UCLA-VAIL/UrbanVerse-CraftBench-Sim-Ready

UrbanVerse-CraftBench Scenes (Sim-Ready)

The 12 hand-crafted UrbanVerse-CraftBench test scenes, upgraded to load correctly in NVIDIA Isaac Sim ≥ 5. Same scenes, same packaging (Collected_export_version.tar per scene, open Collected_export_version/export_version.usd), same license as the original.

What changed, and why

The scenes were exported from Isaac Sim 4.5 with road / sidewalk vMaterials whose inputs:texture_scale was authored as an int while the MDL declares float2.

• Isaac Sim 4.5 rejected that value ([UsdToMdl] Tried to assign a 'int'(USD) to a 'float2'(MDL)) and silently fell back to the material's default tile size - that is what the preview_*.png images show.
• Isaac Sim 5.x rejects it too, but the surface then renders flat black/white.

Every such attribute was re-authored as float2 with the MDL parameter's own default (Mortar 1.0, Paving_Stones 0.5, Rough_Gravel 2.0, ...), reproducing the 4.5 appearance in 5.x. Attributes that were already a valid float2 were left untouched; geometry, layout, assets, textures and physics are unchanged.

Update, Sep 25 2026 - scenes 03, 09 and 11. Two glTF models have non-ASCII node names (a bench's P��s_Material_0, a building's Betongv��gg001_Inne_0). Kit's glTF importer turns each invalid character into _: one per byte in Isaac Sim 4.5, one per character in 5.x. The scenes' overrides for those nodes still used the 4.5 names (P______s_Material_0), so in 5.x they matched nothing: 5 benches (1 in scene 09, 4 in scene 11) sat off their spots without collision, and a building part that scene 03 switches off was back on. The 6 overrides now use the 5.x names (P__s_Material_0, Betongv__gg001_Inne_0); nothing else changed. If you downloaded scenes 03, 09 or 11 before this date, delete them and download them again.

Update, Sep 27 2026 - scenes 06, 07, 09 and 10. 75 ground-material texture_scale inputs were declared float2 but held a scalar (1000), and the first pass kept them as valid float2s. Isaac Sim 5.x rejects that scalar just the same, so those roads and sidewalks rendered flat black. They now hold the MDL default like the rest; nothing else changed. If you downloaded scenes 06, 07, 09 or 10 before this date, delete them and download them again.

Tooling and per-scene provenance (every changed layer with its sha256): scripts/upgrade_isaacsim5.md, scenes/craftbench_simready_manifest.json.

Layout

scene_<id>_<place_type>_<topology>_<attributes>/
├── Collected_export_version.tar   # extract, then open Collected_export_version/export_version.usd
├── cam0_to_world.txt              # per-frame camera-to-world matrices of the preview flythrough
├── preview_front.png / preview_topdown.png / preview_closeup.png
└── preview_video.mp4

Usage

import urbanverse_scene as uvs          # pip install urbanverse-scene
uvs.craftbench.load_scenes(uvs.craftbench.get_descriptions()[:1])

or extract a tar and open export_version.usd in Isaac Sim 5.x.

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},
}