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5287 15861 2984 2984 5287 15862 2951 2951 5287 15863 2937 2937 5288 15864 2983 2983 5288 15865 2986 2986 5288 15866 2987 2987 5289 15867 2967 2967 5289 15868 1914 1914 5289 15869 2984 2984 5290 15870 2935 2935 5290 15871 2930 2930 5290 15872 2988 2988 5291 15873 2935 2935 5291 15874 2984 2984 5291 15875 2983 2983 5292 15876 2954 2954 5292 15877 2989 2989 5292 15878 2982 2982 5293 15879 1914 1914 5293 15880 2979 2979 5293 15881 2883 2883 5294 15882 2877 2877 5294 15883 2972 2972 5294 15884 2989 2989 5295 15885 2990 2990 5295 15886 2983 2983 5295 15887 2991 2991 5296 15888 2755 2755 5296 15889 2761 2761 5296 15890 2992 2992 5297 15891 2993 2993 5297 15892 2994 2994 5297 15893 2973 2973 5298 15894 2883 2883 5298 15895 2972 2972 5298 15896 2995 2995 5299 15897 2996 2996 5299 15898 2961 2961 5299 15899 2997 2997 5300 15900 2883 2883 5300 15901 2973 2973 5300 15902 2985 2985 5301 15903 2988 2988 5301 15904 2984 2984 5301 15905 2761 2761 5302 15906 2952 2952 5302 15907 2998 2998 5302 15908 2954 2954 5303 15909 2964 2964 5303 15910 2989 2989 5303 15911 2988 2988 5304 15912 2985 2985 5304 15913 2999 2999 5304 15914 2755 2755 5305 15915 2860 2860 5305 15916 2834 2834 5305 15917 2973 2973 5306 15918 2965 2965 5306 15919 2966 2966 5306 15920 2894 2894 5307 15921 3000 3000 5307 15922 2964 2964 5307 15923 2991 2991 5308 15924 2860 2860 5308 15925 2755 2755 5308 15926 2860 2860 5309 15927 2991 2991 5309 15928 3001 3001 5309 15929 2935 2935 5310 15930 3002 3002 5310 15931 2735 2735 5310 15932 2991 2991 5311 15933 2761 2761 5311 15934 2998 2998 5311 15935 3003 3003 5312 15936 2964 2964 5312 15937 3000 3000 5312 15938 3001 3001 5313 15939 2991 2991 5313 15940 2998 2998 5313 15941 2998 2998 5314 15942 3004 3004 5314 15943 3001 3001 5314 15944 2736 2736 5315 15945 2735 2735 5315 15946 3002 3002 5315 15947 2851 2851 5316 15948 2834 2834 5316 15949 2860 2860 5316 15950 3002 3002 5317 15951 2935 2935 5317 15952 2988 2988 5317 15953 3005 3005 5318 15954 2989 2989 5318 15955 2964 2964 5318 15956 3005 3005 5319 15957 2990 2990 5319 15958 2989 2989 5319 15959 2966 2966 5320 15960 3006 3006 5320 15961 2973 2973 5320 15962 3007 3007 5321 15963 3005 3005 5321 15964 2964 2964 5321 15965 2736 2736 5322 15966 3002 3002 5322 15967 2835 2835 5322 15968 3008 3008 5323 15969 3006 3006 5323 15970 2966 2966 5323 15971 2860 2860 5324 15972 3001 3001 5324 15973 3004 3004 5324 15974 2964 2964 5325 15975 3003 3003 5325 15976 3007 3007 5325 15977 2760 2760 5326 15978 2952 2952 5326 15979 2761 2761 5326 15980 2771 2771 5327 15981 2786 2786 5327 15982 2772 2772 5327 15983 3009 3009 5328 15984 2974 2974 5328 15985 2981 2981 5328 15986 2952 2952 5329 15987 2957 2957 5329 15988 2998 2998 5329 15989 3010 3010 5330 15990 3011 3011 5330 15991 3002 3002 5330 15992 3012 3012 5331 15993 3013 3013 5331 15994 3014 3014 5331 15995 3014 3014 5332 15996 3015 3015 5332 15997 3012 3012 5332 15998 2988 2988 5333 15999 3010 3010 5333 16000 3002 3002 5333 16001 3016 3016 5334 16002 3017 3017 5334 16003 3018 3018 5334 16004 2957 2957 5335 16005 2952 2952 5335 16006 2953 2953 5335 16007 2584 2584 5336 16008 2944 2944 5336 16009 3019 3019 5336 16010 2957 2957 5337 16011 3020 3020 5337 16012 2998 2998 5337 16013 3008 3008 5338 16014 2966 2966 5338 16015 3021 3021 5338 16016 3022 3022 5339 16017 3015 3015 5339 16018 3014 3014 5339 16019 3019 3019 5340 16020 2944 2944 5340 16021 2945 2945 5340 16022 3015 3015 5341 16023 3016 3016 5341 16024 3018 3018 5341 16025 2584 2584 5342 16026 3023 3023 5342 16027 3024 3024 5342 16028 3019 3019 5343 16029 3023 3023 5343 16030 2584 2584 5343 16031 3015 3015 5344 16032 3025 3025 5344 16033 3016 3016 5344 16034 3022 3022 5345 16035 3025 3025 5345 16036 3015 3015 5345 16037 3026 3026 5346 16038 3027 3027 5346 16039 3028 3028 5346 16040 2794 2794 5347 16041 2889 2889 5347 16042 2925 2925 5347 16043 2925 2925 5348 16044 2889 2889 5348 16045 2928 2928 5348 16046 3027 3027 5349 16047 3029 3029 5349 16048 3028 3028 5349 16049 3030 3030 5350 16050 3028 3028 5350 16051 3029 3029 5350 16052 3031 3031 5351 16053 2928 2928 5351 16054 2889 2889 5351 16055 3032 3032 5352 16056 3033 3033 5352 16057 2945 2945 5352 16058 2946 2946 5353 16059 2975 2975 5353 16060 3032 3032 5353 16061 2946 2946 5354 16062 3032 3032 5354 16063 2945 2945 5354 16064 2786 2786 5355 16065 3012 3012 5355 16066 2772 2772 5355 16067 3012 3012 5356 16068 2786 2786 5356 16069 3013 3013 5356 16070 3033 3033 5357 16071 3019 3019 5357 16072 2945 2945 5357 16073 3034 3034 5358 16074 3019 3019 5358 16075 3033 3033 5358 16076 3031 3031 5359 16077 2889 2889 5359 16078 2895 2895 5359 16079 3013 3013 5360 16080 2786 2786 5360 16081 2790 2790 5360 16082 3035 3035 5361 16083 3029 3029 5361 16084 3027 3027 5361 16085 3034 3034 5362 16086 3033 3033 5362 16087 3032 3032 5362 16088 3031 3031 5363 16089 2976 2976 5363 16090 2928 2928 5363 16091 3036 3036 5364 16092 3035 3035 5364 16093 3037 3037 5364 16094 3030 3030 5365 16095 3029 3029 5365 16096 3035 3035 5365 16097 3031 3031 5366 16098 2982 2982 5366 16099 2976 2976 5366 16100 3035 3035 5367 16101 3038 3038 5367 16102 3030 3030 5367 16103 3035 3035 5368 16104 3036 3036 5368 16105 3038 3038 5368 16106 3039 3039 5369 16107 3030 3030 5369 16108 3038 3038 5369 16109 3040 3040 5370 16110 2898 2898 5370 16111 2860 2860 5370 16112 3041 3041 5371 16113 3013 3013 5371 16114 2790 2790 5371 16115 3040 3040 5372 16116 3042 3042 5372 16117 2898 2898 5372 16118 2790 2790 5373 16119 2795 2795 5373 16120 2853 2853 5373 16121 2950 2950 5374 16122 3043 3043 5374 16123 2951 2951 5374 16124 2860 2860 5375 16125 3004 3004 5375 16126 3040 3040 5375 16127 2985 2985 5376 16128 2951 2951 5376 16129 3043 3043 5376 16130 3040 3040 5377 16131 3004 3004 5377 16132 3044 3044 5377 16133 3045 3045 5378 16134 3046 3046 5378 16135 3036 3036 5378 16136 3022 3022 5379 16137 3014 3014 5379 16138 3013 3013 5379 16139 3047 3047 5380 16140 3032 3032 5380 16141 3048 3048 5380 16142 2204 2204 5381 16143 3016 3016 5381 16144 2213 2213 5381 16145 3037 3037 5382 16146 3045 3045 5382 16147 3036 3036 5382 16148 3025 3025 5383 16149 2213 2213 5383 16150 3016 3016 5383 16151 3048 3048 5384 16152 3032 3032 5384 16153 2975 2975 5384 16154 2975 2975 5385 16155 3049 3049 5385 16156 3048 3048 5385 16157 3044 3044 5386 16158 3042 3042 5386 16159 3040 3040 5386 16160 3042 3042 5387 16161 3044 3044 5387 16162 3050 3050 5387 16163 3051 3051 5388 16164 2985 2985 5388 16165 3043 3043 5388 16166 3043 3043 5389 16167 3052 3052 5389 16168 3051 3051 5389 16169 3044 3044 5390 16170 2998 2998 5390 16171 3020 3020 5390 16172 3051 3051 5391 16173 3052 3052 5391 16174 2992 2992 5391 16175 3046 3046 5392 16176 3045 3045 5392 16177 3053 3053 5392 16178 3037 3037 5393 16179 3053 3053 5393 16180 3045 3045 5393 16181 3051 3051 5394 16182 2999 2999 5394 16183 2985 2985 5394 16184 3020 3020 5395 16185 2957 2957 5395 16186 3054 3054 5395 16187 3025 3025 5396 16188 3055 3055 5396 16189 2213 2213 5396 16190 3056 3056 5397 16191 3057 3057 5397 16192 3037 3037 5397 16193 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5540 16621 3135 3135 5540 16622 3136 3136 5541 16623 3065 3065 5541 16624 3135 3135 5541 16625 3044 3044 5542 16626 3069 3069 5542 16627 3050 3050 5542 16628 2999 2999 5543 16629 3010 3010 5543 16630 2988 2988 5543 16631 3137 3137 5544 16632 3010 3010 5544 16633 2999 2999 5544 16634 2999 2999 5545 16635 3138 3138 5545 16636 3137 3137 5545 16637 3112 3112 5546 16638 3127 3127 5546 16639 3022 3022 5546 16640 2999 2999 5547 16641 3139 3139 5547 16642 3138 3138 5547 16643 3136 3136 5548 16644 3124 3124 5548 16645 3065 3065 5548 16646 3124 3124 5549 16647 3136 3136 5549 16648 3140 3140 5549 16649 3141 3141 5550 16650 3140 3140 5550 16651 3136 3136 5550 16652 3142 3142 5551 16653 3138 3138 5551 16654 3139 3139 5551 16655 2835 2835 5552 16656 3002 3002 5552 16657 3011 3011 5552 16658 3011 3011 5553 16659 3143 3143 5553 16660 2835 2835 5553 16661 3144 3144 5554 16662 3136 3136 5554 16663 3135 3135 5554 16664 3123 3123 5555 16665 3127 3127 5555 16666 3145 3145 5555 16667 3145 3145 5556 16668 3127 3127 5556 16669 3146 3146 5556 16670 3147 3147 5557 16671 3148 3148 5557 16672 3149 3149 5557 16673 3150 3150 5558 16674 3136 3136 5558 16675 3144 3144 5558 16676 3151 3151 5559 16677 3148 3148 5559 16678 3147 3147 5559 16679 3151 3151 5560 16680 3147 3147 5560 16681 3152 3152 5560 16682 3100 3100 5561 16683 3153 3153 5561 16684 3112 3112 5561 16685 3137 3137 5562 16686 3011 3011 5562 16687 3010 3010 5562 16688 2119 2119 5563 16689 3151 3151 5563 16690 3152 3152 5563 16691 3094 3094 5564 16692 3154 3154 5564 16693 3084 3084 5564 16694 3155 3155 5565 16695 2934 2934 5565 16696 2943 2943 5565 16697 3155 3155 5566 16698 2933 2933 5566 16699 2934 2934 5566 16700 3156 3156 5567 16701 2933 2933 5567 16702 3155 3155 5567 16703 3094 3094 5568 16704 3120 3120 5568 16705 3124 3124 5568 16706 2987 2987 5569 16707 3155 3155 5569 16708 2943 2943 5569 16709 3146 3146 5570 16710 3127 3127 5570 16711 3112 3112 5570 16712 3124 3124 5571 16713 3140 3140 5571 16714 3094 3094 5571 16715 3123 3123 5572 16716 3145 3145 5572 16717 3132 3132 5572 16718 3154 3154 5573 16719 3094 3094 5573 16720 3140 3140 5573 16721 3154 3154 5574 16722 3140 3140 5574 16723 3157 3157 5574 16724 3155 3155 5575 16725 2987 2987 5575 16726 3158 3158 5575 16727 3137 3137 5576 16728 3143 3143 5576 16729 3011 3011 5576 16730 3158 3158 5577 16731 3156 3156 5577 16732 3155 3155 5577 16733 3158 3158 5578 16734 3159 3159 5578 16735 3156 3156 5578 16736 3160 3160 5579 16737 3132 3132 5579 16738 3145 3145 5579 16739 3154 3154 5580 16740 3157 3157 5580 16741 3161 3161 5580 16742 3162 3162 5581 16743 3156 3156 5581 16744 3159 3159 5581 16745 3163 3163 5582 16746 3143 3143 5582 16747 3164 3164 5582 16748 3164 3164 5583 16749 3143 3143 5583 16750 3137 3137 5583 16751 3160 3160 5584 16752 3165 3165 5584 16753 3132 3132 5584 16754 3164 3164 5585 16755 3138 3138 5585 16756 3142 3142 5585 16757 3156 3156 5586 16758 2939 2939 5586 16759 2933 2933 5586 16760 2956 2956 5587 16761 2939 2939 5587 16762 3166 3166 5587 16763 3164 3164 5588 16764 3137 3137 5588 16765 3138 3138 5588 16766 3141 3141 5589 16767 3136 3136 5589 16768 3150 3150 5589 16769 3167 3167 5590 16770 3164 3164 5590 16771 3142 3142 5590 16772 3157 3157 5591 16773 3140 3140 5591 16774 3141 3141 5591 16775 3141 3141 5592 16776 3168 3168 5592 16777 3157 3157 5592 16778 3166 3166 5593 16779 3169 3169 5593 16780 2956 2956 5593 16781 3168 3168 5594 16782 3141 3141 5594 16783 3150 3150 5594 16784 2957 2957 5595 16785 2956 2956 5595 16786 3169 3169 5595 16787 3156 3156 5596 16788 3166 3166 5596 16789 2939 2939 5596 16790 3166 3166 5597 16791 3156 3156 5597 16792 3162 3162 5597 16793 3150 3150 5598 16794 3170 3170 5598 16795 3168 3168 5598 16796 3170 3170 5599 16797 3150 3150 5599 16798 3144 3144 5599 16799 3166 3166 5600 16800 3162 3162 5600 16801 3171 3171 5600 16802 3160 3160 5601 16803 3145 3145 5601 16804 3146 3146 5601 16805 3171 3171 5602 16806 3169 3169 5602 16807 3166 3166 5602 16808 3159 3159 5603 16809 3158 3158 5603 16810 3172 3172 5603 16811 3159 3159 5604 16812 3172 3172 5604 16813 3173 3173 5604 16814 3159 3159 5605 16815 3173 3173 5605 16816 3162 3162 5605 16817 3134 3134 5606 16818 3051 3051 5606 16819 2992 2992 5606 16820 3134 3134 5607 16821 2999 2999 5607 16822 3051 3051 5607 16823 2943 2943 5608 16824 2967 2967 5608 16825 2987 2987 5608 16826 3174 3174 5609 16827 3084 3084 5609 16828 3154 3154 5609 16829 2853 2853 5610 16830 2963 2963 5610 16831 3041 3041 5610 16832 3116 3116 5611 16833 3084 3084 5611 16834 3174 3174 5611 16835 2963 2963 5612 16836 2853 2853 5612 16837 2854 2854 5612 16838 3161 3161 5613 16839 3174 3174 5613 16840 3154 3154 5613 16841 3161 3161 5614 16842 3118 3118 5614 16843 3174 3174 5614 16844 3062 3062 5615 16845 3175 3175 5615 16846 3060 3060 5615 16847 3118 3118 5616 16848 3116 3116 5616 16849 3174 3174 5616 16850 3176 3176 5617 16851 3041 3041 5617 16852 2963 2963 5617 16853 3061 3061 5618 16854 3060 3060 5618 16855 3068 3068 5618 16856 1914 1914 5619 16857 3177 3177 5619 16858 2987 2987 5619 16859 2894 2894 5620 16860 3097 3097 5620 16861 3000 3000 5620 16862 3117 3117 5621 16863 3097 3097 5621 16864 2897 2897 5621 16865 2987 2987 5622 16866 3177 3177 5622 16867 3178 3178 5622 16868 3085 3085 5623 16869 3041 3041 5623 16870 3179 3179 5623 16871 3168 3168 5624 16872 3180 3180 5624 16873 3157 3157 5624 16874 3180 3180 5625 16875 3161 3161 5625 16876 3157 3157 5625 16877 2963 2963 5626 16878 2961 2961 5626 16879 2996 2996 5626 16880 3176 3176 5627 16881 2963 2963 5627 16882 2996 2996 5627 16883 3068 3068 5628 16884 3181 3181 5628 16885 3182 3182 5628 16886 3060 3060 5629 16887 3175 3175 5629 16888 3183 3183 5629 16889 3170 3170 5630 16890 3184 3184 5630 16891 3168 3168 5630 16892 3168 3168 5631 16893 3184 3184 5631 16894 3185 3185 5631 16895 3041 3041 5632 16896 3176 3176 5632 16897 3179 3179 5632 16898 3186 3186 5633 16899 3180 3180 5633 16900 3185 3185 5633 16901 3185 3185 5634 16902 3180 3180 5634 16903 3168 3168 5634 16904 3169 3169 5635 16905 3171 3171 5635 16906 3187 3187 5635 16907 3068 3068 5636 16908 3060 3060 5636 16909 3183 3183 5636 16910 3183 3183 5637 16911 3181 3181 5637 16912 3068 3068 5637 16913 3188 3188 5638 16914 3179 3179 5638 16915 3176 3176 5638 16916 3181 3181 5639 16917 3183 3183 5639 16918 3189 3189 5639 16919 3190 3190 5640 16920 3191 3191 5640 16921 3192 3192 5640 16922 3193 3193 5641 16923 3062 3062 5641 16924 3080 3080 5641 16925 3179 3179 5642 16926 3100 3100 5642 16927 3085 3085 5642 16928 3190 3190 5643 16929 3192 3192 5643 16930 3194 3194 5643 16931 3175 3175 5644 16932 3062 3062 5644 16933 3193 3193 5644 16934 3172 3172 5645 16935 3158 3158 5645 16936 3195 3195 5645 16937 3194 3194 5646 16938 3192 3192 5646 16939 3196 3196 5646 16940 3197 3197 5647 16941 3175 3175 5647 16942 3193 3193 5647 16943 3158 3158 5648 16944 2987 2987 5648 16945 3178 3178 5648 16946 3198 3198 5649 16947 3190 3190 5649 16948 3194 3194 5649 16949 3173 3173 5650 16950 3199 3199 5650 16951 3162 3162 5650 16952 3193 3193 5651 16953 3080 3080 5651 16954 3125 3125 5651 16955 3153 3153 5652 16956 3100 3100 5652 16957 3179 3179 5652 16958 3172 3172 5653 16959 3195 3195 5653 16960 3200 3200 5653 16961 3173 3173 5654 16962 3172 3172 5654 16963 3200 3200 5654 16964 3173 3173 5655 16965 3200 3200 5655 16966 3201 3201 5655 16967 3144 3144 5656 16968 3135 3135 5656 16969 3202 3202 5656 16970 3148 3148 5657 16971 3200 3200 5657 16972 3195 3195 5657 16973 3203 3203 5658 16974 3202 3202 5658 16975 3135 3135 5658 16976 3203 3203 5659 16977 3204 3204 5659 16978 3202 3202 5659 16979 3175 3175 5660 16980 3197 3197 5660 16981 3205 3205 5660 16982 3190 3190 5661 16983 3198 3198 5661 16984 3206 3206 5661 16985 3197 3197 5662 16986 3207 3207 5662 16987 3205 3205 5662 16988 3206 3206 5663 16989 3198 3198 5663 16990 3208 3208 5663 16991 3199 3199 5664 16992 3173 3173 5664 16993 3201 3201 5664 16994 3209 3209 5665 16995 3179 3179 5665 16996 3188 3188 5665 16997 3210 3210 5666 16998 3205 3205 5666 16999 3207 3207 5666 17000 3179 3179 5667 17001 3209 3209 5667 17002 3153 3153 5667 17003 3158 3158 5668 17004 3178 3178 5668 17005 3195 3195 5668 17006 3193 3193 5669 17007 3125 3125 5669 17008 3207 3207 5669 17009 3193 3193 5670 17010 3207 3207 5670 17011 3197 3197 5670 17012 3208 3208 5671 17013 3211 3211 5671 17014 3212 3212 5671 17015 3207 3207 5672 17016 3125 3125 5672 17017 3213 3213 5672 17018 3210 3210 5673 17019 3207 3207 5673 17020 3213 3213 5673 17021 3195 3195 5674 17022 3178 3178 5674 17023 3214 3214 5674 17024 3215 3215 5675 17025 3216 3216 5675 17026 3194 3194 5675 17027 3178 3178 5676 17028 3177 3177 5676 17029 3214 3214 5676 17030 3198 3198 5677 17031 3194 3194 5677 17032 3216 3216 5677 17033 3183 3183 5678 17034 3175 3175 5678 17035 3205 3205 5678 17036 3214 3214 5679 17037 3148 3148 5679 17038 3195 3195 5679 17039 3189 3189 5680 17040 3183 3183 5680 17041 3205 3205 5680 17042 3217 3217 5681 17043 3176 3176 5681 17044 2996 2996 5681 17045 3188 3188 5682 17046 3176 3176 5682 17047 3217 3217 5682 17048 3171 3171 5683 17049 3162 3162 5683 17050 3199 3199 5683 17051 3171 3171 5684 17052 3199 3199 5684 17053 3218 3218 5684 17054 3219 3219 5685 17055 3220 3220 5685 17056 3221 3221 5685 17057 3222 3222 5686 17058 2996 2996 5686 17059 2995 2995 5686 17060 3223 3223 5687 17061 3216 3216 5687 17062 3224 3224 