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The ANYmal D / DynaArm geometry belongs to ANYbotics AG / RSL, ETH Zurich. Access is for non-commercial research use only. The Allegro hand description is by Wonik Robotics / SimLab (BSD-style licence from allegro_hand_ros).
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splataverse-urdf
Articulated robots as per-link 3D Gaussian splats, with their URDFs: the ALMA legged manipulator (ANYmal D + DynaArm
- Robotiq 2F-85 gripper) and the Allegro hand. Every link is its own splat in that link's frame, so a pose is
world_T_link(joint angles) @ splat.
Layout
alma/ | allegro/
urdf/ URDFs (verbatim; package:// mesh paths are NOT shipped, see licence)
real_splats/<link>/splat.ply splats captured from the real robot, link-local frame
pbr_splats/<link>/splat.ply splats regenerated from the CAD meshes, with PBR channels, link-local frame
full_pbr.ply all pbr_splats merged in the URDF zero-joint-angle rest pose, base/palm frame
| folder | what | PBR | size |
|---|---|---|---|
real_splats/ |
reconstructed from real captures; ALMA: 3DGS degree 0, Allegro: nerfstudio full-SH (degree 3) PLYs kept as-is | no (RGB only) | ALMA 119 links, Allegro 25 links |
pbr_splats/ |
meshes -> Gaussians with the splataverse converter | yes | ALMA 60 links / 3,431,655 Gaussians, Allegro 17 links / 955,827 Gaussians |
full_pbr.ply |
rest-pose assembly of pbr_splats/ |
yes |
urdf/: ALMA has alma.urdf. Allegro has allegro_hand_right_biotac_25link.urdf (25 links incl. BioTac soft base/tip links;
matches real_splats/, which has all 25) and allegro_hand_right_plain_17link.urdf (17 links; matches pbr_splats/).
PBR PLY format
Standard 3DGS PLY (x y z f_dc_0..2 opacity scale_0..2 rot_0..3, SH degree 0, f_dc = (rgb - 0.5) / 0.2821, scales are
log of the standard deviation in metres, opacity is a logit of 0.99, quaternions are w x y z) with extra per-Gaussian
properties: nx ny nz (surface normal), roughness, metallic, occlusion, emissive_0..2 (glTF 2.0 conventions; base
colour is f_dc).
PBR provenance. The source meshes are COLLADA (ALMA) and STL (Allegro), which carry no metallic/roughness data. Base colour
comes from the mesh texture (ALMA) or the URDF material colour (Allegro, rgba .2 .2 .2 1 for the black parts), and normals come
from the geometry. metallic = 0.0, roughness = 0.5, occlusion = 1 and emissive = 0 are
assumed constant factors, not measured (Allegro PBR is entirely factor-based because STLs have no materials; ALMA is
textured albedo plus the same constant factors).
Coordinate system and units
Metres, right-handed, URDF convention (x forward, y left, z up). Each splat.ply is in its link's frame (visual origin and
mesh scale already applied). full_pbr.ply is in the root link frame (base for ALMA, allegro_hand_palm_link for
Allegro) at zero joint angles.
Gaps
- none
Box/cylinder visuals are not baked. The Allegro BioTac soft base/tip meshes (
link_3_soft_*.stl) are not available, so those 8 links only exist inreal_splats/.
Licence
Gated, research use only. ANYmal D and DynaArm meshes (and the splats derived from them) belong to ANYbotics AG / the Robotic
Systems Lab, ETH Zurich; the Robotiq gripper and RealSense D435 models belong to their vendors. The Allegro hand description
(URDF, STLs) is by Wonik Robotics / SimLab, redistributed under the BSD-style licence of allegro_hand_ros. The URDF files are
included for kinematics; their package:// mesh files are not distributed.
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