Add files using upload-large-folder tool

Objects/.gitignore

@@ -0,0 +1 @@
+104_microwave/01_microwave/02/usd_decomposition_linux/configuration/mobility_physics.usd.bak_glass_collision_20260703_115706

Objects/031_spoon/02_spoon/01/usd_decomposition_linux/.asset_hash

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+d074ad12de82d02f5371d4e20cbc1f5d

Objects/031_spoon/02_spoon/01/usd_decomposition_linux/config.yaml

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+asset_path: /home/ubuntu/jiangchenyu/dex2bench_dataset/Objects/031_spoon/02_spoon/01/cc0_-_wooden_spoon.glb
+usd_dir: /home/ubuntu/jiangchenyu/dex2bench_dataset/Objects/031_spoon/02_spoon/01/usd_decomposition_linux
+usd_file_name: cc0_-_wooden_spoon.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
+  mass: 0.05
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: pxr.UsdPhysics:MeshCollisionAPI
+  physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI
+  mesh_approximation_name: convexDecomposition
+  hull_vertex_limit: null
+  max_convex_hulls: null
+  min_thickness: null
+  voxel_resolution: null
+  error_percentage: null
+  shrink_wrap: null
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2026-07-12 at 22:25:06.
+##

Objects/031_spoon/kinbody.xml

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+<KinBody name="spoon">
+  <Body type="static" name="spoon">
+    <Geom type="trimesh">
+      <Render>textured.dae</Render>
+      <Data>textured.dae</Data>
+    </Geom>
+  </Body>
+</KinBody>

Objects/031_spoon/textured.mtl

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+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png 
+

Objects/031_spoon/usd/.asset_hash

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+c96ff58222a88db34f9db6c2baae0811

Objects/031_spoon/usd/config.yaml

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+asset_path: E:\phd\research\dex\datasets\ycb_models\031_spoon\google_16k\textured.obj
+usd_dir: E:\phd\research\dex\datasets\ycb_models\031_spoon\google_16k\usd
+usd_file_name: textured.usd
+force_usd_conversion: true
+make_instanceable: true
+mass_props:
+  mass: 0.07
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: pxr.UsdPhysics:MeshCollisionAPI
+  physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI
+  mesh_approximation_name: convexDecomposition
+  hull_vertex_limit: null
+  max_convex_hulls: null
+  min_thickness: null
+  voxel_resolution: null
+  error_percentage: null
+  shrink_wrap: null
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2026-03-02 at 11:13:32.
+##

Objects/031_spoon/usd_decomposition_linux/.asset_hash

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+3705f4372ab9593c94cdca656f723e95

Objects/031_spoon/usd_decomposition_linux/config.yaml

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+asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/031_spoon/textured.obj
+usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/031_spoon/usd_decomposition_linux
+usd_file_name: textured.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
+  mass: 0.07
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: pxr.UsdPhysics:MeshCollisionAPI
+  physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI
+  mesh_approximation_name: convexDecomposition
+  hull_vertex_limit: null
+  max_convex_hulls: null
+  min_thickness: null
+  voxel_resolution: null
+  error_percentage: null
+  shrink_wrap: null
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2026-04-25 at 16:43:06.
+##

Objects/031_spoon/usd_sdf_linux/.asset_hash

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+f93f83bd9641fedf610a3204865c2934

Objects/031_spoon/usd_sdf_linux/config.yaml

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+asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/031_spoon/textured.obj
+usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/031_spoon/usd_sdf_linux
+usd_file_name: textured.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
+  mass: 0.07
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: {}
+  physx_func: pxr.PhysxSchema:PhysxSDFMeshCollisionAPI
+  mesh_approximation_name: sdf
+  sdf_margin: null
+  sdf_narrow_band_thickness: null
+  sdf_resolution: null
+  sdf_subgrid_resolution: null
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2026-04-21 at 18:02:44.
+##

Objects/037-a_scissors/google_16k/kinbody.xml

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+<KinBody name="scissors">
+  <Body type="static" name="scissors">
+    <Geom type="trimesh">
+      <Render>textured.dae</Render>
+      <Data>textured.dae</Data>
+    </Geom>
+  </Body>
+</KinBody>

