| --- |
| tags: |
| - 3d |
| - gaussian-splatting |
| - usd |
| - robotics |
| pretty_name: humanoidBench Scene Assets |
| --- |
| # humanoidBench scene assets |
|
|
| ## Flat-ground navigation edition |
|
|
| The latest **flat-ground edition** is in [`cvpr/flat_navigation/`](cvpr/flat_navigation/). All 11 scenes have a horizontal main-level visual floor and a static ground collider at world **Z=0**. Start with the same-name `.usdz` package to include all referenced layers. |
|
|
| Validation: 3,179 PhysX downward rays, 55 drop probes (30 kg each), USD/USDZ dependency checks, and 99 actual RTX review images. The floor height range is zero. See per-asset `physics_validation.json`, `validation.json`, and `report.json`. |
|
|
| **Scope:** Ground collision only. Gaussian furniture, walls, stairs and upper platforms remain visual assets without obstacle colliders. Upper platforms are outside the flat navigation level. A humanoid controller or locomotion policy has not been tested. Robot root spawn height must account for its foot-to-root offset. Scene coordinates were leveled; the transform is recorded in each report. |
|
|
| | Flat-ground asset | Packaged USD | RTX review | |
| |---|---|---| |
| | ARC_B2 | [USDZ](cvpr/flat_navigation/ARC_B2/ARC_B2.usdz) | [9 views](cvpr/flat_navigation/ARC_B2/previews/rtx_contact.jpg) | |
| | ATMRI | [USDZ](cvpr/flat_navigation/ATMRI/ATMRI.usdz) | [9 views](cvpr/flat_navigation/ATMRI/previews/rtx_contact.jpg) | |
| | bookstore | [USDZ](cvpr/flat_navigation/bookstore/bookstore.usdz) | [9 views](cvpr/flat_navigation/bookstore/previews/rtx_contact.jpg) | |
| | conferencehall | [USDZ](cvpr/flat_navigation/conferencehall/conferencehall.usdz) | [9 views](cvpr/flat_navigation/conferencehall/previews/rtx_contact.jpg) | |
| | office | [USDZ](cvpr/flat_navigation/office/office.usdz) | [9 views](cvpr/flat_navigation/office/previews/rtx_contact.jpg) | |
| | penthouse1 | [USDZ](cvpr/flat_navigation/penthouse1/penthouse1.usdz) | [9 views](cvpr/flat_navigation/penthouse1/previews/rtx_contact.jpg) | |
| | penthouse2 | [USDZ](cvpr/flat_navigation/penthouse2/penthouse2.usdz) | [9 views](cvpr/flat_navigation/penthouse2/previews/rtx_contact.jpg) | |
| | penthouse3 | [USDZ](cvpr/flat_navigation/penthouse3/penthouse3.usdz) | [9 views](cvpr/flat_navigation/penthouse3/previews/rtx_contact.jpg) | |
| | room2 | [USDZ](cvpr/flat_navigation/room2/room2.usdz) | [9 views](cvpr/flat_navigation/room2/previews/rtx_contact.jpg) | |
| | roomtour | [USDZ](cvpr/flat_navigation/roomtour/roomtour.usdz) | [9 views](cvpr/flat_navigation/roomtour/previews/rtx_contact.jpg) | |
| | sculpture | [USDZ](cvpr/flat_navigation/sculpture/sculpture.usdz) | [9 views](cvpr/flat_navigation/sculpture/previews/rtx_contact.jpg) | |
| |
|  |
| |