5687 17063 3198 3198 5688 17064 3216 3216 5688 17065 3223 3223 5688 17066 2996 2996 5689 17067 3222 3222 5689 17068 3217 3217 5689 17069 3218 3218 5690 17070 3199 3199 5690 17071 1969 1969 5690 17072 3220 3220 5691 17073 3142 3142 5691 17074 3221 3221 5691 17075 3167 3167 5692 17076 3142 3142 5692 17077 3220 3220 5692 17078 3187 3187 5693 17079 3171 3171 5693 17080 3218 3218 5693 17081 3223 3223 5694 17082 3224 3224 5694 17083 3225 3225 5694 17084 3225 3225 5695 17085 3226 3226 5695 17086 3223 3223 5695 17087 1969 1969 5696 17088 3199 3199 5696 17089 2101 2101 5696 17090 3219 3219 5697 17091 3227 3227 5697 17092 3220 3220 5697 17093 3198 3198 5698 17094 3226 3226 5698 17095 3208 3208 5698 17096 3227 3227 5699 17097 3219 3219 5699 17098 3228 3228 5699 17099 3218 3218 5700 17100 1969 1969 5700 17101 3187 3187 5700 17102 3223 3223 5701 17103 3226 3226 5701 17104 3198 3198 5701 17105 3229 3229 5702 17106 3227 3227 5702 17107 3228 3228 5702 17108 3230 3230 5703 17109 3208 3208 5703 17110 3226 3226 5703 17111 3230 3230 5704 17112 3226 3226 5704 17113 3231 3231 5704 17114 3232 3232 5705 17115 3231 3231 5705 17116 3226 3226 5705 17117 3201 3201 5706 17118 2101 2101 5706 17119 3199 3199 5706 17120 3117 3117 5707 17121 3233 3233 5707 17122 3097 3097 5707 17123 3167 3167 5708 17124 3220 3220 5708 17125 3227 3227 5708 17126 3234 3234 5709 17127 3233 3233 5709 17128 3117 3117 5709 17129 1980 1980 5710 17130 1969 1969 5710 17131 2101 2101 5710 17132 3000 3000 5711 17133 3097 3097 5711 17134 3003 3003 5711 17135 3235 3235 5712 17136 3236 3236 5712 17137 3181 3181 5712 17138 2957 2957 5713 17139 3059 3059 5713 17140 3054 3054 5713 17141 3059 3059 5714 17142 2957 2957 5714 17143 3169 3169 5714 17144 3202 3202 5715 17145 3170 3170 5715 17146 3144 3144 5715 17147 3181 3181 5716 17148 3189 3189 5716 17149 3235 3235 5716 17150 3189 3189 5717 17151 3237 3237 5717 17152 3235 3235 5717 17153 3238 3238 5718 17154 3059 3059 5718 17155 3169 3169 5718 17156 3239 3239 5719 17157 3170 3170 5719 17158 3202 3202 5719 17159 3233 3233 5720 17160 3003 3003 5720 17161 3097 3097 5720 17162 3240 3240 5721 17163 3229 3229 5721 17164 3228 3228 5721 17165 3241 3241 5722 17166 3059 3059 5722 17167 3238 3238 5722 17168 3230 3230 5723 17169 3204 3204 5723 17170 3208 3208 5723 17171 3236 3236 5724 17172 3235 3235 5724 17173 3237 3237 5724 17174 3059 3059 5725 17175 3072 3072 5725 17176 3020 3020 5725 17177 3242 3242 5726 17178 3003 3003 5726 17179 3233 3233 5726 17180 3202 3202 5727 17181 3204 3204 5727 17182 3230 3230 5727 17183 3072 3072 5728 17184 3059 3059 5728 17185 3241 3241 5728 17186 3237 3237 5729 17187 3189 3189 5729 17188 3243 3243 5729 17189 3202 3202 5730 17190 3230 3230 5730 17191 3239 3239 5730 17192 3238 3238 5731 17193 3169 3169 5731 17194 3187 3187 5731 17195 3230 3230 5732 17196 3244 3244 5732 17197 3239 3239 5732 17198 3244 3244 5733 17199 3230 3230 5733 17200 3231 3231 5733 17201 3231 3231 5734 17202 3245 3245 5734 17203 3244 3244 5734 17204 3246 3246 5735 17205 3237 3237 5735 17206 3243 3243 5735 17207 3237 3237 5736 17208 3246 3246 5736 17209 3247 3247 5736 17210 3072 3072 5737 17211 3241 3241 5737 17212 1935 1935 5737 17213 3248 3248 5738 17214 3205 3205 5738 17215 3210 3210 5738 17216 3241 3241 5739 17217 3238 3238 5739 17218 1900 1900 5739 17219 1900 1900 5740 17220 3238 3238 5740 17221 3187 3187 5740 17222 3243 3243 5741 17223 3248 3248 5741 17224 3249 3249 5741 17225 3245 3245 5742 17226 3250 3250 5742 17227 3244 3244 5742 17228 3248 3248 5743 17229 3210 3210 5743 17230 3251 3251 5743 17231 3210 3210 5744 17232 3252 3252 5744 17233 3251 3251 5744 17234 3249 3249 5745 17235 3248 3248 5745 17236 3251 3251 5745 17237 1935 1935 5746 17238 3241 3241 5746 17239 1900 1900 5746 17240 3253 3253 5747 17241 3249 3249 5747 17242 3251 3251 5747 17243 3232 3232 5748 17244 3254 3254 5748 17245 3255 3255 5748 17246 1900 1900 5749 17247 3187 3187 5749 17248 1901 1901 5749 17249 3256 3256 5750 17250 3257 3257 5750 17251 3258 3258 5750 17252 3233 3233 5751 17253 3258 3258 5751 17254 3259 3259 5751 17255 3260 3260 5752 17256 3255 3255 5752 17257 3254 3254 5752 17258 1935 1935 5753 17259 1937 1937 5753 17260 3072 3072 5753 17261 3254 3254 5754 17262 3232 3232 5754 17263 3225 3225 5754 17264 3225 3225 5755 17265 3232 3232 5755 17266 3226 3226 5755 17267 3164 3164 5756 17268 3167 3167 5756 17269 3261 3261 5756 17270 3243 3243 5757 17271 3249 3249 5757 17272 3262 3262 5757 17273 3262 3262 5758 17274 3249 3249 5758 17275 3263 3263 5758 17276 3259 3259 5759 17277 3258 3258 5759 17278 3257 3257 5759 17279 3264 3264 5760 17280 3265 3265 5760 17281 3255 3255 5760 17282 3262 3262 5761 17283 3263 3263 5761 17284 3266 3266 5761 17285 1969 1969 5762 17286 1901 1901 5762 17287 3187 3187 5762 17288 3267 3267 5763 17289 3255 3255 5763 17290 3260 3260 5763 17291 3189 3189 5764 17292 3248 3248 5764 17293 3243 3243 5764 17294 3255 3255 5765 17295 3267 3267 5765 17296 3264 3264 5765 17297 3242 3242 5766 17298 3268 3268 5766 17299 3003 3003 5766 17300 3205 3205 5767 17301 3248 3248 5767 17302 3189 3189 5767 17303 1980 1980 5768 17304 1970 1970 5768 17305 1969 1969 5768 17306 3007 3007 5769 17307 3003 3003 5769 17308 3268 3268 5769 17309 3200 3200 5770 17310 3148 3148 5770 17311 3151 3151 5770 17312 3269 3269 5771 17313 3243 3243 5771 17314 3262 3262 5771 17315 3201 3201 5772 17316 3200 3200 5772 17317 3151 3151 5772 17318 3201 3201 5773 17319 3151 3151 5773 17320 3270 3270 5773 17321 3245 3245 5774 17322 3231 3231 5774 17323 3232 3232 5774 17324 3271 3271 5775 17325 3188 3188 5775 17326 3217 3217 5775 17327 3269 3269 5776 17328 3246 3246 5776 17329 3243 3243 5776 17330 3272 3272 5777 17331 3188 3188 5777 17332 3271 3271 5777 17333 3271 3271 5778 17334 3217 3217 5778 17335 3222 3222 5778 17336 2079 2079 5779 17337 3201 3201 5779 17338 3270 3270 5779 17339 3269 3269 5780 17340 3273 3273 5780 17341 3246 3246 5780 17342 3262 3262 5781 17343 3266 3266 5781 17344 3269 3269 5781 17345 3245 3245 5782 17346 3255 3255 5782 17347 3265 3265 5782 17348 3255 3255 5783 17349 3245 3245 5783 17350 3232 3232 5783 17351 3269 3269 5784 17352 3266 3266 5784 17353 3273 3273 5784 17354 3270 3270 5785 17355 3151 3151 5785 17356 2119 2119 5785 17357 2080 2080 5786 17358 3270 3270 5786 17359 2119 2119 5786 17360 3007 3007 5787 17361 3268 3268 5787 17362 3274 3274 5787 17363 3265 3265 5788 17364 3250 3250 5788 17365 3245 3245 5788 17366 2080 2080 5789 17367 2079 2079 5789 17368 3270 3270 5789 17369 3239 3239 5790 17370 3184 3184 5790 17371 3170 3170 5790 17372 3242 3242 5791 17373 3275 3275 5791 17374 3268 3268 5791 17375 2101 2101 5792 17376 3201 3201 5792 17377 2079 2079 5792 17378 3239 3239 5793 17379 3244 3244 5793 17380 3184 3184 5793 17381 2835 2835 5794 17382 3276 3276 5794 17383 2879 2879 5794 17384 3268 3268 5795 17385 3277 3277 5795 17386 3274 3274 5795 17387 2835 2835 5796 17388 3143 3143 5796 17389 3276 3276 5796 17390 3278 3278 5797 17391 3184 3184 5797 17392 3244 3244 5797 17393 3163 3163 5798 17394 3276 3276 5798 17395 3143 3143 5798 17396 3279 3279 5799 17397 3209 3209 5799 17398 3188 3188 5799 17399 3267 3267 5800 17400 3280 3280 5800 17401 3264 3264 5800 17402 3281 3281 5801 17403 3264 3264 5801 17404 3280 3280 5801 17405 2609 2609 5802 17406 2600 2600 5802 17407 3282 3282 5802 17408 3282 3282 5803 17409 2600 2600 5803 17410 2607 2607 5803 17411 3276 3276 5804 17412 2907 2907 5804 17413 2879 2879 5804 17414 3282 3282 5805 17415 3027 3027 5805 17416 2609 2609 5805 17417 3279 3279 5806 17418 3283 3283 5806 17419 3209 3209 5806 17420 3026 3026 5807 17421 2609 2609 5807 17422 3027 3027 5807 17423 3284 3284 5808 17424 3122 3122 5808 17425 3111 3111 5808 17426 3279 3279 5809 17427 3188 3188 5809 17428 3272 3272 5809 17429 3285 3285 5810 17430 3284 3284 5810 17431 3111 3111 5810 17432 3125 3125 5811 17433 3122 3122 5811 17434 3284 3284 5811 17435 3115 3115 5812 17436 3111 3111 5812 17437 3106 3106 5812 17438 3286 3286 5813 17439 3111 3111 5813 17440 3115 3115 5813 17441 3259 3259 5814 17442 3242 3242 5814 17443 3233 3233 5814 17444 3275 3275 5815 17445 3242 3242 5815 17446 3259 3259 5815 17447 2072 2072 5816 17448 3104 3104 5816 17449 3287 3287 5816 17450 2607 2607 5817 17451 3288 3288 5817 17452 3282 3282 5817 17453 3289 3289 5818 17454 3290 3290 5818 17455 3286 3286 5818 17456 3291 3291 5819 17457 3104 3104 5819 17458 3108 3108 5819 17459 2617 2617 5820 17460 3288 3288 5820 17461 2607 2607 5820 17462 3104 3104 5821 17463 3291 3291 5821 17464 3287 3287 5821 17465 3292 3292 5822 17466 3275 3275 5822 17467 3293 3293 5822 17468 3286 3286 5823 17469 3285 3285 5823 17470 3111 3111 5823 17471 3286 3286 5824 17472 3252 3252 5824 17473 3285 3285 5824 17474 3252 3252 5825 17475 3286 3286 5825 17476 3290 3290 5825 17477 3282 3282 5826 17478 3288 3288 5826 17479 3027 3027 5826 17480 3259 3259 5827 17481 3257 3257 5827 17482 3293 3293 5827 17483 3293 3293 5828 17484 3275 3275 5828 17485 3259 3259 5828 17486 3035 3035 5829 17487 3027 3027 5829 17488 3288 3288 5829 17489 3115 3115 5830 17490 2871 2871 5830 17491 3294 3294 5830 17492 2899 2899 5831 17493 3294 3294 5831 17494 2871 2871 5831 17495 3275 3275 5832 17496 3295 3295 5832 17497 3268 3268 5832 17498 3295 3295 5833 17499 3275 3275 5833 17500 3292 3292 5833 17501 3115 3115 5834 17502 3294 3294 5834 17503 3286 3286 5834 17504 2899 2899 5835 17505 2871 2871 5835 17506 2870 2870 5835 17507 3292 3292 5836 17508 3293 3293 5836 17509 3296 3296 5836 17510 3297 3297 5837 17511 2075 2075 5837 17512 2072 2072 5837 17513 3297 3297 5838 17514 2072 2072 5838 17515 3298 3298 5838 17516 3299 3299 5839 17517 3292 3292 5839 17518 3296 3296 5839 17519 3294 3294 5840 17520 2899 2899 5840 17521 2919 2919 5840 17522 3035 3035 5841 17523 3288 3288 5841 17524 3300 3300 5841 17525 3286 3286 5842 17526 3294 3294 5842 17527 3289 3289 5842 17528 3289 3289 5843 17529 3294 3294 5843 17530 2919 2919 5843 17531 2072 2072 5844 17532 3287 3287 5844 17533 3298 3298 5844 17534 2919 2919 5845 17535 3301 3301 5845 17536 3290 3290 5845 17537 2919 2919 5846 17538 3290 3290 5846 17539 3289 3289 5846 17540 3302 3302 5847 17541 2617 2617 5847 17542 2690 2690 5847 17543 3288 3288 5848 17544 2617 2617 5848 17545 3302 3302 5848 17546 3153 3153 5849 17547 3303 3303 5849 17548 3112 3112 5849 17549 3304 3304 5850 17550 2690 2690 5850 17551 3305 3305 5850 17552 3112 3112 5851 17553 3306 3306 5851 17554 3146 3146 5851 17555 3276 3276 5852 17556 3163 3163 5852 17557 3307 3307 5852 17558 3112 3112 5853 17559 3303 3303 5853 17560 3306 3306 5853 17561 3114 3114 5854 17562 3118 3118 5854 17563 3308 3308 5854 17564 3302 3302 5855 17565 3300 3300 5855 17566 3288 3288 5855 17567 3108 3108 5856 17568 3114 3114 5856 17569 3309 3309 5856 17570 2690 2690 5857 17571 3304 3304 5857 17572 3302 3302 5857 17573 3300 3300 5858 17574 3302 3302 5858 17575 3304 3304 5858 17576 3309 3309 5859 17577 3287 3287 5859 17578 3291 3291 5859 17579 3108 3108 5860 17580 3309 3309 5860 17581 3291 3291 5860 17582 3153 3153 5861 17583 3209 3209 5861 17584 3303 3303 5861 17585 3308 3308 5862 17586 3310 3310 5862 17587 3309 3309 5862 17588 2907 2907 5863 17589 3276 3276 5863 17590 3307 3307 5863 17591 3305 3305 5864 17592 3311 3311 5864 17593 3312 3312 5864 17594 3305 3305 5865 17595 3312 3312 5865 17596 3304 3304 5865 17597 3309 3309 5866 17598 3114 3114 5866 17599 3308 3308 5866 17600 3300 3300 5867 17601 3304 3304 5867 17602 3056 3056 5867 17603 3303 3303 5868 17604 3313 3313 5868 17605 3306 3306 5868 17606 3298 3298 5869 17607 3287 3287 5869 17608 3309 3309 5869 17609 3312 3312 5870 17610 3056 3056 5870 17611 3304 3304 5870 17612 2924 2924 5871 17613 2907 2907 5871 17614 3314 3314 5871 17615 3314 3314 5872 17616 2907 2907 5872 17617 3307 3307 5872 17618 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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. +## diff --git a/Objects/031_spoon/usd_decomposition_linux/.asset_hash b/Objects/031_spoon/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..f32c20a44a5b8d6c9b2072d5805a0e59266c3fb4 --- /dev/null +++ b/Objects/031_spoon/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +3705f4372ab9593c94cdca656f723e95 \ No newline at end of file diff --git a/Objects/031_spoon/usd_decomposition_linux/config.yaml b/Objects/031_spoon/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4c4d711685a3d891c99248efac23a46ff9320c34 --- /dev/null +++ b/Objects/031_spoon/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +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. +## diff --git a/Objects/031_spoon/usd_sdf_linux/.asset_hash b/Objects/031_spoon/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..e52932aaec5b68ed4a4e1d960d458e9502e217e0 --- /dev/null +++ b/Objects/031_spoon/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +f93f83bd9641fedf610a3204865c2934 \ No newline at end of file diff --git a/Objects/031_spoon/usd_sdf_linux/config.yaml b/Objects/031_spoon/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..70bbad1d1523e47d46888bc3cc040aaa425cf972 --- /dev/null +++ b/Objects/031_spoon/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +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. +## diff --git a/Objects/037-a_scissors/google_16k/kinbody.xml b/Objects/037-a_scissors/google_16k/kinbody.xml new file mode 100644 index 0000000000000000000000000000000000000000..413204c1ad536eaa400044b648828106f87dc1e2 --- /dev/null +++ b/Objects/037-a_scissors/google_16k/kinbody.xml @@ -0,0 +1,8 @@ + + + + textured.dae + textured.dae + + + diff --git a/Objects/037-a_scissors/google_16k/nontextured.ply b/Objects/037-a_scissors/google_16k/nontextured.ply new file mode 100644 index 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10802 1981 1981 3601 10803 2007 2007 3601 10804 2018 2018 3601 10805 2016 2016 3602 10806 2004 2004 3602 10807 1994 1994 3602 10808 1999 1999 3603 10809 2019 2019 3603 10810 2000 2000 3603 10811 2015 2015 3604 10812 2018 2018 3604 10813 2007 2007 3604 10814 2008 2008 3605 10815 2016 2016 3605 10816 1994 1994 3605 10817 2016 2016 3606 10818 2008 2008 3606 10819 2020 2020 3606 10820 1832 1832 3607 10821 1959 1959 3607 10822 1963 1963 3607 10823 2017 2017 3608 10824 2000 2000 3608 10825 2019 2019 3608 10826 2009 2009 3609 10827 2013 2013 3609 10828 2008 2008 3609 10829 2019 2019 3610 10830 2021 2021 3610 10831 2017 2017 3610 10832 2010 2010 3611 10833 2019 2019 3611 10834 1999 1999 3611 10835 2002 2002 3612 10836 2001 2001 3612 10837 2006 2006 3612 10838 2022 2022 3613 10839 2003 2003 3613 10840 2002 2002 3613 10841 1980 1980 3614 10842 2003 2003 3614 10843 2023 2023 3614 10844 2024 2024 3615 10845 1908 1908 3615 10846 1909 1909 3615 10847 2025 2025 3616 10848 1951 1951 3616 10849 1946 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2066 3775 11325 2113 2113 3775 11326 2064 2064 3775 11327 2005 2005 3776 11328 1998 1998 3776 11329 2138 2138 3776 11330 1793 1793 3777 11331 2132 2132 3777 11332 1827 1827 3777 11333 2113 2113 3778 11334 2058 2058 3778 11335 2064 2064 3778 11336 2128 2128 3779 11337 2005 2005 3779 11338 2138 2138 3779 11339 2125 2125 3780 11340 2137 2137 3780 11341 2139 2139 3780 11342 2140 2140 3781 11343 2125 2125 3781 11344 2139 2139 3781 11345 2136 2136 3782 11346 2141 2141 3782 11347 2142 2142 3782 11348 2136 2136 3783 11349 2142 2142 3783 11350 1827 1827 3783 11351 2139 2139 3784 11352 2137 2137 3784 11353 2133 2133 3784 11354 2143 2143 3785 11355 2144 2144 3785 11356 2142 2142 3785 11357 1954 1954 3786 11358 1827 1827 3786 11359 2142 2142 3786 11360 2145 2145 3787 11361 2146 2146 3787 11362 2128 2128 3787 11363 2138 2138 3788 11364 2145 2145 3788 11365 2128 2128 3788 11366 2144 2144 3789 11367 1954 1954 3789 11368 2142 2142 3789 11369 2137 2137 3790 11370 2123 2123 3790 11371 2129 2129 3790 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2156 3806 11420 2044 2044 3807 11421 2158 2158 3807 11422 2121 2121 3807 11423 1970 1970 3808 11424 2149 2149 3808 11425 2155 2155 3808 11426 2118 2118 3809 11427 2121 2121 3809 11428 2158 2158 3809 11429 2130 2130 3810 11430 2159 2159 3810 11431 2113 2113 3810 11432 2152 2152 3811 11433 2156 2156 3811 11434 2133 2133 3811 11435 2155 2155 3812 11436 2154 2154 3812 11437 2160 2160 3812 11438 2159 2159 3813 11439 2150 2150 3813 11440 2113 2113 3813 11441 2158 2158 3814 11442 2044 2044 3814 11443 2146 2146 3814 11444 2158 2158 3815 11445 2161 2161 3815 11446 2118 2118 3815 11447 2150 2150 3816 11448 2070 2070 3816 11449 2058 2058 