Objects/037-a_scissors/google_16k/textured.mtl

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+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png 
+

Objects/037-a_scissors/google_16k/usd/.asset_hash

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+11d59788fa166560b0c2dbbf5d3a44c5

Objects/037-a_scissors/google_16k/usd/config.yaml

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+asset_path: E:\phd\research\dex\datasets\ycb_models\037-a_scissors\google_16k\textured.obj
+usd_dir: E:\phd\research\dex\datasets\ycb_models\037-a_scissors\google_16k\usd
+usd_file_name: textured.usd
+force_usd_conversion: true
+make_instanceable: true
+mass_props:
+  mass: 0.09
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: pxr.UsdPhysics:MeshCollisionAPI
+  physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI
+  mesh_approximation_name: convexDecomposition
+  hull_vertex_limit: null
+  max_convex_hulls: null
+  min_thickness: null
+  voxel_resolution: null
+  error_percentage: null
+  shrink_wrap: null
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2026-03-02 at 11:14:26.
+##

Objects/037-a_scissors/google_16k/usd_decomposition_linux/.asset_hash

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+adcd4d474e6c25618704d2f4658e545b

Objects/037-a_scissors/google_16k/usd_decomposition_linux/config.yaml

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+asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/037-a_scissors/google_16k/textured.obj
+usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/037-a_scissors/google_16k/usd_decomposition_linux
+usd_file_name: textured.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
+  mass: 0.09
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: pxr.UsdPhysics:MeshCollisionAPI
+  physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI
+  mesh_approximation_name: convexDecomposition
+  hull_vertex_limit: null
+  max_convex_hulls: null
+  min_thickness: null
+  voxel_resolution: null
+  error_percentage: null
+  shrink_wrap: null
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2026-04-25 at 16:43:33.
+##

Objects/037-a_scissors/google_16k/usd_sdf_linux/.asset_hash

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+28120e70f161451778f8c169b7992729

Objects/037-a_scissors/google_16k/usd_sdf_linux/config.yaml

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+asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/037-a_scissors/google_16k/textured.obj
+usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/037-a_scissors/google_16k/usd_sdf_linux
+usd_file_name: textured.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
+  mass: 0.09
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: {}
+  physx_func: pxr.PhysxSchema:PhysxSDFMeshCollisionAPI
+  mesh_approximation_name: sdf
+  sdf_margin: null
+  sdf_narrow_band_thickness: null
+  sdf_resolution: null
+  sdf_subgrid_resolution: null
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2026-04-21 at 18:03:28.
+##

Objects/065-f_cups/google_16k/kinbody.xml

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+<KinBody name="cups">
+  <Body type="static" name="cups">
+    <Geom type="trimesh">
+      <Render>textured.dae</Render>
+      <Data>textured.dae</Data>
+    </Geom>
+  </Body>
+</KinBody>

Objects/065-f_cups/google_16k/textured.mtl

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+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png 
+

Objects/065-f_cups/google_16k/usd/.asset_hash

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+c45a639bf005e5e0674ce1136b937e4b

Objects/065-f_cups/google_16k/usd/config.yaml

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+asset_path: E:\phd\research\dex\datasets\ycb_models\065-f_cups\google_16k\textured.obj
+usd_dir: E:\phd\research\dex\datasets\ycb_models\065-f_cups\google_16k\usd
+usd_file_name: textured.usd
+force_usd_conversion: true
+make_instanceable: true
+mass_props:
+  mass: 0.06
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: pxr.UsdPhysics:MeshCollisionAPI
+  physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI
+  mesh_approximation_name: convexDecomposition
+  hull_vertex_limit: null
+  max_convex_hulls: null
+  min_thickness: null
+  voxel_resolution: null
+  error_percentage: null
+  shrink_wrap: null
+translation: !!python/tuple
+- 0.0
+- 0.0
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+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2026-03-02 at 11:19:32.
+##

