InteriorAgent

# InteriorAgent: Interactive USD Interior Scenes for Isaac Sim-based Simulation

**InteriorAgent** is a collection of high-quality 3D USD assets specifically designed for indoor simulation in NVIDIA Isaac Sim environments. Each asset is structured with modular materials, scene description files, and physics-ready geometry, enabling fast integration for embodied AI and robotics tasks such as navigation, manipulation, and layout understanding.

## 🚀 Features

- ✅ Fully compatible with **Isaac Sim 4.2** and **4.5** on both **Windows** and **Linux**.
- 🎮 Built for real-time simulation, supports **interactive physical agents**.
- 🧱 Material system based on **NVIDIA MDL** (Material Definition Language), ensures photorealistic rendering and cross-version compatibility.
- 📦 Provided in `.usd` and `.usda` format with structured folders for **materials**, **meshes**, **lighting**, and **floorplan**.

---

## 🗂 Directory Structure

The dataset is organized per scene. Each scene folder follows the structure below:

```
kujiale_xxxx/
├── .thumbs/ # Optional thumbnail or cache folder (can be ignored)
├── Materials/ # Material library
│ ├── Textures/ # Texture images (optional, omitted here)
│ ├── *.mdl # MDL material and instance files
├── Meshes/ # Mesh geometry (e.g., .usd or .obj)
├── kujiale_xxxx.usda # Top-level USD scene file
├── limpopo_golf_course_4k.hdr # Environment lighting HDR file
└── rooms.json # Room-level metadata and spatial layout (JSON format)
```

### 🧭 Room Metadata (rooms.json)
Each scene folder includes a rooms.json file that defines the 2D floorplan layout of the space. It contains a list of room entries, where each room is defined by:

room_type: the semantic label (e.g., "living_room", "bedroom", "balcony", etc.)

polygon: a list of 2D coordinates representing the room's floor boundary in world coordinates

### 📌 Example
```
{
"room_type": "balcony",
"polygon": [
[-0.3784970703125, -6.55287060546875],
[4.005734375, -6.55287060546875],
[4.005734375, -4.8603486328125],
[-0.3784970703125, -4.8603486328125]
]
}
```
This represents a balcony room with a rectangular floorplan defined by a clockwise polygon in the Isaac Sim world coordinate system (X-Y plane). The polygon can be visualized or parsed using any geometric library (e.g., Shapely) to determine area, intersection, adjacency, etc.

### 🧪 Integration Tips
The coordinate system is consistent with Isaac Sim’s world frame: X is forward, Y is right, Z is upward.

Room geometry can be directly loaded using libraries like `Shapely` for spatial reasoning or map generation.

📦 Usage in Python
```
from shapely.geometry import Polygon
import json

with open("rooms.json", "r") as f:
rooms = json.load(f)

for room in rooms:
poly = Polygon(room["polygon"])
print(f"Room: {room['room_type']}, Area: {poly.area}")
```
## 🛠 Compatibility

- ✅ Tested with:
- Isaac Sim v4.2
- Isaac Sim v4.5
- Operating Systems: Windows 10/11, Ubuntu 22.04
- 🔧 MDL materials tested with Omniverse RTX renderer.
- 🌐 All files are offline usable and require no additional dependencies.

## 🏠 Citation

If you use InteriorAgent in your research or development, please cite or link to our project page:

```
@misc{InteriorAgent2025,
title = {InteriorAgent: Interactive USD Interior Scenes for Isaac Sim-based Simulation},
author = {SpatialVerse Research Team, Manycore Tech Inc.},
year = {2025},
howpublished = {\url{https://huggingface.co/datasets/spatialverse/InteriorAgent}}
}
```

## 📄 License
This dataset is released under [InteriorAgent](https://kloudsim-usa-cos.kujiale.com/InteriorAgent/InteriorAgent_Terms_of_Use.pdf) License.

