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sunvage-vertens3d-simhome
English | 中文
Physically-annotated indoor scene USD assets derived from 14,169 real interior design schemes on the sunvage floorplan platform — every furniture instance carries collision shapes, mass, friction and restitution, and opens directly in USD physics simulators.
|
⚡ 12,169 single-room packages |
🏠 2,000 whole-home scenes |
🧱 Physics per-instance rigid bodies |
🗺️ 31 provincial regions |
Dataset description
sunvage-vertens3d-simhome is a collection of physically-annotated indoor scene
USD assets derived from real interior design schemes in the sunvage (三维家)
floorplan library. It provides both whole-home multi-space scenes and
individual single-space scenes. Every physical instance carries collision shapes
and mass properties, and the scenes can be loaded directly into USD physics
simulators such as Isaac Sim / Isaac Lab for embodied AI, robot simulation,
scene understanding, and layout generation research.
Visual overview
Rich household assets
A rich catalogue of highly realistic household assets. Beds, seating, dining tables, cabinetry, sanitaryware and greenery, spanning every major living space — modelled at real-world scale and rendered in Isaac Sim with collision proxies hidden. Each asset ships with collision geometry plus mass and friction data, ready to simulate as-is.
Diverse floorplans
Real architectural floorplans, not synthetic layouts. Behind every plan are 12,169 independent space scenes — each bedroom, living-dining room, kitchen and bathroom is a complete scene that loads and trains on its own — alongside 2,000 whole-home multi-space scenes. Walls, doors, windows and cabinetry are preserved as structured data: 33.1–277.3 m², 1–5 bedrooms, across 31 provincial-level regions of China.
Rich physical attributes
Every instance is more than a mesh. Collision hulls, hinged doors and
sliding drawers, mass and center of mass, static/dynamic friction and restitution — each
value carrying its provenance and confidence. Geometry is defined in
collision.json, dynamics in physical.json.
Physics simulation
High-fidelity physical parameters. Contact, friction and restitution are derived per instance from material classification and collision-geometry analysis, with every value tagged by its provenance and confidence.
Data source
- All floorplan schemes come from the sunvage floorplan library — real interior design schemes on the sunvage platform (including structured design data such as plumbing, doors/windows, and cabinetry).
- Furniture and fixtures are instantiated as standalone USD assets with
collision definitions (
collision.json) and rigid-body physical properties (physical.json). - Every instance carries mass, density, center of mass, static/dynamic
friction, and restitution coefficients, each annotated with its provenance
(estimated / derived / policy) and confidence score. Mass and center of mass
are computed from collision geometry (density assigned per furniture category
and material); friction comes from a material-classification model with
per-instance confidence and a
needs_reviewflag. Structural elements (walls, floors) follow a static-body policy. - Access is granted for research purposes only upon application (see Access Request).
Dataset structure
Scenes are organized by scene ID (scene_*). Each scene directory contains two
types of archives:
<scene_id>_single_room_<room-hash>.zip # Single-space scene package
<scene_id>_multi_space.zip # Multi-space scene package
After extraction, each archive yields a self-contained top-level directory named after the archive:
<scene_id>_single_room_<room-hash>/
├── scene.usd # Ready-to-open USD scene
├── scene.manifest.json # Coordinate system, space info, export statistics
└── assets/<instance_id>/ # One directory per physical instance
├── asset.usd / model.usd # Instance USD and model USD
├── models/model.glb # Original mesh (converted to USD on first open)
├── collision.json # Collision shape definitions
└── physical.json # Rigid-body type, mass policy, etc.
<scene_id>_multi_space/
├── scene.usd
├── scene.manifest.json # Includes full floorplan (space boundaries, walls, doors/windows)
└── assets/...
single_room vs. multi_space
| Directory | Content | Typical use |
|---|---|---|
single_room |
An independent space (possibly including connected balconies etc.), containing only instances within that space | Single-space navigation, interaction, furniture layout generation, lightweight training |
multi_space |
Whole-home complete scene USD with all spaces and cross-space structure | Multi-space navigation, whole-home tasks, scene-level understanding |
Additional notes:
scene.manifest.jsonrecords the coordinate system: right-handed, Z-up, XY horizontal plane, units in meters (consistent with USD defaults).- Spaces use functional names (e.g., 卧室/bedroom, 卫生间/bathroom, 客餐厅/living-dining room, 厨房/kitchen), with hash suffixes to distinguish same-named spaces.