Objects/065-f_cups/google_16k/usd_decomposition_linux/.asset_hash

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+6b90b7d7dd2f603cec149f1fd10d363a

Objects/065-f_cups/google_16k/usd_decomposition_linux/config.yaml

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+asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/065-f_cups/google_16k/textured.obj
+usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/065-f_cups/google_16k/usd_decomposition_linux
+usd_file_name: textured.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
+  mass: 0.06
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: pxr.UsdPhysics:MeshCollisionAPI
+  physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI
+  mesh_approximation_name: convexDecomposition
+  hull_vertex_limit: null
+  max_convex_hulls: null
+  min_thickness: null
+  voxel_resolution: null
+  error_percentage: null
+  shrink_wrap: null
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2026-04-25 at 16:46:06.
+##

Objects/065-f_cups/google_16k/usd_sdf_linux/.asset_hash

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+4059bd85d772c10bdf26111cb74bb32e

Objects/065-f_cups/google_16k/usd_sdf_linux/config.yaml

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+asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/065-f_cups/google_16k/textured.obj
+usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/065-f_cups/google_16k/usd_sdf_linux
+usd_file_name: textured.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
+  mass: 0.06
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: {}
+  physx_func: pxr.PhysxSchema:PhysxSDFMeshCollisionAPI
+  mesh_approximation_name: sdf
+  sdf_margin: null
+  sdf_narrow_band_thickness: null
+  sdf_resolution: null
+  sdf_subgrid_resolution: null
+translation: !!python/tuple
+- 0.0
+- 0.0
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+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2026-04-21 at 18:07:44.
+##

Objects/073-b_lego_duplo/google_16k/kinbody.xml

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+<KinBody name="lego_duplo">
+  <Body type="static" name="lego_duplo">
+    <Geom type="trimesh">
+      <Render>textured.dae</Render>
+      <Data>textured.dae</Data>
+    </Geom>
+  </Body>
+</KinBody>

Objects/073-b_lego_duplo/google_16k/textured.mtl

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+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png 
+

Objects/073-b_lego_duplo/google_16k/usd/.asset_hash

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+a56c7be022a70fbc2eb25eb78bfad0b7

Objects/073-b_lego_duplo/google_16k/usd/config.yaml

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+asset_path: E:\phd\research\dex\datasets\ycb_models\073-b_lego_duplo\google_16k\textured.obj
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+usd_file_name: textured.usd
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+make_instanceable: true
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+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: pxr.UsdPhysics:MeshCollisionAPI
+  physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI
+  mesh_approximation_name: convexDecomposition
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+  max_convex_hulls: null
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+##
+# Generated by MeshConverter on 2026-03-02 at 11:22:24.
+##

Objects/073-b_lego_duplo/google_16k/usd_decomposition_linux/.asset_hash

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Objects/073-b_lego_duplo/google_16k/usd_decomposition_linux/config.yaml

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+asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/073-b_lego_duplo/google_16k/textured.obj
+usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/073-b_lego_duplo/google_16k/usd_decomposition_linux
+usd_file_name: textured.usd
+force_usd_conversion: true
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+mesh_collision_props:
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+  physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI
+  mesh_approximation_name: convexDecomposition
+  hull_vertex_limit: null
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+  voxel_resolution: null
+  error_percentage: null
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+translation: !!python/tuple
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+scale: !!python/tuple
+- 1.0
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+##
+# Generated by MeshConverter on 2026-04-25 at 16:47:32.
+##

Objects/073-b_lego_duplo/google_16k/usd_sdf_linux/.asset_hash

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Objects/073-b_lego_duplo/google_16k/usd_sdf_linux/config.yaml

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+asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/073-b_lego_duplo/google_16k/textured.obj
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+##
+# Generated by MeshConverter on 2026-04-21 at 18:10:12.
+##

Objects/073-d_lego_duplo/google_16k/kinbody.xml

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+<KinBody name="lego_duplo">
+  <Body type="static" name="lego_duplo">
+    <Geom type="trimesh">
+      <Render>textured.dae</Render>
+      <Data>textured.dae</Data>
+    </Geom>
+  </Body>
+</KinBody>