3816 11450 2157 2157 3817 11451 2162 2162 3817 11452 2163 2163 3817 11453 2155 2155 3818 11454 2160 2160 3818 11455 2164 2164 3818 11456 1970 1970 3819 11457 2155 2155 3819 11458 2164 2164 3819 11459 1960 1960 3820 11460 2149 2149 3820 11461 1970 1970 3820 11462 2165 2165 3821 11463 2145 2145 3821 11464 2148 2148 3821 11465 2166 2166 3822 11466 2070 2070 3822 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5249 15747 1945 1945 5249 15748 1940 1940 5249 15749 1632 1632 5250 15750 1631 1631 5250 15751 2905 2905 5250 15752 2910 2910 5251 15753 1632 1632 5251 15754 2905 2905 5251 15755 2909 2909 5252 15756 1940 1940 5252 15757 2911 2911 5252 15758 2643 2643 5253 15759 2652 2652 5253 15760 2905 2905 5253 15761 2912 2912 5254 15762 2909 2909 5254 15763 2911 2911 5254 15764 2906 2906 5255 15765 2913 2913 5255 15766 2907 2907 5255 15767 2851 2851 5256 15768 2914 2914 5256 15769 2890 2890 5256 15770 2914 2914 5257 15771 2851 2851 5257 15772 2915 2915 5257 15773 2916 2916 5258 15774 2909 2909 5258 15775 2917 2917 5258 15776 2916 2916 5259 15777 1945 1945 5259 15778 2909 2909 5259 15779 2918 2918 5260 15780 2914 2914 5260 15781 2915 2915 5260 15782 2913 2913 5261 15783 2906 2906 5261 15784 2919 2919 5261 15785 2916 2916 5262 15786 2012 2012 5262 15787 1945 1945 5262 15788 2853 2853 5263 15789 2915 2915 5263 15790 2851 2851 5263 15791 2853 2853 5264 15792 2857 2857 5264 15793 2915 2915 5264 15794 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2165 2165 5328 15985 2448 2448 5328 15986 2948 2948 5329 15987 2951 2951 5329 15988 2012 2012 5329 15989 2805 2805 5330 15990 2950 2950 5330 15991 2806 2806 5330 15992 2045 2045 5331 15993 2012 2012 5331 15994 2951 2951 5331 15995 2950 2950 5332 15996 2448 2448 5332 15997 2952 2952 5332 15998 2923 2923 5333 15999 2936 2936 5333 16000 2953 2953 5333 16001 2948 2948 5334 16002 2954 2954 5334 16003 2951 2951 5334 16004 2951 2951 5335 16005 2047 2047 5335 16006 2045 2045 5335 16007 2955 2955 5336 16008 2902 2902 5336 16009 2939 2939 5336 16010 2956 2956 5337 16011 2955 2955 5337 16012 2939 2939 5337 16013 2923 2923 5338 16014 2953 2953 5338 16015 2957 2957 5338 16016 2958 2958 5339 16017 2047 2047 5339 16018 2951 2951 5339 16019 2950 2950 5340 16020 2959 2959 5340 16021 2806 2806 5340 16022 2959 2959 5341 16023 2947 2947 5341 16024 2806 2806 5341 16025 2954 2954 5342 16026 2958 2958 5342 16027 2951 2951 5342 16028 2960 2960 5343 16029 2958 2958 5343 16030 2954 2954 5343 16031 2959 2959 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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. +## diff --git a/Objects/037-a_scissors/google_16k/usd_decomposition_linux/.asset_hash b/Objects/037-a_scissors/google_16k/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..1677c7bd4cc03a02a7e547eb03e344d9abe2079b --- /dev/null +++ b/Objects/037-a_scissors/google_16k/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +adcd4d474e6c25618704d2f4658e545b \ No newline at end of file diff --git a/Objects/037-a_scissors/google_16k/usd_decomposition_linux/config.yaml b/Objects/037-a_scissors/google_16k/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d44c4a23d1152952df39dfea380c93748a94c2a7 --- /dev/null +++ b/Objects/037-a_scissors/google_16k/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +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. +## diff --git a/Objects/037-a_scissors/google_16k/usd_sdf_linux/.asset_hash b/Objects/037-a_scissors/google_16k/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..995f3b42928d77d601d07c3119b703e12d8cd261 --- /dev/null +++ b/Objects/037-a_scissors/google_16k/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +28120e70f161451778f8c169b7992729 \ No newline at end of file diff --git a/Objects/037-a_scissors/google_16k/usd_sdf_linux/config.yaml b/Objects/037-a_scissors/google_16k/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..408c04ae09318cb1fde3dee846a570adc6d6dbbe --- /dev/null +++ b/Objects/037-a_scissors/google_16k/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +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 + 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3315 9945 1821 1821 3315 9946 1615 1615 3315 9947 1822 1822 3316 9948 1798 1798 3316 9949 1815 1815 3316 9950 1823 1823 3317 9951 1822 1822 3317 9952 1815 1815 3317 9953 1747 1747 3318 9954 1814 1814 3318 9955 1746 1746 3318 9956 1817 1817 3319 9957 1695 1695 3319 9958 1696 1696 3319 9959 1823 1823 3320 9960 1824 1824 3320 9961 1825 1825 3320 9962 1816 1816 3321 9963 1817 1817 3321 9964 1826 1826 3321 9965 1821 1821 3322 9966 1619 1619 3322 9967 1615 1615 3322 9968 1826 1826 3323 9969 1817 1817 3323 9970 1714 1714 3323 9971 1796 1796 3324 9972 1802 1802 3324 9973 1811 1811 3324 9974 1827 1827 3325 9975 1823 1823 3325 9976 1825 1825 3325 9977 1796 1796 3326 9978 1811 1811 3326 9979 1828 1828 3326 9980 68 68 3327 9981 1829 1829 3327 9982 361 361 3327 9983 1796 1796 3328 9984 1791 1791 3328 9985 1802 1802 3328 9986 1829 1829 3329 9987 68 68 3329 9988 1552 1552 3329 9989 1714 1714 3330 9990 1830 1830 3330 9991 1826 1826 3330 9992 1551 1551 3331 9993 1829 1829 3331 9994 1552 1552 3331 9995 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2013 3665 10997 2001 2001 3666 10998 1989 1989 3666 10999 2003 2003 3666 11000 2014 2014 3667 11001 2012 2012 3667 11002 2015 2015 3667 11003 1981 1981 3668 11004 1958 1958 3668 11005 1951 1951 3668 11006 1989 1989 3669 11007 884 884 3669 11008 882 882 3669 11009 2016 2016 3670 11010 2012 2012 3670 11011 2014 2014 3670 11012 1991 1991 3671 11013 2003 2003 3671 11014 1989 1989 3671 11015 2008 2008 3672 11016 2017 2017 3672 11017 848 848 3672 11018 2013 2013 3673 11019 2012 2012 3673 11020 2018 2018 3673 11021 944 944 3674 11022 848 848 3674 11023 2017 2017 3674 11024 2016 2016 3675 11025 2018 2018 3675 11026 2012 2012 3675 11027 944 944 3676 11028 2017 2017 3676 11029 970 970 3676 11030 2019 2019 3677 11031 1955 1955 3677 11032 2020 2020 3677 11033 2008 2008 3678 11034 2019 2019 3678 11035 2021 2021 3678 11036 2022 2022 3679 11037 2003 2003 3679 11038 1991 1991 3679 11039 2023 2023 3680 11040 2019 2019 3680 11041 2020 2020 3680 11042 2003 2003 3681 11043 2022 2022 3681 11044 2024 2024 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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: 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1893 1893 3141 9424 1984 1984 3141 9425 2271 2271 3142 9426 2264 2264 3142 9427 2265 2265 3142 9428 2265 2265 3143 9429 2282 2282 3143 9430 2271 2271 3143 9431 2274 2274 3144 9432 2283 2283 3144 9433 2275 2275 3144 9434 2270 2270 3145 9435 2264 2264 3145 9436 2271 2271 3145 9437 2284 2284 3146 9438 2277 2277 3146 9439 2285 2285 3146 9440 2285 2285 3147 9441 2277 2277 3147 9442 2280 2280 3147 9443 2286 2286 3148 9444 2287 2287 3148 9445 2280 2280 3148 9446 1940 1940 3149 9447 2023 2023 3149 9448 1842 1842 3149 9449 2271 2271 3150 9450 2282 2282 3150 9451 2272 2272 3150 9452 2280 2280 3151 9453 2277 2277 3151 9454 2276 2276 3151 9455 2288 2288 3152 9456 2262 2262 3152 9457 2275 2275 3152 9458 1940 1940 3153 9459 1842 1842 3153 9460 1899 1899 3153 9461 2287 2287 3154 9462 2285 2285 3154 9463 2280 2280 3154 9464 2289 2289 3155 9465 2273 2273 3155 9466 1859 1859 3155 9467 2287 2287 3156 9468 2286 2286 3156 9469 2290 2290 3156 9470 2259 2259 3157 9471 2273 2273 3157 9472 2291 2291 3157 9473 2275 2275 3158 9474 2257 2257 3158 9475 2251 2251 3158 9476 2292 2292 3159 9477 2285 2285 3159 9478 2287 2287 3159 9479 2275 2275 3160 9480 2262 2262 3160 9481 2257 2257 3160 9482 2291 2291 3161 9483 2273 2273 3161 9484 2289 2289 3161 9485 2292 2292 3162 9486 2287 2287 3162 9487 2290 2290 3162 9488 2282 2282 3163 9489 2291 2291 3163 9490 2276 2276 3163 9491 2276 2276 3164 9492 2291 2291 3164 9493 2281 2281 3164 9494 2291 2291 3165 9495 2289 2289 3165 9496 2281 2281 3165 9497 2288 2288 3166 9498 2275 2275 3166 9499 2293 2293 3166 9500 2294 2294 3167 9501 2295 2295 3167 9502 2269 2269 3167 9503 2282 2282 3168 9504 2265 2265 3168 9505 2259 2259 3168 9506 2235 2235 3169 9507 2023 2023 3169 9508 1940 1940 3169 9509 2283 2283 3170 9510 2293 2293 3170 9511 2275 2275 3170 9512 2284 2284 3171 9513 2269 2269 3171 9514 2272 2272 3171 9515 2272 2272 3172 9516 2277 2277 3172 9517 2284 2284 3172 9518 2259 2259 3173 9519 2291 2291 3173 9520 2282 2282 3173 9521 2294 2294 3174 9522 2269 2269 3174 9523 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2305 2305 3191 9574 2281 2281 3191 9575 2305 2305 3192 9576 2289 2289 3192 9577 2301 2301 3192 9578 2306 2306 3193 9579 2281 2281 3193 9580 2305 2305 3193 9581 1331 1331 3194 9582 2296 2296 3194 9583 2307 2307 3194 9584 2304 2304 3195 9585 2308 2308 3195 9586 2309 2309 3195 9587 2296 2296 3196 9588 2304 2304 3196 9589 2307 2307 3196 9590 1874 1874 3197 9591 2301 2301 3197 9592 1872 1872 3197 9593 2305 2305 3198 9594 2301 2301 3198 9595 1874 1874 3198 9596 2309 2309 3199 9597 2307 2307 3199 9598 2304 2304 3199 9599 2310 2310 3200 9600 2305 2305 3200 9601 1874 1874 3200 9602 1940 1940 3201 9603 1948 1948 3201 9604 2303 2303 3201 9605 2310 2310 3202 9606 1874 1874 3202 9607 1616 1616 3202 9608 1332 1332 3203 9609 1331 1331 3203 9610 2307 2307 3203 9611 2311 2311 3204 9612 2312 2312 3204 9613 2313 2313 3204 9614 2285 2285 3205 9615 2304 2304 3205 9616 2284 2284 3205 9617 2304 2304 3206 9618 2285 2285 3206 9619 2308 2308 3206 9620 2235 2235 3207 9621 1940 1940 3207 9622 2302 2302 3207 9623 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2302 3224 9674 2319 2319 3225 9675 2299 2299 3225 9676 1413 1413 3225 9677 2317 2317 3226 9678 2319 2319 3226 9679 1413 1413 3226 9680 2288 2288 3227 9681 2317 2317 3227 9682 2261 2261 3227 9683 2288 2288 3228 9684 2261 2261 3228 9685 2262 2262 3228 9686 2320 2320 3229 9687 2286 2286 3229 9688 2318 2318 3229 9689 563 563 3230 9690 2314 2314 3230 9691 576 576 3230 9692 2321 2321 3231 9693 2310 2310 3231 9694 1620 1620 3231 9695 1620 1620 3232 9696 2322 2322 3232 9697 2321 2321 3232 9698 2323 2323 3233 9699 2321 2321 3233 9700 2322 2322 3233 9701 2322 2322 3234 9702 1620 1620 3234 9703 2324 2324 3234 9704 2319 2319 3235 9705 2317 2317 3235 9706 2288 2288 3235 9707 2325 2325 3236 9708 2319 2319 3236 9709 2288 2288 3236 9710 2326 2326 3237 9711 2290 2290 3237 9712 2286 2286 3237 9713 2320 2320 3238 9714 2326 2326 3238 9715 2286 2286 3238 9716 2326 2326 3239 9717 2327 2327 3239 9718 2290 2290 3239 9719 2315 2315 3240 9720 2290 2290 3240 9721 2328 2328 3240 9722 2329 2329 3241 9723 2307 2307 3241 9724 2309 2309 3241 9725 2330 2330 3242 9726 1948 1948 3242 9727 1958 1958 3242 9728 2329 2329 3243 9729 2309 2309 3243 9730 2316 2316 3243 9731 2288 2288 3244 9732 2293 2293 3244 9733 2331 2331 3244 9734 2303 2303 3245 9735 1948 1948 3245 9736 2330 2330 3245 9737 2332 2332 3246 9738 2329 2329 3246 9739 2316 2316 3246 9740 2333 2333 3247 9741 576 576 3247 9742 2314 2314 3247 9743 2329 2329 3248 9744 1332 1332 3248 9745 2307 2307 3248 9746 1332 1332 3249 9747 2329 2329 3249 9748 1373 1373 3249 9749 1373 1373 3250 9750 2329 2329 3250 9751 2332 2332 3250 9752 2331 2331 3251 9753 2325 2325 3251 9754 2288 2288 3251 9755 2334 2334 3252 9756 2299 2299 3252 9757 2319 2319 3252 9758 2303 2303 3253 9759 2330 2330 3253 9760 2335 2335 3253 9761 2336 2336 3254 9762 2335 2335 3254 9763 2330 2330 3254 9764 2314 2314 3255 9765 2230 2230 3255 9766 2240 2240 3255 9767 2337 2337 3256 9768 1373 1373 3256 9769 2332 2332 3256 9770 1376 1376 3257 9771 1373 1373 3257 9772 2337 2337 3257 9773 2334 2334 3258 9774 2319 2319 3258 9775 2325 2325 3258 9776 2338 2338 3259 9777 2334 2334 3259 9778 2325 2325 3259 9779 2339 2339 3260 9780 2302 2302 3260 9781 2340 2340 3260 9782 2341 2341 3261 9783 2334 2334 3261 9784 2338 2338 3261 9785 2315 2315 3262 9786 2342 2342 3262 9787 2316 2316 3262 9788 2274 2274 3263 9789 1984 1984 3263 9790 2343 2343 3263 9791 2302 2302 3264 9792 2303 2303 3264 9793 2340 2340 3264 9794 2344 2344 3265 9795 2314 2314 3265 9796 2240 2240 3265 9797 2332 2332 3266 9798 2316 2316 3266 9799 2342 2342 3266 9800 2340 2340 3267 9801 2303 2303 3267 9802 2335 2335 3267 9803 2283 2283 3268 9804 2274 2274 3268 9805 2343 2343 3268 9806 2328 2328 3269 9807 2345 2345 3269 9808 2315 2315 3269 9809 2342 2342 3270 9810 2315 2315 3270 9811 2345 2345 3270 9812 2340 2340 3271 9813 2335 2335 3271 9814 2346 2346 3271 9815 2347 2347 3272 9816 2343 2343 3272 9817 1984 1984 3272 9818 2332 2332 3273 9819 2342 2342 3273 9820 2348 2348 3273 9821 2349 2349 3274 9822 2340 2340 3274 9823 2346 2346 3274 9824 2350 2350 3275 9825 2342 2342 3275 9826 2345 2345 3275 9827 2348 2348 3276 9828 2342 2342 3276 9829 2350 2350 3276 9830 2351 2351 3277 9831 2348 2348 3277 9832 2350 2350 3277 9833 2352 2352 3278 9834 2332 2332 3278 9835 2348 2348 3278 9836 2247 2247 3279 9837 2302 2302 3279 9838 2339 2339 3279 9839 2344 2344 3280 9840 2333 2333 3280 9841 2314 2314 3280 9842 2248 2248 3281 9843 2247 2247 3281 9844 2339 2339 3281 9845 1376 1376 3282 9846 2337 2337 3282 9847 2353 2353 3282 9848 2354 2354 3283 9849 2333 2333 3283 9850 2344 2344 3283 9851 2353 2353 3284 9852 1457 1457 3284 9853 1376 1376 3284 9854 2352 2352 3285 9855 2355 2355 3285 9856 2332 2332 3285 9857 2352 2352 3286 9858 2356 2356 3286 9859 2355 2355 3286 9860 2355 2355 3287 9861 2337 2337 3287 9862 2332 2332 3287 9863 2355 2355 3288 9864 2353 2353 3288 9865 2337 2337 3288 9866 2353 2353 3289 9867 2355 2355 3289 9868 2356 2356 3289 9869 2357 2357 3290 9870 2283 2283 3290 9871 2343 2343 3290 9872 2347 2347 3291 9873 2357 2357 3291 9874 2343 2343 3291 9875 2358 2358 3292 9876 586 586 3292 9877 587 587 3292 9878 2359 2359 3293 9879 587 587 3293 9880 576 576 3293 9881 2360 2360 3294 9882 1457 1457 3294 9883 2353 2353 3294 9884 2353 2353 3295 9885 2356 2356 3295 9886 2360 2360 3295 9887 2357 2357 3296 9888 2293 2293 3296 9889 2283 2283 3296 9890 576 576 3297 9891 587 587 3297 9892 574 574 3297 9893 2348 2348 3298 9894 2361 2361 3298 9895 2352 2352 3298 9896 2361 2361 3299 9897 2348 2348 3299 9898 2351 2351 3299 9899 2333 2333 3300 9900 2362 2362 3300 9901 576 576 3300 9902 2362 2362 3301 9903 2359 2359 3301 9904 576 576 3301 9905 2363 2363 3302 9906 273 273 3302 9907 154 154 3302 9908 2357 2357 3303 9909 2347 2347 3303 9910 2363 2363 3303 9911 2364 2364 3304 9912 2352 2352 3304 9913 2361 2361 3304 9914 2365 2365 3305 9915 2357 2357 3305 9916 2363 2363 3305 9917 2364 2364 3306 9918 2356 2356 3306 9919 2352 2352 3306 9920 2356 2356 3307 9921 2364 2364 3307 9922 2366 2366 3307 9923 2357 2357 3308 9924 2365 2365 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2371 2371 3325 9976 2374 2374 3325 9977 2378 2378 3326 9978 2377 2377 3326 9979 2374 2374 3326 9980 2378 2378 3327 9981 2374 2374 3327 9982 2379 2379 3327 9983 153 153 3328 9984 171 171 3328 9985 2365 2365 3328 9986 2380 2380 3329 9987 2381 2381 3329 9988 202 202 3329 9989 2370 2370 3330 9990 2369 2369 3330 9991 2382 2382 3330 9992 2383 2383 3331 9993 2370 2370 3331 9994 2382 2382 3331 9995 2384 2384 3332 9996 2385 2385 3332 9997 2386 2386 3332 9998 2387 2387 3333 9999 2384 2384 3333 10000 2386 2386 3333 10001 2388 2388 3334 10002 2387 2387 3334 10003 2386 2386 3334 10004 120 120 3335 10005 2344 2344 3335 10006 2240 2240 3335 10007 1461 1461 3336 10008 1457 1457 3336 10009 1520 1520 3336 10010 2360 2360 3337 10011 1520 1520 3337 10012 1457 1457 3337 10013 2389 2389 3338 10014 2344 2344 3338 10015 120 120 3338 10016 73 73 3339 10017 72 72 3339 10018 2248 2248 3339 10019 2390 2390 3340 10020 2391 2391 3340 10021 2392 2392 3340 10022 2392 2392 3341 10023 2393 2393 3341 10024 2390 2390 3341 10025 73 73 3342 10026 2248 2248 3342 10027 230 230 3342 10028 2394 2394 3343 10029 2390 2390 3343 10030 2393 2393 3343 10031 2331 2331 3344 10032 2293 2293 3344 10033 2395 2395 3344 10034 2393 2393 3345 10035 2396 2396 3345 10036 2394 2394 3345 10037 2393 2393 3346 10038 2392 2392 3346 10039 2397 2397 3346 10040 2396 2396 3347 10041 2393 2393 3347 10042 2398 2398 3347 10043 2399 2399 3348 10044 2400 2400 3348 10045 2401 2401 3348 10046 2399 2399 3349 10047 2401 2401 3349 10048 2402 2402 3349 10049 2403 2403 3350 10050 2404 2404 3350 10051 2405 2405 3350 10052 2405 2405 3351 10053 2404 2404 3351 10054 2406 2406 3351 10055 2405 2405 3352 10056 2406 2406 3352 10057 2407 2407 3352 10058 2408 2408 3353 10059 230 230 3353 10060 2349 2349 3353 10061 2395 2395 3354 10062 2325 2325 3354 10063 2331 2331 3354 10064 2409 2409 3355 10065 2410 2410 3355 10066 2411 