Coverage
Single-space coverage (single_room packages)
| Space type | Packages | Share | Median area | Area range |
|---|---|---|---|---|
| Bedroom | 5,048 | 41.5% | 10.9 m² | 4.0–75.5 m² |
| Bathroom | 3,133 | 25.7% | 3.9 m² | 0.9–29.2 m² |
| Living-dining room | 1,997 | 16.4% | 36.3 m² | 2.9–123.4 m² |
| Kitchen | 1,677 | 13.8% | 5.7 m² | 1.8–38.5 m² |
| Study | 296 | 2.4% | 7.6 m² | 3.4–41.3 m² |
| Others (storage, balcony, etc. as standalone packages) | 18 | 0.1% | — | — |
| Total | 12,169 | 100% | — | — |
Area distribution of single-space packages:
| Package area | Packages | Share |
|---|---|---|
| < 5 m² | 3,154 | 25.9% |
| 5–10 m² | 3,770 | 31.0% |
| 10–20 m² | 3,021 | 24.8% |
| 20–40 m² | 1,455 | 12.0% |
| ≥ 40 m² | 769 | 6.3% |
- Package areas range 0.1–123.4 m², median 8.7 m²; the largest packages are living-dining rooms (including merged corridors etc.).
- Every package is an independent scene: a single room opens, loads and trains without the rest of the home. A typical design scheme contributes 5–8 such scenes (range 2–12).
Multi-space coverage (multi_space packages)
| Floor area | Homes | Share |
|---|---|---|
| < 60 m² | 164 | 8.2% |
| 60–80 m² | 427 | 21.4% |
| 80–100 m² | 578 | 28.9% |
| 100–120 m² | 428 | 21.4% |
| 120–150 m² | 247 | 12.4% |
| ≥ 150 m² | 156 | 7.8% |
| Total | 2,000 | 100% |
- Areas range 33.1–277.3 m², with the median band at 80–100 m²; intervals are left-closed, right-open (e.g., 60–80 means 60 ≤ area < 80).
- Bedroom counts cover 1–5 rooms: 1-room 274, 2-room 665, 3-room 628, 4-room 311, 5-room 122.
- Raw space-type distribution (for reference, including auxiliary spaces merged into primary spaces): bedrooms 5,048, bathrooms 3,133, balconies 2,012, living-dining rooms 1,997, kitchens 1,677, studies 296, storage rooms 222, entry gardens 106, walk-in closets 62, corridors 23.
- Homes come from 31 provincial-level regions across China.
Usage
# Single-room packages (requires granted access)
hf download sunvage-lab/sunvage-vertens3d-simhome --repo-type dataset \
--include "single_room/*" --local-dir simhome
# Whole-home multi-space scenes
hf download sunvage-lab/sunvage-vertens3d-simhome --repo-type dataset \
--include "multi_space/*" --local-dir simhome
Access Request
- Online request (recommended): click the "Agree to terms and submit request" button at the top of this page. The form collects: name, purpose (individual/company), company name and job title (required for company requests), terms confirmation, plus your Hugging Face username and email.
- Email request (fallback): if you cannot use the online form, follow the template below and send a request email to chendebi@3vjia.com.
- Once approved, your Hugging Face account will be added to the authorized list and can download the data; if declined, you will see a rejection notice.
Email request format (plain text is fine):
Subject: [sunvage Scene Physics Data Access Request] <Organization/Name>
Name:
Organization / Team:
Hugging Face username:
Email:
Position / role (student, researcher, engineer, etc.):
Intended use (research/evaluation/product testing, 2-3 sentences):
Application scenario (navigation / simulation / layout generation / other):
Will you train models published externally on this data: Yes / No
Do you need a commercial-use evaluation: Yes / No
Applicant commitments:
1. The data will be used only for the declared purpose and not redistributed to unauthorized third parties;
2. Results involving this dataset will cite the data source per the README citation format;
3. You acknowledge and agree to comply with the dataset Terms of Use.
Terms of Use (License)
This dataset is released under the sunvage-vertens3d-simhome Terms of Use
(custom terms, license: other). The full text is distributed in the
repository's License.md.
