Download and open a scene
Install huggingface_hub, then select a capture from the dataset table:
from huggingface_hub import snapshot_download
scene_id = "135yCY9mek1lgvxr6K-chsrWBQKLNlWbZ"
folder = snapshot_download(
repo_id="raresense/nova-wanderland",
repo_type="dataset",
revision="main",
allow_patterns=[f"scenes/{scene_id}/*", "LICENSE", "NOTICE", "CREDITS.md"],
local_dir="articulated-outdoor-scenes",
)
Open the relevant file inside scenes/<scene_id>/simulation/:
| Simulator | Entrypoint |
|---|---|
| Isaac Sim, textured | environment_pbr.usda |
| Isaac Sim, base | environment.usda |
| MuJoCo | environment.xml |
| Gazebo | world.sdf |
| PyBullet | run_pybullet.py |
Download the scene folder together to preserve relative asset dependencies.
The base GLB is in base/model.glb. The PBR USD uses OmniPBR/OmniGlass materials
and includes the enhanced appearance; the base GLB is a separate representation.
The download helper also supports hash verification,
--without-inputs and --base-only. Remove allow_patterns to download all scenes.