2411 3355 10067 2412 2412 3356 10068 2325 2325 3356 10069 2395 2395 3356 10070 2409 2409 3357 10071 2413 2413 3357 10072 2414 2414 3357 10073 2344 2344 3358 10074 2389 2389 3358 10075 2354 2354 3358 10076 2414 2414 3359 10077 2415 2415 3359 10078 2409 2409 3359 10079 2416 2416 3360 10080 2410 2410 3360 10081 2409 2409 3360 10082 2409 2409 3361 10083 2415 2415 3361 10084 2416 2416 3361 10085 2395 2395 3362 10086 2293 2293 3362 10087 2357 2357 3362 10088 2415 2415 3363 10089 2417 2417 3363 10090 2418 2418 3363 10091 2415 2415 3364 10092 2414 2414 3364 10093 2419 2419 3364 10094 2415 2415 3365 10095 2419 2419 3365 10096 2417 2417 3365 10097 2420 2420 3366 10098 2421 2421 3366 10099 2419 2419 3366 10100 2417 2417 3367 10101 2422 2422 3367 10102 2418 2418 3367 10103 2417 2417 3368 10104 2419 2419 3368 10105 2421 2421 3368 10106 2422 2422 3369 10107 2417 2417 3369 10108 2421 2421 3369 10109 231 231 3370 10110 230 230 3370 10111 2408 2408 3370 10112 2423 2423 3371 10113 2421 2421 3371 10114 2420 2420 3371 10115 2422 2422 3372 10116 2421 2421 3372 10117 2423 2423 3372 10118 2412 2412 3373 10119 2338 2338 3373 10120 2325 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3389 10169 2389 2389 3390 10170 120 120 3390 10171 22 22 3390 10172 2442 2442 3391 10173 2443 2443 3391 10174 2444 2444 3391 10175 2442 2442 3392 10176 2445 2445 3392 10177 2443 2443 3392 10178 174 174 3393 10179 2395 2395 3393 10180 171 171 3393 10181 1494 1494 3394 10182 1053 1053 3394 10183 1068 1068 3394 10184 2446 2446 3395 10185 1434 1434 3395 10186 2438 2438 3395 10187 171 171 3396 10188 2395 2395 3396 10189 2357 2357 3396 10190 2438 2438 3397 10191 2075 2075 3397 10192 2090 2090 3397 10193 2446 2446 3398 10194 2438 2438 3398 10195 2090 2090 3398 10196 2089 2089 3399 10197 2198 2198 3399 10198 2090 2090 3399 10199 1490 1490 3400 10200 2447 2447 3400 10201 1494 1494 3400 10202 174 174 3401 10203 83 83 3401 10204 2412 2412 3401 10205 174 174 3402 10206 2412 2412 3402 10207 2395 2395 3402 10208 2447 2447 3403 10209 1898 1898 3403 10210 1494 1494 3403 10211 2448 2448 3404 10212 1898 1898 3404 10213 2447 2447 3404 10214 21 21 3405 10215 2389 2389 3405 10216 22 22 3405 10217 2428 2428 3406 10218 2389 2389 3406 10219 21 21 3406 10220 33 33 3407 10221 2412 2412 3407 10222 83 83 3407 10223 2449 2449 3408 10224 2446 2446 3408 10225 2090 2090 3408 10226 34 34 3409 10227 33 33 3409 10228 83 83 3409 10229 1452 1452 3410 10230 1436 1436 3410 10231 2450 2450 3410 10232 2451 2451 3411 10233 1945 1945 3411 10234 1901 1901 3411 10235 2451 2451 3412 10236 1901 1901 3412 10237 1898 1898 3412 10238 2450 2450 3413 10239 1434 1434 3413 10240 2446 2446 3413 10241 2448 2448 3414 10242 2451 2451 3414 10243 1898 1898 3414 10244 2452 2452 3415 10245 2450 2450 3415 10246 2446 2446 3415 10247 1455 1455 3416 10248 1452 1452 3416 10249 2450 2450 3416 10250 2453 2453 3417 10251 202 202 3417 10252 2381 2381 3417 10253 1455 1455 3418 10254 2452 2452 3418 10255 2454 2454 3418 10256 70 70 3419 10257 202 202 3419 10258 2453 2453 3419 10259 2347 2347 3420 10260 1984 1984 3420 10261 1993 1993 3420 10262 2366 2366 3421 10263 2455 2455 3421 10264 2360 2360 3421 10265 2456 2456 3422 10266 2455 2455 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at end of file diff --git a/Objects/073-b_lego_duplo/google_16k/usd/config.yaml b/Objects/073-b_lego_duplo/google_16k/usd/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a0d9299a6e4854c7af653907ed4fd4077701f223 --- /dev/null +++ b/Objects/073-b_lego_duplo/google_16k/usd/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_models\073-b_lego_duplo\google_16k\textured.obj +usd_dir: E:\phd\research\dex\datasets\ycb_models\073-b_lego_duplo\google_16k\usd +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.025 + 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 11:22:24. +## diff --git a/Objects/073-b_lego_duplo/google_16k/usd_decomposition_linux/.asset_hash b/Objects/073-b_lego_duplo/google_16k/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..fb3c925f962ac6181b388b1e120b171bae16a6d4 --- /dev/null +++ b/Objects/073-b_lego_duplo/google_16k/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +a7ba7f0d1892b23ce052ef77d9e872b3 \ No newline at end of file diff --git a/Objects/073-b_lego_duplo/google_16k/usd_decomposition_linux/config.yaml b/Objects/073-b_lego_duplo/google_16k/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..651a4173a5bb61c8061fde36794a4d08e7c0dd08 --- /dev/null +++ b/Objects/073-b_lego_duplo/google_16k/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +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 +make_instanceable: false +mass_props: + mass: 0.025 + 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 16:47:32. +## diff --git a/Objects/073-b_lego_duplo/google_16k/usd_sdf_linux/.asset_hash b/Objects/073-b_lego_duplo/google_16k/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..5d4e8b3980cf4379ca32c362fe4103619c823e2a --- /dev/null +++ b/Objects/073-b_lego_duplo/google_16k/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +e6903dbb48959c6f18f30c55b2407a88 \ No newline at end of file diff --git a/Objects/073-b_lego_duplo/google_16k/usd_sdf_linux/config.yaml b/Objects/073-b_lego_duplo/google_16k/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4f484c98d18278c8615e9192db36dbc030532442 --- /dev/null +++ b/Objects/073-b_lego_duplo/google_16k/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/073-b_lego_duplo/google_16k/textured.obj +usd_dir: 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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 16:47:43. +## diff --git a/Objects/073-d_lego_duplo/google_16k/usd_sdf_linux/.asset_hash b/Objects/073-d_lego_duplo/google_16k/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..0ad23176fd260193c8e4f66d2191e3918b84f5e6 --- /dev/null +++ b/Objects/073-d_lego_duplo/google_16k/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +a4b7b20202ce39a6cdb4609062906e7e \ No newline at end of file diff --git a/Objects/073-d_lego_duplo/google_16k/usd_sdf_linux/config.yaml b/Objects/073-d_lego_duplo/google_16k/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1799c7c8ad4870eea0e6bd666c7ca9e28e6c77db --- /dev/null +++ b/Objects/073-d_lego_duplo/google_16k/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/073-d_lego_duplo/google_16k/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/073-d_lego_duplo/google_16k/usd_sdf_linux +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.025 + 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 18:10:30. +## diff --git 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\ No newline at end of file diff --git a/Objects/118_switch/01_switch/01/result.json b/Objects/118_switch/01_switch/01/result.json new file mode 100644 index 0000000000000000000000000000000000000000..5fd265a4a8a501905ad9a2e6b8e228ff0552a55b --- /dev/null +++ b/Objects/118_switch/01_switch/01/result.json @@ -0,0 +1 @@ +[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-1"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-2"]}, {"text": "switch", "name": "switch", "id": 3, "objs": ["original-3"]}, {"text": "switch", "name": "switch", "id": 4, "objs": ["original-4"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-5"]}]}] \ No newline at end of file diff --git a/Objects/118_switch/01_switch/01/result_original.json b/Objects/118_switch/01_switch/01/result_original.json new file mode 100644 index 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b/Objects/118_switch/01_switch/01/usd/mobility.usd differ diff --git a/Objects/118_switch/01_switch/01/usd_decomposition_linux/.asset_hash b/Objects/118_switch/01_switch/01/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..712dd605111f49c91a36a09d63199a1af10bca9a --- /dev/null +++ b/Objects/118_switch/01_switch/01/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +686e8fcfbd8b3e46af8c0b9b394efc8b \ No newline at end of file diff --git a/Objects/118_switch/01_switch/01/usd_decomposition_linux/config.yaml b/Objects/118_switch/01_switch/01/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..847dbdbe9002b9e4b7527e0e80659790fd121e59 --- /dev/null +++ b/Objects/118_switch/01_switch/01/usd_decomposition_linux/config.yaml @@ -0,0 +1,23 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/118_switch/01_switch/01/usd_decomposition_linux/.isaaclab_urdf_sanitize_712673/01/mobility_sanitized.urdf +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/118_switch/01_switch/01/usd_decomposition_linux +usd_file_name: mobility.usd +force_usd_conversion: true +make_instanceable: false +fix_base: false +root_link_name: null +link_density: 0.0 +merge_fixed_joints: false +convert_mimic_joints_to_normal_joints: false +joint_drive: + drive_type: force + target_type: position + gains: + stiffness: 100.0 + damping: 1.0 +collider_type: convex_decomposition +self_collision: false +replace_cylinders_with_capsules: false +collision_from_visuals: false +## +# Generated by UrdfConverter on 2026-04-25 at 16:59:54. +## diff --git a/Objects/118_switch/01_switch/01/usd_decomposition_linux/configuration/mobility_base.usd b/Objects/118_switch/01_switch/01/usd_decomposition_linux/configuration/mobility_base.usd new file mode 100644 index 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b/Objects/118_switch/01_switch/01/usd_decomposition_linux/configuration/mobility_robot.usd differ diff --git a/Objects/118_switch/01_switch/01/usd_decomposition_linux/configuration/mobility_sensor.usd b/Objects/118_switch/01_switch/01/usd_decomposition_linux/configuration/mobility_sensor.usd new file mode 100644 index 0000000000000000000000000000000000000000..49093cc07b6ef3dcaa64553a16a7b1ea5b02e171 Binary files /dev/null and b/Objects/118_switch/01_switch/01/usd_decomposition_linux/configuration/mobility_sensor.usd differ diff --git a/Objects/118_switch/01_switch/01/usd_decomposition_linux/mobility.usd b/Objects/118_switch/01_switch/01/usd_decomposition_linux/mobility.usd new file mode 100644 index 0000000000000000000000000000000000000000..6ce13f3243ef5d400e0a6c2f6df0a912b4a6186c Binary files /dev/null and b/Objects/118_switch/01_switch/01/usd_decomposition_linux/mobility.usd differ diff --git a/Objects/118_switch/01_switch/01/usd_sdf_linux/.asset_hash b/Objects/118_switch/01_switch/01/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..31833eef6ce612a6c279b01819d43b9ade0481ff --- /dev/null +++ b/Objects/118_switch/01_switch/01/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +2d2efa0d95da3c9a9ce9bed695d390fe \ No newline at end of file diff --git a/Objects/118_switch/01_switch/01/usd_sdf_linux/config.yaml b/Objects/118_switch/01_switch/01/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91e542c30e907038f316eb1195e5454e2e5ea4f7 --- /dev/null +++ b/Objects/118_switch/01_switch/01/usd_sdf_linux/config.yaml @@ -0,0 +1,23 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/118_switch/01_switch/01/usd_sdf_linux/.isaaclab_urdf_sanitize_72921/01/mobility_sanitized.urdf +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/118_switch/01_switch/01/usd_sdf_linux +usd_file_name: mobility.usd +force_usd_conversion: true +make_instanceable: false +fix_base: false +root_link_name: null +link_density: 0.0 +merge_fixed_joints: false +convert_mimic_joints_to_normal_joints: false +joint_drive: + drive_type: force + target_type: position + gains: + stiffness: 100.0 + damping: 1.0 +collider_type: convex_hull +self_collision: false +replace_cylinders_with_capsules: false +collision_from_visuals: false +## +# Generated by UrdfConverter on 2026-04-21 at 18:14:45. +## diff --git a/Objects/118_switch/01_switch/01/usd_sdf_linux/configuration/mobility_base.usd b/Objects/118_switch/01_switch/01/usd_sdf_linux/configuration/mobility_base.usd new file mode 100644 index 0000000000000000000000000000000000000000..86a5c9e0820b1acc11807a4632aa6b76fe3e91f4 Binary files /dev/null and b/Objects/118_switch/01_switch/01/usd_sdf_linux/configuration/mobility_base.usd differ diff --git a/Objects/118_switch/01_switch/01/usd_sdf_linux/configuration/mobility_physics.usd b/Objects/118_switch/01_switch/01/usd_sdf_linux/configuration/mobility_physics.usd new file mode 100644 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differ diff --git a/Objects/118_switch/01_switch/01/usd_sdf_linux/mobility.usd b/Objects/118_switch/01_switch/01/usd_sdf_linux/mobility.usd new file mode 100644 index 0000000000000000000000000000000000000000..6ce13f3243ef5d400e0a6c2f6df0a912b4a6186c Binary files /dev/null and b/Objects/118_switch/01_switch/01/usd_sdf_linux/mobility.usd differ diff --git a/Objects/118_switch/02_switch/01/bounding_box.json b/Objects/118_switch/02_switch/01/bounding_box.json new file mode 100644 index 0000000000000000000000000000000000000000..8b7088c62575977baa1da96129050361bf858cae --- /dev/null +++ b/Objects/118_switch/02_switch/01/bounding_box.json @@ -0,0 +1 @@ +{"min": [-0.411521, -0.630187, -0.8058], "max": [0.398004, 0.629074, 1.089436]} \ No newline at end of file diff --git a/Objects/118_switch/02_switch/01/meta.json b/Objects/118_switch/02_switch/01/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d21aa672bf7bab0ac9b433f61eaa4fa8b6c8869 --- /dev/null +++ b/Objects/118_switch/02_switch/01/meta.json @@ -0,0 +1 @@ +{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "1c0c18e5a552ef0ca1d65069344b1b4d", "version": "1", "anno_id": "849", "time_in_sec": "13"} \ No newline at end of file diff --git a/Objects/118_switch/02_switch/01/mobility.urdf b/Objects/118_switch/02_switch/01/mobility.urdf new file mode 100644 index 0000000000000000000000000000000000000000..59457d344c79e3bafb1c203561b81e313d47a33a --- /dev/null +++ b/Objects/118_switch/02_switch/01/mobility.urdf @@ -0,0 +1,320 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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100644 index 0000000000000000000000000000000000000000..e5e04c878f467ae13a291ddd8206d45a0d24f15e --- /dev/null +++ b/Objects/118_switch/02_switch/01/result.json @@ -0,0 +1 @@ +[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-18"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-29", "original-28", "original-22", "original-26", "original-4", "original-3", "original-2", "original-16", "original-8", "original-13", "original-9", "original-5", "original-27", "original-6", "original-15", "original-23", "original-11", "original-25", "original-17", "original-12", "original-7", "original-10", "original-14", "original-19"]}]}] \ No newline at end of file diff --git a/Objects/118_switch/02_switch/01/result_original.json b/Objects/118_switch/02_switch/01/result_original.json new file mode 100644 index 0000000000000000000000000000000000000000..00ce7a09dd6c5ae4d1bd61c39e1e41e670b810fe --- /dev/null +++ b/Objects/118_switch/02_switch/01/result_original.json @@ -0,0 +1 @@ +[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-18"]}]}] \ No newline at end of file diff --git a/Objects/118_switch/02_switch/01/semantics.txt b/Objects/118_switch/02_switch/01/semantics.txt new file mode 100644 index 0000000000000000000000000000000000000000..559be4eb583cbe0acd5a463d47f3cee21b4aa4b0 --- /dev/null +++ b/Objects/118_switch/02_switch/01/semantics.txt @@ -0,0 +1,2 @@ +link_0 hinge lever +link_1 static switch_frame diff --git a/Objects/118_switch/02_switch/01/textured_objs/original-10.mtl b/Objects/118_switch/02_switch/01/textured_objs/original-10.mtl new file mode 100644 index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860 --- /dev/null +++ b/Objects/118_switch/02_switch/01/textured_objs/original-10.mtl @@ -0,0 +1,8 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 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120/109/7 119/129/4 +f 116/36/7 118/134/4 114/28/4 +f 114/28/5 118/134/5 116/36/8 diff --git a/Objects/118_switch/02_switch/01/usd_decomposition_linux/.asset_hash b/Objects/118_switch/02_switch/01/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..34dcb63869f9a016faed403a21f917095859d110 --- /dev/null +++ b/Objects/118_switch/02_switch/01/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +7625019a25e1fb5f23a43e3c0eb3de39 \ No newline at end of file diff --git a/Objects/118_switch/02_switch/01/usd_decomposition_linux/config.yaml b/Objects/118_switch/02_switch/01/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49c566cc9be59990765fb1121761d618957b13dd --- /dev/null +++ b/Objects/118_switch/02_switch/01/usd_decomposition_linux/config.yaml @@ -0,0 +1,23 @@ +asset_path: /home/ubuntu/jiangchenyu/dex2bench_dataset/Objects/118_switch/02_switch/01/usd_decomposition_linux/.isaaclab_urdf_sanitize_2681975/01/mobility_sanitized.urdf +usd_dir: /home/ubuntu/jiangchenyu/dex2bench_dataset/Objects/118_switch/02_switch/01/usd_decomposition_linux +usd_file_name: mobility.usd +force_usd_conversion: true +make_instanceable: false +fix_base: true +root_link_name: null +link_density: 0.0 +merge_fixed_joints: false +convert_mimic_joints_to_normal_joints: false +joint_drive: + drive_type: force + target_type: position + gains: + stiffness: 100.0 + damping: 1.0 +collider_type: convex_hull +self_collision: false +replace_cylinders_with_capsules: false +collision_from_visuals: false +## +# Generated by UrdfConverter on 2026-07-12 at 23:44:32. +## diff --git a/Objects/118_switch/02_switch/01/usd_decomposition_linux/configuration/mobility_physics.usd b/Objects/118_switch/02_switch/01/usd_decomposition_linux/configuration/mobility_physics.usd new file mode 100644 index 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b/Objects/118_switch/02_switch/01/usd_decomposition_linux/configuration/mobility_sensor.usd differ diff --git a/Objects/118_switch/02_switch/01/usd_decomposition_linux/mobility.usd b/Objects/118_switch/02_switch/01/usd_decomposition_linux/mobility.usd new file mode 100644 index 0000000000000000000000000000000000000000..94e2b65430fb2a345ca59457b1a90313d5791b3c Binary files /dev/null and b/Objects/118_switch/02_switch/01/usd_decomposition_linux/mobility.usd differ diff --git a/Objects/118_switch/03_switch/01/bounding_box.json b/Objects/118_switch/03_switch/01/bounding_box.json new file mode 100644 index 0000000000000000000000000000000000000000..67ec38c44828e860ffe46600c00f07c681ed1fce --- /dev/null +++ b/Objects/118_switch/03_switch/01/bounding_box.json @@ -0,0 +1 @@ +{"min": [-0.843324, -0.46583, -0.298514], "max": [0.844636, 0.577387, 0.660787]} \ No newline at end of file diff --git a/Objects/118_switch/03_switch/01/meta.json b/Objects/118_switch/03_switch/01/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc77d63eabf31c7ed732d1e136b9404946765414 --- /dev/null +++ b/Objects/118_switch/03_switch/01/meta.json @@ -0,0 +1 @@ +{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "367cf1804054c94c297c85b9a7ad9cde", "version": "1", "anno_id": "885", "time_in_sec": "14"} \ No newline at end of file diff --git a/Objects/118_switch/03_switch/01/mobility.urdf b/Objects/118_switch/03_switch/01/mobility.urdf new file mode 100644 index 0000000000000000000000000000000000000000..bee8185a3b3c31b191fe0ab6469c3a8cba5d68e8 --- /dev/null +++ b/Objects/118_switch/03_switch/01/mobility.urdf @@ -0,0 +1,107 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Objects/118_switch/03_switch/01/mobility_v2.json b/Objects/118_switch/03_switch/01/mobility_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..65cdd7badf768f39fd9bf3e7af8773056fcbe621 --- /dev/null +++ b/Objects/118_switch/03_switch/01/mobility_v2.json @@ -0,0 +1 @@ +[{"id":0,"parent":4,"joint":"hinge","name":"lever","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0.6004359999999993,0.05795399702183715,-0.21110114892914889],"direction":[1,0,0]},"limit":{"a":47.52,"b":-81.72,"noLimit":false}}},{"id":1,"parent":4,"joint":"hinge","name":"lever","parts":[{"id":2,"name":"switch"}],"jointData":{"axis":{"origin":[0.6004359999999993,0.05795399702183715,-0.21110114892914889],"direction":[1,0,0]},"limit":{"a":47.52,"b":-81.72,"noLimit":false}}},{"id":2,"parent":4,"joint":"hinge","name":"lever","parts":[{"id":3,"name":"switch"}],"jointData":{"axis":{"origin":[0.6004359999999993,0.05795399702183715,-0.21110114892914889],"direction":[1,0,0]},"limit":{"a":47.52,"b":-81.72,"noLimit":false}}},{"id":3,"parent":4,"joint":"hinge","name":"lever","parts":[{"id":4,"name":"switch"}],"jointData":{"axis":{"origin":[0.6004359999999993,0.05795399702183715,-0.21110114892914889],"direction":[1,0,0]},"limit":{"a":47.52,"b":-81.72,"noLimit":false}}},{"id":4,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":5,"name":"base_body"}],"jointData":{}}] \ No newline at end of file diff --git a/Objects/118_switch/03_switch/01/result.json b/Objects/118_switch/03_switch/01/result.json new file mode 100644 index 0000000000000000000000000000000000000000..5fd265a4a8a501905ad9a2e6b8e228ff0552a55b --- /dev/null +++ b/Objects/118_switch/03_switch/01/result.json @@ -0,0 +1 @@ +[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-1"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-2"]}, {"text": "switch", "name": "switch", "id": 3, "objs": ["original-3"]}, {"text": "switch", "name": "switch", "id": 4, "objs": ["original-4"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-5"]}]}] \ No newline at end of file diff --git a/Objects/118_switch/03_switch/01/result_original.json b/Objects/118_switch/03_switch/01/result_original.json new file mode 100644 index 0000000000000000000000000000000000000000..a8bdb0af4c4ef622796862a8f539581090187eeb --- /dev/null +++ b/Objects/118_switch/03_switch/01/result_original.json @@ -0,0 +1 @@ +[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-1"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-2"]}, {"id": 3, "name": "switch", "text": "switch", "objs": ["original-3"]}, {"id": 4, "name": "switch", "text": "switch", "objs": ["original-4"]}]}] \ No newline at end of file diff --git a/Objects/118_switch/03_switch/01/semantics.txt b/Objects/118_switch/03_switch/01/semantics.txt new file mode 100644 index 0000000000000000000000000000000000000000..30944e4dc6a19a3cacb33618dc55eeccd7f6000d --- /dev/null +++ b/Objects/118_switch/03_switch/01/semantics.txt @@ -0,0 +1,5 @@ +link_0 hinge lever +link_1 hinge lever +link_2 hinge lever +link_3 hinge lever +link_4 static switch_frame diff --git 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"version": "1", "anno_id": "930", "time_in_sec": "7"} \ No newline at end of file diff --git a/Objects/118_switch/04_switch/01/mobility.urdf b/Objects/118_switch/04_switch/01/mobility.urdf new file mode 100644 index 0000000000000000000000000000000000000000..08697c67fe97f0424de5dcdaad806126d924ce49 --- /dev/null +++ b/Objects/118_switch/04_switch/01/mobility.urdf @@ -0,0 +1,92 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Objects/118_switch/04_switch/01/mobility_v2.json b/Objects/118_switch/04_switch/01/mobility_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..c9ffc0f0a3a71066b13f4ca20368c3311bad8e53 --- /dev/null +++ b/Objects/118_switch/04_switch/01/mobility_v2.json @@ -0,0 +1 @@ +[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,-0.0050835000000000186,0.1444248028330044],"direction":[1,0,0]},"limit":{"a":0,"b":-15,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}] \ No newline at end of file diff --git a/Objects/118_switch/04_switch/01/result.json b/Objects/118_switch/04_switch/01/result.json new file mode 100644 index 0000000000000000000000000000000000000000..f3ecaa3e8b481ca20eac9889cba8ce6b7fc9ea4b --- /dev/null +++ b/Objects/118_switch/04_switch/01/result.json @@ -0,0 +1 @@ +[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-3"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-2", "original-5", "original-6", "original-1"]}]}] \ No newline at end of file diff --git a/Objects/118_switch/04_switch/01/result_original.json b/Objects/118_switch/04_switch/01/result_original.json new file mode 100644 index 0000000000000000000000000000000000000000..d003e8da32ce7a758f1736e86696ec7837926d0e --- /dev/null +++ b/Objects/118_switch/04_switch/01/result_original.json @@ -0,0 +1 @@ +[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-3"]}]}] \ No newline at end of file diff --git a/Objects/118_switch/04_switch/01/semantics.txt b/Objects/118_switch/04_switch/01/semantics.txt new file mode 100644 index 0000000000000000000000000000000000000000..eef75a31952181dcb3a637c11050ae9bcd0ad1bf --- /dev/null +++ b/Objects/118_switch/04_switch/01/semantics.txt @@ -0,0 +1,2 @@ +link_0 hinge toggle_button +link_1 static switch_frame diff --git a/Objects/118_switch/04_switch/01/textured_objs/original-1.mtl b/Objects/118_switch/04_switch/01/textured_objs/original-1.mtl new file mode 100644 index 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+## +# Generated by UrdfConverter on 2026-07-12 at 23:44:42. +## diff --git a/Objects/118_switch/04_switch/01/usd_decomposition_linux/configuration/mobility_base.usd b/Objects/118_switch/04_switch/01/usd_decomposition_linux/configuration/mobility_base.usd new file mode 100644 index 0000000000000000000000000000000000000000..c2058526fcc070d68cbdde046ddd50babbe66450 Binary files /dev/null and b/Objects/118_switch/04_switch/01/usd_decomposition_linux/configuration/mobility_base.usd differ diff --git a/Objects/118_switch/04_switch/01/usd_decomposition_linux/configuration/mobility_physics.usd b/Objects/118_switch/04_switch/01/usd_decomposition_linux/configuration/mobility_physics.usd new file mode 100644 index 0000000000000000000000000000000000000000..88339a00f45fd8f17911da4c19348e24312aecc8 Binary files /dev/null and b/Objects/118_switch/04_switch/01/usd_decomposition_linux/configuration/mobility_physics.usd differ diff --git 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b/Objects/134_bookcase/02_bookcase/01/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..37e46bcab2740246378d60f6c8697224e393f9b9 --- /dev/null +++ b/Objects/134_bookcase/02_bookcase/01/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +202942f6807b0af5f5473b4ef47b9c28 \ No newline at end of file diff --git a/Objects/134_bookcase/02_bookcase/01/usd_decomposition_linux/bookshelf.usd b/Objects/134_bookcase/02_bookcase/01/usd_decomposition_linux/bookshelf.usd new file mode 100644 index 0000000000000000000000000000000000000000..512aa69871727c15237e7833c2ea8d7c0de4fc65 --- /dev/null +++ b/Objects/134_bookcase/02_bookcase/01/usd_decomposition_linux/bookshelf.usd @@ -0,0 +1,393 @@ +#usda 1.0 +( + defaultPrim = "bookshelf" + doc = """Generated from Composed Stage of root layer +""" + kilogramsPerUnit = 1 + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "bookshelf" ( + prepend apiSchemas = ["PhysicsMassAPI", "PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"] +) +{ + float physics:mass = 4 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "geometry" ( + kind = "component" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + def Material "Material_021" + { + token outputs:mdl:displacement.connect = + token outputs:mdl:surface.connect = + token outputs:mdl:volume.connect = + + def Shader "Material_021" + { + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @gltf/pbr.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "gltf_material" + float inputs:alpha_cutoff = 0 ( + customData = { + float default = 0.5 + dictionary range = { + float max = 1 + float min = 0 + } + } + displayGroup = "Opacity" + displayName = "Alpha Cutoff" + ) + int inputs:alpha_mode = 0 ( + customData = { + int default = 0 + dictionary range = { + int max = 2 + int min = 0 + } + } + displayGroup = "Opacity" + displayName = "Alpha Mode" + renderType = "gltf_alpha_mode" + sdrMetadata = { + string __SDR__enum_value = "opaque" + string options = "opaque:0|mask:1|blend:2" + } + ) + float inputs:base_alpha = 1 ( + customData = { + float default = 1 + dictionary range = { + float max = 1 + float min = 0 + } + } + displayGroup = "Base Alpha" + displayName = "Alpha Mode" + ) + color3f inputs:base_color_factor = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "PBR Metallic Roughness" + displayName = "Base color" + ) + token inputs:base_color_texture.connect = + float inputs:emissive_strength = 10000 ( + customData = { + float default = 1 + } + displayGroup = "Emission" + displayName = "Emission Intensity" + ) + float inputs:metallic_factor = 0 ( + customData = { + float default = 0 + dictionary range = { + float max = 1 + float min = 0 + } + } + displayGroup = "Metallic Roughness" + displayName = "Metallic Factor" + ) + float inputs:roughness_factor = 0.82111454 ( + customData = { + float default = 0 + dictionary range = { + float max = 1 + float min = 0 + } + } + displayGroup = "Metallic Roughness" + displayName = "Roughness Factor" + ) + token outputs:out + } + + def Shader "baseColorTex" + { + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @gltf/pbr.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "gltf_texture_lookup" + float2 inputs:offset = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "Texture Transform" + displayName = "Offset" + ) + float inputs:rotation = 0 ( + customData = { + float default = 0 + } + displayGroup = "Texture Transform" + displayName = "Rotation" + ) + float2 inputs:scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "Texture Transform" + displayName = "Scale" + ) + int inputs:tex_coord_index = 0 ( + customData = { + int default = 0 + } + displayGroup = "Source" + displayName = "Coordinate Set" + ) + asset inputs:texture = @./textures/bookshelf_texture1.png@ ( + displayGroup = "Texture" + displayName = "Texture File" + ) + int inputs:wrap_s = 10497 ( + customData = { + int default = 10497 + } + displayGroup = "Sampler" + displayName = "Wrap S" + renderType = "gltf_wrapping_mode" + sdrMetadata = { + string __SDR__enum_value = "repeat" + string options = "clamp_to_edge:33071|mirrored_repeat:33648|repeat:10497" + } + ) + int inputs:wrap_t = 10497 ( + customData = { + int default = 10497 + } + displayGroup = "Sampler" + displayName = "Wrap T" + renderType = "gltf_wrapping_mode" + sdrMetadata = { + string __SDR__enum_value = "repeat" + string options = "clamp_to_edge:33071|mirrored_repeat:33648|repeat:10497" + } + ) + token outputs:out ( + renderType = "gltf_normal_texture_lookup_value" + ) + } + } + + def Material "Material_107" + { + token outputs:mdl:displacement.connect = + token outputs:mdl:surface.connect = + token outputs:mdl:volume.connect = + + def Shader "Material_107" + { + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @gltf/pbr.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "gltf_material" + float inputs:alpha_cutoff = 0 ( + customData = { + float default = 0.5 + dictionary range = { + float max = 1 + float min = 0 + } + } + displayGroup = "Opacity" + displayName = "Alpha Cutoff" + ) + int inputs:alpha_mode = 0 ( + customData = { + int default = 0 + dictionary range = { + int max = 2 + int min = 0 + } + } + displayGroup = "Opacity" + displayName = "Alpha Mode" + renderType = "gltf_alpha_mode" + sdrMetadata = { + string __SDR__enum_value = "opaque" + string options = "opaque:0|mask:1|blend:2" + } + ) + float inputs:base_alpha = 1 ( + customData = { + float default = 1 + dictionary range = { + float max = 1 + float min = 0 + } + } + displayGroup = "Base Alpha" + displayName = "Alpha Mode" + ) + color3f inputs:base_color_factor = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "PBR Metallic Roughness" + displayName = "Base color" + ) + token inputs:base_color_texture.connect = + float inputs:emissive_strength = 10000 ( + customData = { + float default = 1 + } + displayGroup = "Emission" + displayName = "Emission Intensity" + ) + float inputs:metallic_factor = 0 ( + customData = { + float default = 0 + dictionary range = { + float max = 1 + float min = 0 + } + } + displayGroup = "Metallic Roughness" + displayName = "Metallic Factor" + ) + float inputs:roughness_factor = 1 ( + customData = { + float default = 0 + dictionary range = { + float max = 1 + float min = 0 + } + } + displayGroup = "Metallic Roughness" + displayName = "Roughness Factor" + ) + token outputs:out + } + + def Shader "baseColorTex" + { + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @gltf/pbr.