor.yaml # intrinsics, T_BS
│       │   │   └── video.mp4  # RGB walkthrough
│       │   └── cam1/  …        # (if --include-cam1)
│       ├── 002/  …
│       └── NNN/  …
└── scene02/ … scene15/

scene_graph.json is shared across all walkthroughs of a scene (same underlying USD); cam poses differ per walkthrough.

Coordinate conventions

• Right-handed world frame, +Z up.
• Camera convention: T_WC = T_WB · T_BS where T_BS comes from sensor.yaml.
• Quaternions are Hamilton, (w, x, y, z), with positive-w convention.
• Distances in metres; timestamps in nanoseconds (EuRoC-ASL).

Rolling releases

This dataset is on a rolling-release cadence: minor versions ship regularly with quality improvements and bug fixes layered onto the previous release rather than waiting for a single large drop. The scene set and modalities are stable across minor versions; what changes is per-scene asset quality, trajectory authoring, and annotation coverage.

Known issues we are actively addressing in subsequent minor releases:

• Trajectory coverage — a small number of authored walkthroughs are still missing from individual scenes and will be backfilled in the next minor release.
• Asset material quality — a subset of NVIDIA SimReady props ship with incomplete MDL/texture chains that fall back to default (white or near-black) shaders; we are auditing and patching these per scene.
• Lighting consistency — the curated NVIDIA themed shells (scenes 09–15) have noticeably dimmer baked lighting than the procedural scenes (01–08); we are normalising exposure across the set.
• Trajectory smoothness — a few canvas-authored trajectories include sharp orientation changes that can confuse motion estimators; we are re-authoring with stricter smoothness constraints.

Subscribe to the dataset on Hugging Face to be notified when a new minor version is published. Each release ships with its own version tag and a short changelog summarising the deltas from the previous release.

Citation

If you use this dataset, please cite Staer Robotics.

@dataset{staer_warehouses_v0.2, title={Staer Warehouses (v0.2)}, year={2026}, publisher={Staer Robotics}, url={https://huggingface.co/datasets/staerrobotics/warehouses}}}