Citation
If this dataset helps your research, please cite:
@misc{sunvage-vertens3d-simhome-2026,
title = {sunvage-vertens3d-simhome: A Physically-Annotated Indoor USD Scene Dataset},
author = {sunvage Research},
year = {2026},
howpublished = {\url{https://huggingface.co/datasets/sunvage-lab/sunvage-vertens3d-simhome}}
}
Contact
Data questions and access requests: chendebi@3vjia.com
中文
带物理信息的室内场景 USD 资产库，源自三维家（sunvage）户型库中的 14,169 套真实户型设计方案——每个家具实例都带有碰撞体、质量、摩擦与恢复系数，可直接在 USD 物理仿真器中打开。
|
⚡ 12,169 单空间场景 |
🏠 2,000 整户场景 |
🧱 物理 逐实例刚体 |
🗺️ 31 省级行政区 |
数据集说明
sunvage-vertens3d-simhome 既提供整户多空间场景，也提供单空间场景；每个物理实例均带碰撞体与质量属性，可直接加载到 Isaac Sim / Isaac Lab 等 USD 物理仿真器中，用于具身智能、机器人仿真、场景理解与布局生成研究。
可视化预览
丰富的物理资产
丰富的物理资产，高度真实的家庭家居场景素材。涵盖床具、座具、餐桌、柜体、卫浴与绿植等品类，覆盖家中每一类主要生活空间；按真实尺度建模，并在 Isaac Sim 中隐藏碰撞代理渲染。每件资产自带碰撞几何、质量与摩擦数据，可直接投入仿真。
户型多样性
真实建筑户型，而非合成布局。背后是 12,169 个独立空间场景——每一间卧室、客餐厅、厨房、卫生间都是可单独加载、可独立训练的完整场景，另有 2,000 套整户多空间场景。墙体、门窗与柜体均以结构化数据保留：面积 33.1–277.3 m²、1–5 室，覆盖全国 31 个省级行政区。
丰富的物理属性
每个实例都不止是一个网格。碰撞壳体、门铰链与抽屉滑轨，质量与质心，静/动摩擦系数与恢复系数——每一项都标注数值来源与置信度。几何定义在 collision.json，动力学属性在 physical.json。
物理仿真
高度仿真的物理参数。接触、摩擦与恢复系数等来自逐实例的材质分类与碰撞几何分析，每一项都标注数值来源与置信度。
数据来源
- 所有户型方案均来自三维家户型库，是三维家平台上的真实室内设计户型方案（含水路、门窗、柜体等结构化设计数据）。
- 户型物体：实例化为独立 USD 资产，并存在碰撞体（
collision.json）与刚体物理属性（physical.json）。 - 每个实例均附带质量、密度、质心、静/动摩擦系数与恢复系数，且逐项标注数值来源（估算/推导/策略）与置信度。质量与质心由碰撞体几何计算（密度按家具类别与材质赋值）；摩擦系数由材质分类模型给出，带逐实例置信度与
needs_review标记。墙体、地面等结构件按 static 刚体策略处理。 - 数据仅限研究用途申请使用（见下方数据申请）。
数据集结构
数据集按场景 ID（scene_*）组织，每个场景目录下含两类压缩包：
<scene_id>_single_room_<room-hash>.zip # Single-space scene package
<scene_id>_multi_space.zip # Multi-space scene package
每个压缩包解压后是一个与包同名的自包含顶层目录：
<scene_id>_single_room_<room-hash>/
├── scene.usd # Ready-to-open USD scene
├── scene.manifest.json # Coordinate system, space info, export statistics
└── assets/<instance_id>/ # One directory per physical instance
├── asset.usd / model.usd # Instance USD and model USD
├── models/model.glb # Original mesh (converted to USD on first open)
├── collision.json # Collision shape definitions
└── physical.json # Rigid-body type, mass policy, etc.
<scene_id>_multi_space/
├── scene.usd
├── scene.manifest.json # Includes full floorplan (space boundaries, walls, doors/windows)
└── assets/...