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "gltf_texture_lookup" + float2 inputs:offset = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "Texture Transform" + displayName = "Offset" + ) + float inputs:rotation = 0 ( + customData = { + float default = 0 + } + displayGroup = "Texture Transform" + displayName = "Rotation" + ) + float2 inputs:scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "Texture Transform" + displayName = "Scale" + ) + int inputs:tex_coord_index = 0 ( + customData = { + int default = 0 + } + displayGroup = "Source" + displayName = "Coordinate Set" + ) + asset inputs:texture = @./textures/bookshelf_texture0.png@ ( + displayGroup = "Texture" + displayName = "Texture File" + ) + int inputs:wrap_s = 10497 ( + customData = { + int default = 10497 + } + displayGroup = "Sampler" + displayName = "Wrap S" + renderType = "gltf_wrapping_mode" + sdrMetadata = { + string __SDR__enum_value = "repeat" + string options = "clamp_to_edge:33071|mirrored_repeat:33648|repeat:10497" + } + ) + int inputs:wrap_t = 10497 ( + customData = { + int default = 10497 + } + displayGroup = "Sampler" + displayName = "Wrap T" + renderType = "gltf_wrapping_mode" + sdrMetadata = { + string __SDR__enum_value = "repeat" + string options = "clamp_to_edge:33071|mirrored_repeat:33648|repeat:10497" + } + ) + token outputs:out ( + renderType = "gltf_normal_texture_lookup_value" + ) + } + } + } + + def Mesh "mesh" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + float3[] extent = [(-1.0194768, -0.32527933, -0.12220638), (1.050086, 0.3226906, 0.17585507)] + int[] faceVertexCounts = 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(0.82323104, 0.21310824), (0.9284429, 0.15579379), (0.82323104, 0.15579379), (0.93274045, 0.09119588), (0.9471529, 0.09118074), (0.9471529, 0.032094955), (0.93274045, 0.09119588), (0.9471529, 0.032094955), (0.93274045, 0.032110155), (0.82323104, 0.027161837), (0.9284429, 0.027161837), (0.9284429, 0.023091078), (0.82323104, 0.027161837), (0.9284429, 0.023091078), (0.82323104, 0.023091078), (0.8036259, 0.091165304), (0.8191728, 0.09120536), (0.8191728, 0.03211987), (0.8036259, 0.091165304), (0.8191728, 0.03211987), (0.8036259, 0.032079816), (0.93274045, 0.032110155), (0.93274045, 0.09119588), (0.93274045, 0.09119588), (0.93274045, 0.032110155), (0.93274045, 0.09119588), (0.93274045, 0.032110155), (0.93274045, 0.09119588), (0.9471529, 0.09118074), (0.9471529, 0.09118074), (0.93274045, 0.09119588), (0.9471529, 0.09118074), (0.93274045, 0.09119588), (0.8036259, 0.032079816), (0.8036259, 0.091165304), (0.8036259, 0.091165304), (0.8036259, 0.032079816), (0.8036259, 0.091165304), (0.8036259, 0.032079816), (0.8191728, 0.09120536), (0.8191728, 0.03211987), (0.8191728, 0.03211987), (0.8191728, 0.09120536), (0.8191728, 0.03211987), (0.8191728, 0.09120536), (0.82323104, 0.027161837), (0.9284429, 0.027161837), (0.9284429, 0.027161837), (0.82323104, 0.027161837), (0.9284429, 0.027161837), (0.82323104, 0.027161837)] ( + interpolation = "faceVarying" + ) + uniform token subdivisionScheme = "none" + + def GeomSubset "Material_021" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + uniform token elementType = "face" + uniform token familyName = "materialBind" + int[] indices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65] + rel material:binding = + } + + def GeomSubset "Material_107" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + uniform token elementType = "face" + uniform token familyName = "materialBind" + int[] indices = [66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 260, 261, 262, 263, 264, 265, 266, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 280, 281, 282, 283, 284, 285, 286, 287, 288, 289, 290, 291, 292, 293, 294, 295, 296, 297, 298, 299, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312, 313, 314, 315, 316, 317, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 330, 331, 332, 333, 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, 346, 347, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383, 384, 385, 386, 387, 388, 389, 390, 391, 392, 393, 394, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, 406, 407, 408, 409, 410, 411, 412, 413, 414, 415, 416, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 447, 448, 449, 450, 451, 452, 453, 454, 455, 456, 457, 458, 459, 460, 461, 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662, 663, 664, 665, 666, 667, 668, 669, 670, 671, 672, 673, 674, 675, 676, 677, 678, 679, 680, 681, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 694, 695, 696, 697, 698, 699, 700, 701, 702, 703, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 717, 718, 719, 720, 721, 722, 723, 724, 725, 726, 727, 728, 729, 730, 731, 732, 733, 734, 735, 736, 737, 738, 739, 740, 741, 742, 743, 744, 745, 746, 747, 748, 749, 750, 751, 752, 753, 754, 755, 756, 757, 758, 759, 760, 761, 762, 763, 764, 765, 766, 767, 768, 769, 770, 771, 772, 773, 774, 775, 776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 828, 829, 830, 831, 832, 833, 834, 835, 836, 837, 838, 839, 840, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 851, 852, 853, 854, 855, 856, 857, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 898, 899, 900, 901, 902, 903, 904, 905, 906, 907, 908, 909, 910, 911, 912, 913, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 967, 968, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 982, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012, 1013, 1014, 1015, 1016, 1017, 1018, 1019, 1020, 1021, 1022, 1023, 1024, 1025, 1026, 1027, 1028, 1029, 1030, 1031, 1032, 1033, 1034, 1035, 1036, 1037, 1038, 1039, 1040, 1041, 1042, 1043, 1044, 1045, 1046, 1047, 1048, 1049, 1050, 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a/Objects/134_bookcase/02_bookcase/01/usd_decomposition_linux/config.yaml b/Objects/134_bookcase/02_bookcase/01/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..80f8c0a402865757a200de54ff7cd535e6620852 --- /dev/null +++ b/Objects/134_bookcase/02_bookcase/01/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/jiangchenyu/dex2bench_dataset/Objects/134_bookcase/02_bookcase/01/bookshelf_Book_Material_107_0.glb +usd_dir: /home/ubuntu/jiangchenyu/dex2bench_dataset/Objects/134_bookcase/02_bookcase/01/usd_decomposition_linux +usd_file_name: bookshelf_Book_Material_107_0.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 2.0 + 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 23:23:08. +## diff --git a/Objects/134_bookcase/03_bookcase/01/usd_decomposition_linux/.asset_hash b/Objects/134_bookcase/03_bookcase/01/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..d7cb628dfc7a9f896548de9dbdb591cd8a7fecc8 --- /dev/null +++ b/Objects/134_bookcase/03_bookcase/01/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +1a2ed69dab027d7fe087e01df661d0b1 \ No newline at end of file diff --git a/Objects/134_bookcase/03_bookcase/01/usd_decomposition_linux/config.yaml b/Objects/134_bookcase/03_bookcase/01/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a74534cf9704392030d0cf6e0fdcd916be0b3c73 --- /dev/null +++ b/Objects/134_bookcase/03_bookcase/01/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/jiangchenyu/dex2bench_dataset/Objects/134_bookcase/03_bookcase/01/ikea_billy_bookshelf_white_80x28x106_Object_1.glb +usd_dir: /home/ubuntu/jiangchenyu/dex2bench_dataset/Objects/134_bookcase/03_bookcase/01/usd_decomposition_linux +usd_file_name: ikea_billy_bookshelf_white_80x28x106_Object_1.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 2.0 + 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 23:06:11. +## diff --git a/Objects/134_bookcase/config.yaml b/Objects/134_bookcase/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1c0af3c2c64099b45b2a83fb9c7a37153766bda2 --- /dev/null +++ b/Objects/134_bookcase/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\134_bookcase\visual\base3.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\134_bookcase\visual +usd_file_name: base3.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 4.0 + 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 2026-03-05 at 00:38:17. +## diff --git a/Objects/134_bookcase/usd_decomposition_linux/.asset_hash b/Objects/134_bookcase/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..7451be7b269ee2d184981ea66b66c880f772e81d --- /dev/null +++ b/Objects/134_bookcase/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +d8d48112b6648b178b67ffdc6fbb861a \ No newline at end of file diff --git a/Objects/134_bookcase/usd_decomposition_linux/config.yaml b/Objects/134_bookcase/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f16ffb9dfac2dea207531679340fbbd67ae647c3 --- /dev/null +++ b/Objects/134_bookcase/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/134_bookcase/base3.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/134_bookcase/usd_decomposition_linux +usd_file_name: base3.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 4.0 + 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 16:48:58. +## diff --git a/Objects/134_bookcase/usd_sdf_linux/.asset_hash b/Objects/134_bookcase/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..cdcb7f099289c434ac7d8b8bbc4c5ad5f446aa0f --- /dev/null +++ b/Objects/134_bookcase/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +ed48a88651b40e3f62ffe96be166b231 \ No newline at end of file diff --git a/Objects/134_bookcase/usd_sdf_linux/config.yaml b/Objects/134_bookcase/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dd7637323bf4016fcc6451b7264cd03b1d57db0f --- /dev/null +++ b/Objects/134_bookcase/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/134_bookcase/base3.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/134_bookcase/usd_sdf_linux +usd_file_name: base3.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 4.0 + 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 18:16:55. +## diff --git a/Objects/145_roll-paper/.asset_hash b/Objects/145_roll-paper/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..6323465c26cc8f3f4518431111f1c32c5e1f04b1 --- /dev/null +++ b/Objects/145_roll-paper/.asset_hash @@ -0,0 +1 @@ +45bec5bb93f6101ef3e72e94691a222e \ No newline at end of file diff --git a/Objects/145_roll-paper/config.yaml b/Objects/145_roll-paper/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..53f0c5247b293da56d7b38f2e6e644732af8673d --- /dev/null +++ b/Objects/145_roll-paper/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\145_roll-paper\visual\base3.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\145_roll-paper\visual +usd_file_name: base3.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.18 + 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 2026-03-05 at 00:47:36. +## diff --git a/Objects/145_roll-paper/usd_decomposition_linux/.asset_hash b/Objects/145_roll-paper/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..d2a878131b4e4b9104575dbc017b71a76b6dd4d3 --- /dev/null +++ b/Objects/145_roll-paper/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +6c1ac7a1510ed6ad42477e2e5eeae8d1 \ No newline at end of file diff --git a/Objects/145_roll-paper/usd_decomposition_linux/config.yaml b/Objects/145_roll-paper/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ec7ba9388fd2d895fdcbae37a4224aba752a33a2 --- /dev/null +++ b/Objects/145_roll-paper/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/145_roll-paper/base3.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/145_roll-paper/usd_decomposition_linux +usd_file_name: base3.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.18 + 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 16:49:59. +## diff --git a/Objects/145_roll-paper/usd_sdf_linux/.asset_hash b/Objects/145_roll-paper/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..428826e604000b240ad75a9a0e7b34c534e46429 --- /dev/null +++ b/Objects/145_roll-paper/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +36811fb6b8a3c4bfdc32a83ef46a7764 \ No newline at end of file diff --git a/Objects/145_roll-paper/usd_sdf_linux/config.yaml b/Objects/145_roll-paper/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6e47b79aff8cf34dea800aea137dbf4a0f297929 --- /dev/null +++ b/Objects/145_roll-paper/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/145_roll-paper/base3.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/145_roll-paper/usd_sdf_linux +usd_file_name: base3.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.18 + 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 18:18:37. +## diff --git a/Objects/147_drill/.asset_hash b/Objects/147_drill/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..f31bf3cb8ec6a335260f6d4a0660afb4931cac4a --- /dev/null +++ b/Objects/147_drill/.asset_hash @@ -0,0 +1 @@ +0dc7162ee6d91f61884d4c258e163529 \ No newline at end of file diff --git a/Objects/147_drill/config.yaml b/Objects/147_drill/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31bb56137026ab1459f4b32b094598c501a878f9 --- /dev/null +++ b/Objects/147_drill/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\147_drill\visual\base6.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\147_drill\visual +usd_file_name: base6.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 1.8 + 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 2026-03-05 at 00:49:49. +## diff --git a/Objects/147_drill/usd_decomposition_linux/.asset_hash b/Objects/147_drill/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..8c73435cdede28232842e2813dcaf116d61f7f2c --- /dev/null +++ b/Objects/147_drill/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +233aee68a2c22b25056db376abd14284 \ No newline at end of file diff --git a/Objects/147_drill/usd_decomposition_linux/config.yaml b/Objects/147_drill/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0a57004591e6a5b52bab3c3f3f7f404e2bd7b74d --- /dev/null +++ b/Objects/147_drill/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/147_drill/base6.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/147_drill/usd_decomposition_linux +usd_file_name: base6.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 1.8 + 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 16:50:10. +## diff --git a/Objects/147_drill/usd_sdf_linux/.asset_hash b/Objects/147_drill/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..d000f88ab66047d0eb39ed30f2957d1dd43fc9f4 --- /dev/null +++ b/Objects/147_drill/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +88a5c887b7181310ff997202b9c98d42 \ No newline at end of file diff --git a/Objects/147_drill/usd_sdf_linux/config.yaml b/Objects/147_drill/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..68a7a6bf7faba1e07d76706ac8743e630bb59618 --- /dev/null +++ b/Objects/147_drill/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/147_drill/base6.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/147_drill/usd_sdf_linux +usd_file_name: base6.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 1.8 + 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 18:18:55. +## diff --git a/Objects/150_cabinet/.asset_hash b/Objects/150_cabinet/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..36047ffc860b75134a35447c0a8c64509f402f27 --- /dev/null +++ b/Objects/150_cabinet/.asset_hash @@ -0,0 +1 @@ +bae6877823e0a7133c5d32668bb3d8a0 \ No newline at end of file diff --git a/Objects/150_cabinet/base0.glb b/Objects/150_cabinet/base0.glb new file mode 100644 index 0000000000000000000000000000000000000000..a195c22a6ca83b901ce7881d29684ce0eaa3bef5 Binary files /dev/null and b/Objects/150_cabinet/base0.glb differ diff --git a/Objects/150_cabinet/config.yaml b/Objects/150_cabinet/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..24c3fe36ed0e8af03336607b8ad96097100bc6f1 --- /dev/null +++ b/Objects/150_cabinet/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\150_cabinet\visual\base0.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\150_cabinet\visual +usd_file_name: base0.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 15.0 + 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 2026-03-05 at 00:59:39. +## diff --git a/Objects/150_cabinet/usd_decomposition_linux/.asset_hash b/Objects/150_cabinet/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..a1a47d097db399cd29014fc2ffc494a4bcfa5c5e --- /dev/null +++ b/Objects/150_cabinet/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +32b1e1f07df730e5505d5cf49eb91c84 \ No newline at end of file diff --git a/Objects/150_cabinet/usd_decomposition_linux/config.yaml b/Objects/150_cabinet/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8c2e33c9bcff53b6065219dfedc4a93739c73cf3 --- /dev/null +++ b/Objects/150_cabinet/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/150_cabinet/base0.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/150_cabinet/usd_decomposition_linux +usd_file_name: base0.