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Scenes & Worlds
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Try it before you download. Every item in this dataset is live in projectsim Lab: walk the camera through each room, then grab the full USD (with Gaussian splat) or a lightweight GLB preview. Jump straight to a scene: Bedroom · Kitchen · Garage.
Full-room OpenUSD scenes for robotics simulation — a Bedroom, a Kitchen
and a Garage, each shipped as a self-contained scene.usd that references
per-object USDs with their own albedo textures, plus (for the photoreal rooms) a
Gaussian-splat backdrop so the environment renders with real-world lighting
and detail out of the box.
What's included
| Scene | Objects | Splat | Uncompressed | Preview |
|---|---|---|---|---|
| bedroom | ~35 | — | ~131 MB | preview.png |
| kitchen | ~24 | ✓ | ~139 MB | preview.png + 3 shots |
| garage | ~50 | ✓ | ~286 MB | preview.png + 3 shots |
Total: 3 scenes, ~556 MB uncompressed.
Per-scene contents
scenes/<scene>/
├── scene.usd root stage — references every asset and (when present) the splat
├── environment.usdc (kitchen only) HDRI / lighting rig
├── splat.usdz (kitchen, garage) Gaussian-splat backdrop for the room
├── preview.png input image
├── screenshots/*.png (kitchen, garage) additional angles
└── assets/
└── <object_name>/
├── <object_name>.usd
└── textures/*.png Base color maps
Every scene is a valid collected USD: opening scene.usd in Isaac Sim,
Blender or usdview resolves every reference relative to the folder, so a
scene can be dropped in as-is without asset-search rewriting.
Generate your own
This dataset is sample output from the projectsim pipeline. For sim-ready assets of your objects, use the projectsim API:
- Standard asset - one image in, a sim-ready asset out
- Measured asset - mm-accurate, from a ChArUco-board capture
- Variation sets - procedural or high-fidelity families from a single object
Intended use
- Full-room backdrops for robotics simulation (task setup, teleop demos, synthetic-data capture, background composition)
- Scene-scale physics experiments (walkthrough, collision profiling, gravity drops on populated rooms)
- Reference material for pipelines that mix procedural assets with photographed environments (splat backdrop + articulated procedural props)
Tested consumers
- NVIDIA Isaac Sim 6.0.1 — opens every
scene.usddirectly; the splat backdrops render in RTX
Notes on the splats
The kitchen and garage ship a splat.usdz alongside scene.usd. That file is
a Gaussian-splat capture of the real room and is the recommended backdrop when
the scene is rendered in an RTX-capable renderer — it carries lighting and
peripheral detail the referenced meshes do not. Splats have simple collision.
License
CC BY 4.0 — free to use, share and adapt for any purpose, including commercial use; attribution required.
Maintenance
Scenes are added as new top-level scenes/<scene>/ folders. Object folder
names inside a scene are stable across future commits.
Issues / questions: open a Discussion on this dataset repo, or email
support@kaedim3d.com.
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