hojjunekim/LEGS-assets

LEGS assets

Large files for the LEGS code release (paper) that are not stored in git: object meshes and Gaussian splats. Each file sits at the same path here as in the code repository.

Download

From a clone of the code repository:

scripts/download_assets.sh paper      # or: aug, sources, all
scripts/download_assets.sh --list     # groups, files, sizes, what is present

The script verifies every file against scripts/assets.sha256 in the code repository and skips files that are already present and intact. SHA256SUMS here lists the same checksums (sha256sum -c SHA256SUMS from the repository root).

Groups

Group	Files	Size	Used by
paper	data/gsplat/wood.ply, data/gsplat/wood/default.json, data/objects/orange_hdr.glb, data/objects/plate_hdr.glb	128.0 MB	scripts/data/offline_renderer.py: the wood-table scene splat the paper's LEGS datasets are rendered over, and the HDR-refit object meshes they use
aug	data/gsplat/blue.ply, data/gsplat/blue/default.json, data/objects/apple.glb, data/objects/box.glb	146.4 MB	the appearance study: the blue-table scene splat and its calibration, and the apple and box meshes
sources	data/objects/sources/{orange,plate,apple,box}/mesh_raw.glb	66.8 MB	raw SAM 3D meshes before color refinement: what the mesh-only baseline (scripts/data/offline_renderer_baseline.py) renders, and the inputs of scripts/main/object_gen/color_refine_ccm.py

Contents

• data/objects/sources/<name>/mesh_raw.glb: meshes reconstructed from a single iPhone photo with SAM 3D Objects, at metric scale, with the model's vertex colors.
• data/objects/orange_hdr.glb, data/objects/plate_hdr.glb: the orange and plate meshes with vertex colors refit for the renderer's HDR tone-mapping pass. The renderer applies that pass to files named *_hdr.glb.
• data/objects/apple.glb, data/objects/box.glb: color-refined versions of the raw apple and box meshes.
• data/gsplat/wood.ply: a Gaussian splat (3DGS PLY) of the capture scene with the wood-grain tables, the default background of the paper's datasets.
• data/gsplat/blue.ply: the same scene with the blue high table and the wood mid table (the appearance study's scene condition).
• data/gsplat/<name>/default.json: each splat's placement in the simulator world (translation in meters, roll-pitch-yaw in degrees, scale).

License

The object meshes (every .glb file) are derived from SAM 3D Objects output and are distributed under the SAM License, a copy of which is in LICENSE-SAM. If you redistribute them, you must do so under that license and include a copy of it; publications that use them must acknowledge the use of SAM Materials.

The splats and their calibration files (data/gsplat/) are distributed under the Apache License 2.0 (LICENSE-APACHE), like the code repository.