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 15.0 + 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 16:50:27. +## diff --git a/Objects/150_cabinet/usd_sdf_linux/.asset_hash b/Objects/150_cabinet/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..1c80cc1541567737e13051b371278af86da86cee --- /dev/null +++ b/Objects/150_cabinet/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +0b05ae7b4d02991c302bab45aa117e49 \ No newline at end of file diff --git a/Objects/150_cabinet/usd_sdf_linux/config.yaml b/Objects/150_cabinet/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3ca85575fef5c293949c309fd9b552914222f64f --- /dev/null +++ b/Objects/150_cabinet/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/150_cabinet/base0.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/150_cabinet/usd_sdf_linux +usd_file_name: base0.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 15.0 + 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 18:19:23. +## diff --git a/Objects/154_wooden_box/.asset_hash b/Objects/154_wooden_box/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..318fed615b9f9a49dd484ba1221087d956583d72 --- /dev/null +++ b/Objects/154_wooden_box/.asset_hash @@ -0,0 +1 @@ +5f1554e864ae03d2ccd223623079ba98 \ No newline at end of file diff --git a/Objects/154_wooden_box/config.yaml b/Objects/154_wooden_box/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23684ccc5f400d0e666d829e92bcbc1ccd7d39ac --- /dev/null +++ b/Objects/154_wooden_box/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\154_wooden_box\visual\base0.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\154_wooden_box\visual +usd_file_name: base0.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.8 + 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 2026-03-05 at 01:02:42. +## diff --git a/Objects/154_wooden_box/usd_decomposition_linux/.asset_hash b/Objects/154_wooden_box/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..82bcabc185c0d0e1ef5b9798e9d6e3d0d2a63884 --- /dev/null +++ b/Objects/154_wooden_box/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +7108b29eec5dd047f6514adadc084fd0 \ No newline at end of file diff --git a/Objects/154_wooden_box/usd_decomposition_linux/config.yaml b/Objects/154_wooden_box/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..668dfabcf33ab6b8c9324d242ace272f22c8ffcc --- /dev/null +++ b/Objects/154_wooden_box/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/154_wooden_box/base0.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/154_wooden_box/usd_decomposition_linux +usd_file_name: base0.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.8 + 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 16:50:49. +## diff --git a/Objects/154_wooden_box/usd_sdf_linux/.asset_hash b/Objects/154_wooden_box/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..0c2028a26376b19445ec0b2835b49dd6ed4c9023 --- /dev/null +++ b/Objects/154_wooden_box/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +4c4f3f089c22a46b5dc6599fe6804db9 \ No newline at end of file diff --git a/Objects/154_wooden_box/usd_sdf_linux/config.yaml b/Objects/154_wooden_box/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..038f95ab480ba11ee087a24c0de07cb5c7725dbf --- /dev/null +++ b/Objects/154_wooden_box/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/154_wooden_box/base0.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/154_wooden_box/usd_sdf_linux +usd_file_name: base0.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.8 + 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 18:20:00. +## diff --git a/Objects/157_alarm-clock/.asset_hash b/Objects/157_alarm-clock/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..4ec7ad45f07db97f44d0d1ca00c27a03a2296c66 --- /dev/null +++ b/Objects/157_alarm-clock/.asset_hash @@ -0,0 +1 @@ +58b5d12609c65da5e5bb15ac4777f25e \ No newline at end of file diff --git a/Objects/157_alarm-clock/config.yaml b/Objects/157_alarm-clock/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ab3587f0442a3dff9a6e2db1ec693469341bd271 --- /dev/null +++ b/Objects/157_alarm-clock/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\157_alarm-clock\visual\base5.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\157_alarm-clock\visual +usd_file_name: base5.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.35 + 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 2026-03-05 at 01:04:43. +## diff --git a/Objects/157_alarm-clock/usd_decomposition_linux/.asset_hash b/Objects/157_alarm-clock/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..1c13e1ff1fd7fd7fd5004ce97b104526fccae26c --- /dev/null +++ b/Objects/157_alarm-clock/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +d9d59e0aba74182f79419fa1bc146275 \ No newline at end of file diff --git a/Objects/157_alarm-clock/usd_decomposition_linux/config.yaml b/Objects/157_alarm-clock/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d1b487ccbce5b6fc05342c201204f4a7ee438a31 --- /dev/null +++ b/Objects/157_alarm-clock/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/157_alarm-clock/base5.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/157_alarm-clock/usd_decomposition_linux +usd_file_name: base5.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.35 + 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 16:51:05. +## diff --git a/Objects/157_alarm-clock/usd_sdf_linux/.asset_hash b/Objects/157_alarm-clock/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..166236e19c3299b5bc7ff6dc40f6ff0e79fc4151 --- /dev/null +++ b/Objects/157_alarm-clock/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +80209e2ba7309c77cf4fc22475970b61 \ No newline at end of file diff --git a/Objects/157_alarm-clock/usd_sdf_linux/config.yaml b/Objects/157_alarm-clock/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3fbbf47fd18ffb39f3355a03e49d70474caf1e1b --- /dev/null +++ b/Objects/157_alarm-clock/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/157_alarm-clock/base5.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/157_alarm-clock/usd_sdf_linux +usd_file_name: base5.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.35 + 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 18:20:29. +## diff --git a/Objects/162_teanet/.asset_hash b/Objects/162_teanet/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..a05a6f4bdac4ecfef3c0bc634783b2559e18b430 --- /dev/null +++ b/Objects/162_teanet/.asset_hash @@ -0,0 +1 @@ +edc45d3a63dd71239416c44b2545239c \ No newline at end of file diff --git a/Objects/162_teanet/config.yaml b/Objects/162_teanet/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b0c3366238d79734ada4347e9c4607c4f55e9c32 --- /dev/null +++ b/Objects/162_teanet/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\162_teanet\visual\base7.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\162_teanet\visual +usd_file_name: base7.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.6 + 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 2026-03-05 at 02:06:18. +## diff --git a/Objects/162_teanet/usd_decomposition_linux/.asset_hash b/Objects/162_teanet/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..2298f46cb8f9b573f13a5601ac098d723caf7790 --- /dev/null +++ b/Objects/162_teanet/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +b900dfb399cae19df5789c88717f3821 \ No newline at end of file diff --git a/Objects/162_teanet/usd_decomposition_linux/config.yaml b/Objects/162_teanet/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91f22158fde89924d5cffbe92cf21154127b63de --- /dev/null +++ b/Objects/162_teanet/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/162_teanet/base7.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/162_teanet/usd_decomposition_linux +usd_file_name: base7.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.6 + 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 16:51:33. +## diff --git a/Objects/162_teanet/usd_sdf_linux/.asset_hash b/Objects/162_teanet/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..eba558fd1129e4991b98cfb5dc67aa1ececed9f9 --- /dev/null +++ b/Objects/162_teanet/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +a6634758c94496d46271fea696aff723 \ No newline at end of file diff --git a/Objects/162_teanet/usd_sdf_linux/config.yaml b/Objects/162_teanet/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d021bd0b9ab8a26b8a82438c518dd7f6ddb5b2d0 --- /dev/null +++ b/Objects/162_teanet/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/162_teanet/base7.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/162_teanet/usd_sdf_linux +usd_file_name: base7.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.6 + 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 18:21:15. +## diff --git a/Objects/167_pencup/.asset_hash b/Objects/167_pencup/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..5e5c9d79218bab003f22fe13b58a509b1eb25183 --- /dev/null +++ b/Objects/167_pencup/.asset_hash @@ -0,0 +1 @@ +6d9f06d07b20bb9601a5f5dca6bafcea \ No newline at end of file diff --git a/Objects/167_pencup/config.yaml b/Objects/167_pencup/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..329bf6e93bc5a453652117d837d5c2a49bf256e4 --- /dev/null +++ b/Objects/167_pencup/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\167_pencup\visual\base6.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\167_pencup\visual +usd_file_name: base6.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.2 + 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 2026-03-05 at 02:10:32. +## diff --git a/Objects/167_pencup/usd_decomposition_linux/.asset_hash b/Objects/167_pencup/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..e69c1f5a8378fca166adb8bb382f90a385b2c0d0 --- /dev/null +++ b/Objects/167_pencup/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +77741e61b639bac15b7e95b947b07156 \ No newline at end of file diff --git a/Objects/167_pencup/usd_decomposition_linux/config.yaml b/Objects/167_pencup/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e399a52d54941d5959e4f3ce6206c49c7e28aa13 --- /dev/null +++ b/Objects/167_pencup/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/167_pencup/base6.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/167_pencup/usd_decomposition_linux +usd_file_name: base6.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.2 + 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 16:52:01. +## diff --git a/Objects/167_pencup/usd_sdf_linux/.asset_hash b/Objects/167_pencup/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..f26d72b5bc9ae7abc14123550d5196d5b52279f4 --- /dev/null +++ b/Objects/167_pencup/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +b872e1f14dafb951b3d333fa5faf05b4 \ No newline at end of file diff --git a/Objects/167_pencup/usd_sdf_linux/config.yaml b/Objects/167_pencup/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..03ef464bcce3475a65ea8e83072876414612484f --- /dev/null +++ b/Objects/167_pencup/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/167_pencup/base6.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/167_pencup/usd_sdf_linux +usd_file_name: base6.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.2 + 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 18:22:01. +## diff --git a/Objects/168_battery/.asset_hash b/Objects/168_battery/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..91684e10773bb6600fa87afb155f0b9e67196d3b --- /dev/null +++ b/Objects/168_battery/.asset_hash @@ -0,0 +1 @@ +70786a2efd9a5932005d7b654979247b \ No newline at end of file diff --git a/Objects/168_battery/config.yaml b/Objects/168_battery/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6563125e5511c7e50e3bc79ad603acd4e8395c89 --- /dev/null +++ b/Objects/168_battery/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\168_battery\visual\base5.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\168_battery\visual +usd_file_name: base5.usd +force_usd_conversion: true +make_instanceable: true +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 2026-03-05 at 02:11:36. +## diff --git a/Objects/168_battery/usd_decomposition_linux/.asset_hash b/Objects/168_battery/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..c1803fdae04c4b74d52783c156b575f95ccef3dc --- /dev/null +++ b/Objects/168_battery/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +264ecdc7c899806c9a87aeff056a8bfb \ No newline at end of file diff --git a/Objects/168_battery/usd_decomposition_linux/config.yaml b/Objects/168_battery/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b9cc861732526c078550193bae9164e9e4122f02 --- /dev/null +++ b/Objects/168_battery/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/168_battery/base5.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/168_battery/usd_decomposition_linux +usd_file_name: base5.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 2026-04-25 at 16:52:06. +## diff --git a/Objects/168_battery/usd_sdf_linux/.asset_hash b/Objects/168_battery/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..7052fa66fc23a9cbe6537152651f75693efbaf49 --- /dev/null +++ b/Objects/168_battery/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +98ab8d7722f02c57e884059d977c53e8 \ No newline at end of file diff --git a/Objects/168_battery/usd_sdf_linux/config.yaml b/Objects/168_battery/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6fb28bd2d5ac406b2a7a342b323d8924153d127d --- /dev/null +++ b/Objects/168_battery/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/168_battery/base5.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/168_battery/usd_sdf_linux +usd_file_name: base5.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: {} + 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 18:22:11. +## diff --git a/Objects/184_phonestand/.asset_hash b/Objects/184_phonestand/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..6bc74e6d6e2f58640ce3af4fc0c86aaddd000ab8 --- /dev/null +++ b/Objects/184_phonestand/.asset_hash @@ -0,0 +1 @@ +2ea6cdab45ade9e8657315ffb16f5564 \ No newline at end of file diff --git a/Objects/184_phonestand/config.yaml b/Objects/184_phonestand/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91560ad7095679b0e3cf857a98c92d1e68df44ad --- /dev/null +++ b/Objects/184_phonestand/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\184_phonestand\visual\base6.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\184_phonestand\visual +usd_file_name: base6.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.18 + 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 2026-03-05 at 02:27:57. +## diff --git a/Objects/184_phonestand/usd_decomposition_linux/.asset_hash b/Objects/184_phonestand/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..520f62276f488283b452ce54c90431c61970093b --- /dev/null +++ b/Objects/184_phonestand/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +acdbf9bd93fc50baafb9e424b5e1b538 \ No newline at end of file diff --git a/Objects/184_phonestand/usd_decomposition_linux/config.yaml b/Objects/184_phonestand/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6260768d28de92cf0be5167e3ee308bf6c97b208 --- /dev/null +++ b/Objects/184_phonestand/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/184_phonestand/base6.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/184_phonestand/usd_decomposition_linux +usd_file_name: base6.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.18 + 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 16:53:35. +## diff --git a/Objects/184_phonestand/usd_sdf_linux/.asset_hash b/Objects/184_phonestand/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..4c24ecd88ffb2e7ab27e4cc04485d3be6bba1ee0 --- /dev/null +++ b/Objects/184_phonestand/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +5f9cd1ca20cccdd4abc3b5a9d57640bd \ No newline at end of file diff --git a/Objects/184_phonestand/usd_sdf_linux/config.yaml b/Objects/184_phonestand/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e861f549e75df8b0f8ff10e085c24325724f584b --- /dev/null +++ b/Objects/184_phonestand/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/184_phonestand/base6.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/184_phonestand/usd_sdf_linux +usd_file_name: base6.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.18 + 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 18:24:38. +## diff --git a/Objects/190_woodenmallet/.asset_hash b/Objects/190_woodenmallet/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..4f977da49c7c451ae534da5832b7925b4079ecf6 --- /dev/null +++ b/Objects/190_woodenmallet/.asset_hash @@ -0,0 +1 @@ +70e2c2d373ff99c60ae9b4be7e183c81 \ No newline at end of file diff --git a/Objects/190_woodenmallet/config.yaml b/Objects/190_woodenmallet/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..463814e4636262dbc13b50646b19a06391ca7a77 --- /dev/null +++ b/Objects/190_woodenmallet/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\190_woodenmallet\visual\base4.