USDAssets

This repository provides the official assets used in Reconciling Reality through Simulation: A Real-to-Sim-to-Real approach for Robust Manipulation The manuscript is available on arXiv. See the project page

If you use this codebase, please cite

@article{torne2024reconciling,
  title={Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation},
  author={Torne, Marcel and Simeonov, Anthony and Li, Zechu and Chan, April and Chen, Tao and Gupta, Abhishek and Agrawal, Pulkit},
  journal={arXiv preprint arXiv:2403.03949},
  year={2024}
}

Go to the RialTo GUI to construct more scenes :)

File structure

• Find the full scenes under scenes
• Find the set of objects used to reconstruct the scenes in objects

Convert USDZ to GLB files

• Install aspose-3d

pip install aspose-3d

• Run the code below:

import aspose.threed as a3d

scene = a3d.Scene.from_file("input.usd")
scene.save("output.glb")