Document repaired assets, downloads and validation
Browse files
README.md
ADDED
|
@@ -0,0 +1,41 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
tags:
|
| 3 |
+
- 3d
|
| 4 |
+
- gaussian-splatting
|
| 5 |
+
- usd
|
| 6 |
+
- robotics
|
| 7 |
+
pretty_name: humanoidBench Scene Assets
|
| 8 |
+
---
|
| 9 |
+
# humanoidBench scene assets
|
| 10 |
+
|
| 11 |
+
This repository contains 11 repaired Gaussian scene assets converted to USD with the 3DGRUT exporter. Files are in [`cvpr/repaired/`](cvpr/repaired/).
|
| 12 |
+
|
| 13 |
+
**Start with each asset's same-name `.usdz` file.** It bundles the Gaussian data and completion layers. The `.usd` alternative requires the adjacent `gaussians.usdc` file. A renderer supporting `ParticleField3DGaussianSplat` is required; these assets are not conventional triangle meshes and do not include robot collision geometry.
|
| 14 |
+
|
| 15 |
+
| Asset | Packaged USD | RTX review |
|
| 16 |
+
|---|---|---|
|
| 17 |
+
| ARC_B2 | [USDZ](cvpr/repaired/ARC_B2/ARC_B2.usdz) | [9 views](cvpr/repaired/ARC_B2/previews/rtx_contact.jpg) |
|
| 18 |
+
| ATMRI | [USDZ](cvpr/repaired/ATMRI/ATMRI.usdz) | [9 views](cvpr/repaired/ATMRI/previews/rtx_contact.jpg) |
|
| 19 |
+
| bookstore | [USDZ](cvpr/repaired/bookstore/bookstore.usdz) | [9 views](cvpr/repaired/bookstore/previews/rtx_contact.jpg) |
|
| 20 |
+
| conferencehall | [USDZ](cvpr/repaired/conferencehall/conferencehall.usdz) | [9 views](cvpr/repaired/conferencehall/previews/rtx_contact.jpg) |
|
| 21 |
+
| office | [USDZ](cvpr/repaired/office/office.usdz) | [9 views](cvpr/repaired/office/previews/rtx_contact.jpg) |
|
| 22 |
+
| penthouse1 | [USDZ](cvpr/repaired/penthouse1/penthouse1.usdz) | [9 views](cvpr/repaired/penthouse1/previews/rtx_contact.jpg) |
|
| 23 |
+
| penthouse2 | [USDZ](cvpr/repaired/penthouse2/penthouse2.usdz) | [9 views](cvpr/repaired/penthouse2/previews/rtx_contact.jpg) |
|
| 24 |
+
| penthouse3 | [USDZ](cvpr/repaired/penthouse3/penthouse3.usdz) | [9 views](cvpr/repaired/penthouse3/previews/rtx_contact.jpg) |
|
| 25 |
+
| room2 | [USDZ](cvpr/repaired/room2/room2.usdz) | [9 views](cvpr/repaired/room2/previews/rtx_contact.jpg) |
|
| 26 |
+
| roomtour | [USDZ](cvpr/repaired/roomtour/roomtour.usdz) | [9 views](cvpr/repaired/roomtour/previews/rtx_contact.jpg) |
|
| 27 |
+
| sculpture | [USDZ](cvpr/repaired/sculpture/sculpture.usdz) | [9 views](cvpr/repaired/sculpture/previews/rtx_contact.jpg) |
|
| 28 |
+
|
| 29 |
+
## Contents and validation
|
| 30 |
+
|
| 31 |
+
Each asset directory contains the packaged and unpackaged USD assets, cleaned source Gaussians (`cleaned.ply`), added completion Gaussians (`completion.ply`), edit indices, a repair report, validation results, and nine actual Isaac Sim RTX views. The collection includes 99 review images. `manifest.json` records the original source SHA256 hashes; `validation_summary.json` records USD and USDZ structural and dependency checks.
|
| 32 |
+
|
| 33 |
+
The replacement `office.ply` is delivered as `office`; the old empty `office_showroom.ply` placeholder is not included. Office is partitioned into multiple Gaussian fields so that all retained points load within the renderer's per-field limit.
|
| 34 |
+
|
| 35 |
+
## Repair scope and limitations
|
| 36 |
+
|
| 37 |
+
Repairs include detected floor gaps, cropped boundaries, inferred exterior/background completion, and conservative cleanup of invalid or low-quality points. Original PLY inputs were preserved locally. Added scenery is inferred, not a recovery of the original surroundings. Some reconstruction blur, reflection residuals and fuzzy edges remain, and the review views do not certify every possible viewpoint. Real shadows, dark materials and the bookstore's mirrored floor are preserved. Physical scale has not been calibrated on site.
|
| 38 |
+
|
| 39 |
+
See [delivery notes](cvpr/repaired/README.txt) and the per-asset reports for details.
|
| 40 |
+
|
| 41 |
+
|