Implementation:Haosulab ManiSkill ProcTHORMeta

Knowledge Sources	Haosulab_ManiSkill
Domains	Robotics, Simulation, Scene_Building
Last Updated	2026-02-15 08:00 GMT

Overview

Metadata file containing the index of all available ProcTHOR scene configurations for the AI2-THOR scene builder, listing paths to individual scene instance JSON files.

Description

ProcTHOR.json is a large JSON metadata file (12005 lines) that serves as the scene registry for ProcTHOR (procedurally generated AI2-THOR) environments. It is read by the AI2THORBaseSceneBuilder during initialization to discover all available scene configurations.

The file contains a single top-level object with a "scenes" key that maps to an array of relative file paths. Each path points to a scene instance JSON file that contains the full scene description (background stage, object placements, rotations, etc.).

File path format: ./2/ProcTHOR-Train-{number}.scene_instance.json

The paths are relative to the AI2-THOR dataset directory. Scene numbers span the ProcTHOR-Train set, covering hundreds of procedurally generated indoor environments.

Each referenced scene instance file contains:

A stage_instance with the background template name
An array of object_instances with template names, translations, rotations, and motion types
Additional scene configuration data

Usage

Loaded automatically by AI2THORBaseSceneBuilder.__init__() when scene_dataset="ProcTHOR". The builder uses the scene list to create build configurations, allowing random sampling of different indoor environments for each parallel simulation instance.

Code Reference

Source Location

Repository: Haosulab_ManiSkill
File: mani_skill/utils/scene_builder/ai2thor/metadata/ProcTHOR.json

Sample Structure

{
    "scenes": [
        "./2/ProcTHOR-Train-293.scene_instance.json",
        "./2/ProcTHOR-Train-854.scene_instance.json",
        "./2/ProcTHOR-Train-650.scene_instance.json",
        "./2/ProcTHOR-Train-616.scene_instance.json",
        "./2/ProcTHOR-Train-147.scene_instance.json",
        ...
    ]
}

JSON Schema

Key	Type	Description
`scenes`	`array[string]`	List of relative paths to scene instance JSON files

Each scene path follows the format: ./2/ProcTHOR-Train-{N}.scene_instance.json

where N is the ProcTHOR training scene number.

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Principle

Implementation

Heuristic

Environment