single_room 与 multi_space 的区别
| 目录 | 内容 | 适用场景 |
|---|---|---|
single_room（单空间） |
场景是一个独立的空间（可能包含联通的阳台等），仅含该空间内的实例 | 单空间导航、交互、家具布局生成、轻量训练 |
multi_space（多空间） |
整户完整场景 USD，含全部空间与跨空间结构 | 多空间导航、全屋任务、场景级理解 |
补充说明：
scene.manifest.json中记录坐标系：右手系、Z 轴向上、XY 水平面、单位米（与 USD 默认一致）。- 空间名使用功能命名（如
卧室、卫生间、客餐厅、厨房），并以哈希后缀区分同名空间。
覆盖范围
单空间覆盖（single_room 包）
共 12,169 个单空间包：
| 主空间类型 | 单空间包数 | 占比 | 面积中位数 | 面积范围 |
|---|---|---|---|---|
| 卧室 | 5,048 | 41.5% | 10.9 m² | 4.0–75.5 m² |
| 卫生间 | 3,133 | 25.7% | 3.9 m² | 0.9–29.2 m² |
| 客餐厅 | 1,997 | 16.4% | 36.3 m² | 2.9–123.4 m² |
| 厨房 | 1,677 | 13.8% | 5.7 m² | 1.8–38.5 m² |
| 书房 | 296 | 2.4% | 7.6 m² | 3.4–41.3 m² |
| 其他（储物间、阳台等独立成包） | 18 | 0.1% | — | — |
| 合计 | 12,169 | 100% | — | — |
单空间包的面积分布：
| 包面积 | 包数 | 占比 |
|---|---|---|
| < 5 m² | 3,154 | 25.9% |
| 5–10 m² | 3,770 | 31.0% |
| 10–20 m² | 3,021 | 24.8% |
| 20–40 m² | 1,455 | 12.0% |
| ≥ 40 m² | 769 | 6.3% |
- 包面积 0.1–123.4 m²，中位数 8.7 m²；面积最大的是客餐厅包（含并入的过道等）。
- 每个包都是独立场景：单独打开、单独加载、单独训练，不依赖整套户型。一套典型设计户型贡献 5–8 个这样的场景（范围 2–12）。
多空间覆盖（multi_space 包）
共 2000 个多空间包：
| 套内面积 | 户型数 | 占比 |
|---|---|---|
| < 60 m² | 164 | 8.2% |
| 60–80 m² | 427 | 21.4% |
| 80–100 m² | 578 | 28.9% |
| 100–120 m² | 428 | 21.4% |
| 120–150 m² | 247 | 12.4% |
| ≥ 150 m² | 156 | 7.8% |
| 合计 | 2000 | 100% |
- 面积范围 33.1–277.3 m²，中位区间为 80–100 m²；区间为左闭右开（如 60–80 表示 60 ≤ 面积 < 80）。
- 卧室数覆盖 1–5 室：1 室 274、2 室 665、3 室 628、4 室 311、5 室 122。
- 原始空间类型分布（参照，含被并入主空间的附属空间）：卧室 5,048、卫生间 3,133、阳台 2,012、客餐厅 1,997、厨房 1,677、书房 296、储物间 222、入户花园 106、衣帽间 62、过道 23。
- 户型来自全国 31 个省级行政区。
数据申请
- 在线申请（推荐）：直接在本页顶部填写申请表单并点击"同意条款并提交申请"。表单会收集：姓名、申请用途（个人/公司）、公司名与职位（公司申请需填）、条款确认，以及你的 Hugging Face 用户名与邮箱。
- 邮件申请（备选）：无法在线填写时，参考本节说明、按下方模板发送申请邮件至 chendebi@3vjia.com。
- 审核通过后，你的 Hugging Face 账号即被加入授权名单，可下载数据；被拒绝时会看到拒绝提示。
申请邮件请使用以下格式（纯文本即可）：
主题：[三维家场景物理数据使用申请] <机构/姓名>
姓名：
所属机构 / 团队：
Hugging Face 用户名：
邮箱：
职位 / 身份（学生、研究员、工程师等）：
预期用途（研究/评估/产品测试，简述 2-3 句）：
使用场景（导航 / 仿真 / 布局生成 / 其他）：
是否会将数据用于训练对外发布的模型：是 / 否
是否需要商业使用评估：是 / 否
申请人承诺：
1. 数据仅用于上述申报用途，不向未获授权的第三方再分发；
2. 涉及本数据集的成果将按 README 引用格式注明数据来源；
3. 已经知晓并遵守本数据集使用条款。
使用条款（License）
本数据集按 sunvage-vertens3d-simhome 数据使用条款（自定义条款，license: other）发布，全文随仓库 License.md 分发。
引用
如果本数据集对你的研究有帮助，请引用：
@misc{sunvage-vertens3d-simhome-2026,
title = {sunvage-vertens3d-simhome: A Physically-Annotated Indoor USD Scene Dataset},
author = {sunvage Research},
year = {2026},
howpublished = {\url{https://huggingface.co/datasets/sunvage-lab/sunvage-vertens3d-simhome}}
}
联系方式
数据相关问题与使用申请：chendebi@3vjia.com
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