spatialverse/SAGE-3D_Collision_Mesh

SAGE-3D碰撞网格数据集是一个高精度的碰撞几何数据集，提取自1,000个室内网格场景。它为3D高斯泼溅（3DGS）场景提供了物理启用的碰撞体，实现了虚拟环境中物理精确的导航和交互。数据集包含超过554,000个碰撞体实例，采用凸包分解以实现高效的碰撞检测，并以USD格式提供，兼容现代物理仿真平台如Isaac Sim和NVIDIA Omniverse。每个碰撞体都经过精心分解为凸包，确保计算效率的同时保持几何保真度，支持实时碰撞检测、具身AI研究和仿真到现实的转移。

High-precision collision geometry dataset extracted from 1,000 indoor Mesh scenes, enabling physically accurate navigation and interaction in virtual environments. The dataset provides physics-enabled collision bodies for 3D Gaussian Splatting (3DGS) scenes, including over 554,000 collision body instances, convex hull decomposition for efficient and accurate collision detection, and is provided in USD format compatible with modern physics simulation platforms like Isaac Sim and NVIDIA Omniverse. Each collision body is carefully decomposed into convex hulls, ensuring computational efficiency while maintaining geometric fidelity, enabling real-time collision detection, embodied AI research, and sim-to-real transfer.