Individual skill
3dgs-articulated-reasoner
3DGS Articulated Object Reasoning & Digital Twin Agent. Reason about articulated objects in 3DGS scenes: extract part structure, infer kinematic constraints, generate interactive digital twins. Use when: articulated object, digital twin, part structure, kinematic chain, URDF, interactive 3DGS, part-aware rendering, articulated manipulation, joint estimation, part segmentation 3DGS, ArtiSplat, ArtiTwinSplat, articulated reconstruction.
skills/3dgs-articulated-reasoner/SKILL.md
Source commit 6dec9b7d8996cd27211f923fe5e2ee8c45825f0b
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- Last checked
- Nov 6, 2026
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- Repository last updated
- Nov 8, 2026
- License
- Apache-2.0
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- 3d-gaussian-splatting Repository topic
- ai-agent Repository topic
- claude-code Repository topic
- computer-graphics Repository topic
- neural-rendering Repository topic
- openclaw Repository topic
- 3dgs Repository topic
- ai-skills Repository topic
- cvpr Repository topic
- gaussian-splatting Repository topic
- 3dgs Declared skill tag
- articulated-object Declared skill tag
- digital-twin Declared skill tag
- kinematics Declared skill tag
- part-aware Declared skill tag
- urdf Declared skill tag
- interactive-3d Declared skill tag
- engineering Derived category
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# 3DGS Articulated Reasoner
Reason about articulated objects within 3DGS scenes: extract part structure, infer kinematics, build interactive digital twins.
## Capabilities
1. **Part Structure Extraction**: Given a 3DGS scene containing articulated objects (furniture, vehicles, tools), identify part boundaries and segment Gaussians into movable/ fixed groups.
2. **Kinematic Inference**: Estimate joint types (revolute, prismatic, fixed) and axes from multi-view observation or user specification. Output URDF-compatible kinematic tree.
3. **Part-Aware Compositing**: Apply part-aware alpha-compositing that penalizes inter-part penetration at boundaries (inspired by Innovation I-01 in the knowledge base).
4. **Digital Twin Generation**: Produce an interactable digital twin where Agent commands (open, rotate, slide) drive real-time Gaussian deformation.
5. **Simulation-Ready Export**: Export articulated 3DGS scenes to simulation frameworks (MuJoCo, Isaac Sim) with preserved visual fidelity.
## Instructions
