UrbanVerse-Assets-Sim-ready

Simulation-ready USD conversions of the UrbanVerse-100K 3D asset database, for NVIDIA Isaac Sim ≥ 5 / Isaac Lab.

Project: UrbanVerse: Scaling Urban Simulation by Watching City-Tour Videos (ICLR 2026) · Code: VAIL-UCLA/UrbanVerse

What "sim-ready" means here

Each asset was converted from its metric, ground-aligned GLB (adjusted_asset_scaled_bottomed.glb) with Isaac Lab's MeshConverter and validated against the source mesh:

property	value
up axis	Z (glTF's Y-up geometry is rotated +90° about X, so the asset stands upright at identity)
units	metres, metersPerUnit = 1
origin	base of the asset on z = 0
physics	RigidBodyAPI (kinematic), CollisionAPI, MeshCollisionAPI = convexDecomposition
materials	UsdPreviewSurface + textures under textures/

Every stage's world bounds were checked against the exact vertex bounds of its GLB after the axis swap (extents equal to 1e-3, base at z = 0).

Layout

usd/
└── std_<uid>/
    ├── std_<uid>.usd      # reference this
    ├── config.yaml        # MeshConverterCfg used for the conversion
    └── textures/

<uid> is the UrbanVerse-100K asset id, so annotations from the urbanverse-asset toolkit apply directly.

Usage (Isaac Lab)

import isaaclab.sim as sim_utils

cfg = sim_utils.UsdFileCfg(usd_path="/path/to/usd/std_<uid>/std_<uid>.usd")
cfg.func("/World/asset", cfg, translation=(0.0, 0.0, 0.0))

Status

This repository is filled in batches as the full corpus (102,445 assets) is converted; see the live progress in the project README. Conversion tooling: scripts/profile_glb_to_usd.py and urbanverse_100k/urbanverse_asset/_glb_to_usd.py in the code repository.

Citation

@inproceedings{liu2026urbanverse,
  title={UrbanVerse: Scaling Urban Simulation by Watching City-Tour Videos},
  author={Mingxuan Liu and Honglin He and Elisa Ricci and Wayne Wu and Bolei Zhou},
  booktitle={The Fourteenth International Conference on Learning Representations},
  year={2026},
}