UrbanVerse 100K Dataset [!NOTE] UrbanVerse 100K is a large scale, physics aware 3D asset and material database curated for urban simulation, physical and embodied AI research. It contains over 102K metric scale urban object assets (GLB/USD), along with 646 4K sky maps (HDR) and 403 4K ground (road/sidewalk/terrain) materials (MDL), each annotated with rich semantic and physical attributes. The dataset is IsaacSim ready, enabling scalable construction of realistic urban simulation environments for training and evaluating embodied AI agents, and beyond. Current release version: 0.1.0 Continuous improvement discussions: If you have questions, suggestions for new features, or ideas for adding new assets, please post them in the corresponding discussion threads below: 💡 urbanverse asset API related thread 🧱 Assets related thread Total size: 1.18 TB Assets overview: Asset Type Count Format Description : : : : 3D Objects 102,445 .glb Metric scale urban 3D objects in GLB format across 659 categories Object Annotations 102,445 .json Per asset annotation Sky Maps 646 .hdr HDR environment maps Road Materials 98 .mdl PBR road surface materials Sidewalk Materials 190 .mdl PBR sidewalk surface…
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