projectsim/scenes-and-worlds

Scenes & Worlds

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.usd directly; 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.