# InteriorAgent：面向基于NVIDIA Isaac Sim的仿真的交互式USD室内场景

**InteriorAgent** 是专为NVIDIA Isaac Sim环境中的室内仿真设计的高质量3D USD（通用场景描述，Universal Scene Description）资产集合。每一项资产均采用模块化材质、场景描述文件与支持物理仿真的几何结构构建，可快速集成于具身AI与机器人学任务，如导航、操作与布局理解。

## 🚀 核心特性
- ✅ 全面兼容Windows与Linux平台的**Isaac Sim 4.2**及**4.5**版本。
- 🎮 专为实时仿真打造，支持**交互式物理智能体**。
- 🧱 基于**NVIDIA MDL（材质定义语言，Material Definition Language）**的材质系统，可实现照片级真实感渲染与跨版本兼容性。
- 📦 以`.usd`与`.usda`格式提供，并针对**材质**、**网格**、**光照**与**平面图**设置了结构化文件夹。

---

## 🗂 目录结构
本数据集按场景进行组织。每个场景文件夹遵循如下结构：

kujiale_xxxx/
├── .thumbs/ # 可选缩略图或缓存文件夹（可忽略）
├── Materials/ # 材质库
│ ├── Textures/ # 纹理图像（可选，此处省略）
│ ├── *.mdl # MDL材质与实例文件
├── Meshes/ # 网格几何（例如.usd或.obj格式）
├── kujiale_xxxx.usda # 顶层USD场景文件
├── limpopo_golf_course_4k.hdr # 环境光照HDR文件
└── rooms.json # 房间级元数据与空间布局（JSON格式）

### 🧭 房间元数据（rooms.json）
每个场景文件夹均包含一个rooms.json文件，用于定义空间的二维平面图布局。该文件包含一系列房间条目，每个房间由以下字段定义：
- room_type：语义标签（例如“客厅（living_room）”、“卧室（bedroom）”、“阳台（balcony）”等）
- polygon：二维坐标列表，代表世界坐标系下房间的地面边界

### 📌 示例

{
"room_type": "balcony",
"polygon": [
[-0.3784970703125, -6.55287060546875],
[4.005734375, -6.55287060546875],
[4.005734375, -4.8603486328125],
[-0.3784970703125, -4.8603486328125]
]
}

上述示例代表一个阳台房间，其矩形平面图由Isaac Sim世界坐标系（X-Y平面）内的顺时针多边形定义。可通过任意几何库（例如Shapely）对该多边形进行可视化或解析，以计算面积、交集、邻接关系等。

### 🧪 集成小贴士
本数据集采用的坐标系与Isaac Sim的世界坐标系保持一致：X轴为前进方向，Y轴为右侧方向，Z轴为向上方向。
可使用`Shapely`等库直接加载房间几何，用于空间推理或地图生成。

📦 Python使用示例

from shapely.geometry import Polygon
import json

with open("rooms.json", "r") as f:
rooms = json.load(f)

for room in rooms:
poly = Polygon(room["polygon"])
print(f"房间类型：{room['room_type']}，面积：{poly.area}")

## 🛠 兼容性说明
- ✅ 已通过以下版本测试：
- Isaac Sim v4.2
- Isaac Sim v4.5
- 支持的操作系统：Windows 10/11、Ubuntu 22.04
- 🔧 MDL材质已通过Omniverse RTX渲染器测试。
- 🌐 所有文件均可离线使用，无需额外依赖。

## 🏠 引用规范
若您在研究或开发中使用InteriorAgent，请引用或链接至本项目页面：

@misc{InteriorAgent2025,
title = {InteriorAgent: Interactive USD Interior Scenes for Isaac Sim-based Simulation},
author = {SpatialVerse Research Team, Manycore Tech Inc.},
year = {2025},
howpublished = {url{https://huggingface.co/datasets/spatialverse/InteriorAgent}}
}

## 📄 许可证
本数据集采用[InteriorAgent许可协议](https://kloudsim-usa-cos.kujiale.com/InteriorAgent/InteriorAgent_Terms_of_Use.pdf)发布。