Access to uncompressed URDF Model.

[Riften]

I'm also interested in rendering HSSD scenes in photo-realistic quality, as mentioned in issues #1 and #24.

I noticed that uncompressed models are available through hssd-models, and I've successfully loaded some of them into my simulation environment.

However, the HSSD dataset also contains many URDF models that decompose GLB models into different parts and provide articulation information through URDF files.

I was wondering if the uncompressed URDF assets are also accessible?

[Riften]

For anybody interested, gltf-transform now supports decompress KTX2 textures in glb file.

# install npm if you don't have one
apt-get update
apt-get install npm

# default node.js version in 22.04 is too low for gltf-transform. upgrade it first
npm cache clean -f
npm install -g n
n stable

# start a new shell

# install gltf-transform
npm install --global @gltf-transform/cli

# install ktx
wget https://github.com/KhronosGroup/KTX-Software/releases/download/v4.4.0/KTX-Software-4.4.0-Linux-x86_64.deb
dpkg -i KTX-Software-4.4.0-Linux-x86_64.deb

# decompress
# use hssd-hab/urdf/0a5df6da61cd2e78e972690b501452152309e56b/table0001.glb for test
gltf-transform ktxdecompress table0001.glb table0001.decompress.glb

The output table0001.decompress.glb now has png texture instead of KTX2.