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\190_woodenmallet\visual +usd_file_name: base4.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.5 + 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 2026-03-05 at 02:32:55. +## diff --git a/Objects/190_woodenmallet/usd_decomposition_linux/.asset_hash b/Objects/190_woodenmallet/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..0e637dbba42153a7b382103544880318f7b19b20 --- /dev/null +++ b/Objects/190_woodenmallet/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +990b3a902ba1760f2d86659136e4bc69 \ No newline at end of file diff --git a/Objects/190_woodenmallet/usd_decomposition_linux/config.yaml b/Objects/190_woodenmallet/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c48903086114f69b5ea621c154eba6ddc9065707 --- /dev/null +++ b/Objects/190_woodenmallet/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/190_woodenmallet/base4.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/190_woodenmallet/usd_decomposition_linux +usd_file_name: base4.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.5 + 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 16:54:09. +## diff --git a/Objects/190_woodenmallet/usd_sdf_linux/.asset_hash b/Objects/190_woodenmallet/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..a5bbfadf3f57991120aa053424d29663877ce65b --- /dev/null +++ b/Objects/190_woodenmallet/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +8fc8a0279343f19e2b154138eb603c36 \ No newline at end of file diff --git a/Objects/190_woodenmallet/usd_sdf_linux/config.yaml b/Objects/190_woodenmallet/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6d65158edf797bd440f5dbf478b61b88abd7a4de --- /dev/null +++ b/Objects/190_woodenmallet/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/190_woodenmallet/base4.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/190_woodenmallet/usd_sdf_linux +usd_file_name: base4.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.5 + 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 18:25:33. +## diff --git a/Objects/192_woodenblock/.asset_hash b/Objects/192_woodenblock/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..fa7c98e7f47ceb49c46dbb5bf575d2f31cd1fe8c --- /dev/null +++ b/Objects/192_woodenblock/.asset_hash @@ -0,0 +1 @@ +e2585f6a8322f7bd95f0c10f2c80a87a \ No newline at end of file diff --git a/Objects/192_woodenblock/config.yaml b/Objects/192_woodenblock/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ac222fe3957e3d7048741a0394ff88aed726fe8f --- /dev/null +++ b/Objects/192_woodenblock/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\192_woodenblock\visual\base4.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\192_woodenblock\visual +usd_file_name: base4.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.25 + 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 2026-03-05 at 02:34:54. +## diff --git a/Objects/192_woodenblock/usd_decomposition_linux/.asset_hash b/Objects/192_woodenblock/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..46761beef74fd05e873624adc3fe8b5ff5ed1142 --- /dev/null +++ b/Objects/192_woodenblock/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +44d7a1e6593470f0b9f2e2b6cf0370f9 \ No newline at end of file diff --git a/Objects/192_woodenblock/usd_decomposition_linux/config.yaml b/Objects/192_woodenblock/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f71c1d38ba32db77bb7b6b9cb5bc7e23f7d9d8bd --- /dev/null +++ b/Objects/192_woodenblock/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/192_woodenblock/base4.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/192_woodenblock/usd_decomposition_linux +usd_file_name: base4.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.25 + 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 16:54:20. +## diff --git a/Objects/192_woodenblock/usd_sdf_linux/.asset_hash b/Objects/192_woodenblock/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..d7a9bdfae213ab31d425c228c1bc475a7cf44647 --- /dev/null +++ b/Objects/192_woodenblock/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +343b1ad241ba9365fc49c8068a7f1be9 \ No newline at end of file diff --git a/Objects/192_woodenblock/usd_sdf_linux/config.yaml b/Objects/192_woodenblock/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5b35378f3770f2d9db8c7eb22f041fcbd14fd8b7 --- /dev/null +++ b/Objects/192_woodenblock/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/192_woodenblock/base4.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/192_woodenblock/usd_sdf_linux +usd_file_name: base4.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.25 + 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 18:25:51. +## diff --git a/Objects/198_rest/.asset_hash b/Objects/198_rest/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..ca76c5e5c1b09d6dc0ba117abb70c30a25014f1e --- /dev/null +++ b/Objects/198_rest/.asset_hash @@ -0,0 +1 @@ +c51d4ebab06e9936c485ba2b3b134ef5 \ No newline at end of file diff --git a/Objects/198_rest/config.yaml b/Objects/198_rest/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6164e1c9b771ad6a650d0e74fd04e54c11f1e798 --- /dev/null +++ b/Objects/198_rest/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\198_rest\visual\base3.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\198_rest\visual +usd_file_name: base3.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.3 + 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 2026-03-05 at 02:40:22. +## diff --git a/Objects/198_rest/usd_decomposition_linux/.asset_hash b/Objects/198_rest/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..d1c8e3f75c8f751034a68f005548e387c064e9aa --- /dev/null +++ b/Objects/198_rest/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +f00bfb01271ae02db1a62382d5c59443 \ No newline at end of file diff --git a/Objects/198_rest/usd_decomposition_linux/config.yaml b/Objects/198_rest/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9ea7e50427a1ba8dd92c24e90b173713a6dae609 --- /dev/null +++ b/Objects/198_rest/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/198_rest/base3.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/198_rest/usd_decomposition_linux +usd_file_name: base3.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.3 + 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 16:54:54. +## diff --git a/Objects/198_rest/usd_sdf_linux/.asset_hash b/Objects/198_rest/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..3f9936d25f2435692963196359cc63b4fd84ce3e --- /dev/null +++ b/Objects/198_rest/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +f4323f3e8657043f8e14f5506a5b1249 \ No newline at end of file diff --git a/Objects/198_rest/usd_sdf_linux/config.yaml b/Objects/198_rest/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3bae5f5817861c541f7ce6dba43521c176caec08 --- /dev/null +++ b/Objects/198_rest/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/198_rest/base3.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/198_rest/usd_sdf_linux +usd_file_name: base3.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.3 + 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 18:26:46. +## diff --git a/Objects/205_roller/.asset_hash b/Objects/205_roller/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..e237792f8b7e043d9ee727f47228107dd2fa3bc9 --- /dev/null +++ b/Objects/205_roller/.asset_hash @@ -0,0 +1 @@ +8e26094c88ad2a33d4037a10e56ff530 \ No newline at end of file diff --git a/Objects/205_roller/config.yaml b/Objects/205_roller/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7a95075504de471324967da0d8f89ac029d2bf04 --- /dev/null +++ b/Objects/205_roller/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\205_roller\visual\base2.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\205_roller\visual +usd_file_name: base2.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.35 + 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 2026-03-05 at 02:46:38. +## diff --git a/Objects/205_roller/usd_decomposition_linux/.asset_hash b/Objects/205_roller/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..2f059d114c934a8a8d26f60994838edb8ba06aef --- /dev/null +++ b/Objects/205_roller/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +bd76d58c37fd64c3ce6e53d8e1c0da80 \ No newline at end of file diff --git a/Objects/205_roller/usd_decomposition_linux/config.yaml b/Objects/205_roller/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..97526f6cee3be0e49d006ed6242d3e41e0d93edc --- /dev/null +++ b/Objects/205_roller/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/205_roller/base2.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/205_roller/usd_decomposition_linux +usd_file_name: base2.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.35 + 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 16:55:32. +## diff --git a/Objects/205_roller/usd_sdf_linux/.asset_hash b/Objects/205_roller/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..052f89d2a38aebd2191f8d0cf2afcf47fde88740 --- /dev/null +++ b/Objects/205_roller/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +ec29b195b8a88488ee6850ed9242f4cf \ No newline at end of file diff --git a/Objects/205_roller/usd_sdf_linux/config.yaml b/Objects/205_roller/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34285fef92136fdfe85249f33ff15ff382a331d3 --- /dev/null +++ b/Objects/205_roller/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/205_roller/base2.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/205_roller/usd_sdf_linux +usd_file_name: base2.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.35 + 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 18:27:51. +## diff --git a/Objects/209_soap/.asset_hash b/Objects/209_soap/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..6ef26690a73ba8e853901f39af12eda822dd9b09 --- /dev/null +++ b/Objects/209_soap/.asset_hash @@ -0,0 +1 @@ +8e29c75d3a6a0fda1bc31ebeae663dd7 \ No newline at end of file diff --git a/Objects/209_soap/config.yaml b/Objects/209_soap/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d6c302d2a80e2c9a04963231b0e0f4fd2ae3906a --- /dev/null +++ b/Objects/209_soap/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\209_soap\visual\base3.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\209_soap\visual +usd_file_name: base3.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.15 + 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 2026-03-05 at 02:50:22. +## diff --git a/Objects/209_soap/usd_decomposition_linux/.asset_hash b/Objects/209_soap/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..da6ee2a9938e04bd2a50a2f92355f5bd0058173e --- /dev/null +++ b/Objects/209_soap/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +0e95773d17d10a2bbd3392969b7b2a2b \ No newline at end of file diff --git a/Objects/209_soap/usd_decomposition_linux/config.yaml b/Objects/209_soap/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5ccc77e8b8d12d4d0a699d4a1fc86d8eb7c3e7bc --- /dev/null +++ b/Objects/209_soap/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/209_soap/base3.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/209_soap/usd_decomposition_linux +usd_file_name: base3.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.15 + 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 16:55:55. +## diff --git a/Objects/209_soap/usd_sdf_linux/.asset_hash b/Objects/209_soap/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..35aa6aede5a81c7cff67263d8b85a6cee4ea68f4 --- /dev/null +++ b/Objects/209_soap/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +058d156632fc324764007074fc4d338f \ No newline at end of file diff --git a/Objects/209_soap/usd_sdf_linux/config.yaml b/Objects/209_soap/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fdb1c70963eaf45836567be817b64e488ff8957d --- /dev/null +++ b/Objects/209_soap/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/209_soap/base3.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/209_soap/usd_sdf_linux +usd_file_name: base3.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.15 + 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 18:28:28. +## diff --git a/Objects/213_callbell/.asset_hash b/Objects/213_callbell/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..025bf83f823a49b9200fd5cc23d34a4e434b0b93 --- /dev/null +++ b/Objects/213_callbell/.asset_hash @@ -0,0 +1 @@ +860592db49942d9a478b5e0152554ef9 \ No newline at end of file diff --git a/Objects/213_callbell/config.yaml b/Objects/213_callbell/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb3c8867485be59fc2a764186715b529ad9493e9 --- /dev/null +++ b/Objects/213_callbell/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\213_callbell\visual\base5.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\213_callbell\visual +usd_file_name: base5.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.2 + 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 2026-03-05 at 02:54:05. +## diff --git a/Objects/213_callbell/usd_decomposition_linux/.asset_hash b/Objects/213_callbell/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..5646fbce02274ce5dd6e33cc7a01b41094ebcc07 --- /dev/null +++ b/Objects/213_callbell/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +e47a18f80b0fba7e21a8d7d7e747df98 \ No newline at end of file diff --git a/Objects/213_callbell/usd_decomposition_linux/config.yaml b/Objects/213_callbell/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a2c38867f32a08145835f9a8a73eb0168689eeed --- /dev/null +++ b/Objects/213_callbell/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/213_callbell/base5.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/213_callbell/usd_decomposition_linux +usd_file_name: base5.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.2 + 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 16:56:17. +## diff --git a/Objects/213_callbell/usd_sdf_linux/.asset_hash b/Objects/213_callbell/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..2e3b216657387e3b55b5a4af77c1b0671973140a --- /dev/null +++ b/Objects/213_callbell/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +491664b83cb4d3ecc1ce37f791a3fc0a \ No newline at end of file diff --git a/Objects/213_callbell/usd_sdf_linux/config.yaml b/Objects/213_callbell/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d472abca0654dd330efda249b1e9d3fa78860be2 --- /dev/null +++ b/Objects/213_callbell/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/213_callbell/base5.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/213_callbell/usd_sdf_linux +usd_file_name: base5.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.2 + 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 18:29:05. +## diff --git a/Objects/217_whiteboard-eraser/.asset_hash b/Objects/217_whiteboard-eraser/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..40258c4b10b002e7bea80567e65916ee40042db4 --- /dev/null +++ b/Objects/217_whiteboard-eraser/.asset_hash @@ -0,0 +1 @@ +53769ba67864cd90535cabca9a7526f0 \ No newline at end of file diff --git a/Objects/217_whiteboard-eraser/config.yaml b/Objects/217_whiteboard-eraser/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ebea5347022da95efaaf6cd8515b9af7a227f623 --- /dev/null +++ b/Objects/217_whiteboard-eraser/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\217_whiteboard-eraser\visual\base0.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\217_whiteboard-eraser\visual +usd_file_name: base0.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 +- 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 2026-03-05 at 02:57:19. +## diff --git a/Objects/217_whiteboard-eraser/usd_decomposition_linux/.asset_hash b/Objects/217_whiteboard-eraser/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..9169f43696dec4ab67f90ea6f437c66bbdaee928 --- /dev/null +++ b/Objects/217_whiteboard-eraser/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +d22ec8b6651070c7cf821a3eb672f479 \ No newline at end of file diff --git a/Objects/217_whiteboard-eraser/usd_decomposition_linux/config.yaml b/Objects/217_whiteboard-eraser/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..74760e310533d6023cd953dbabb1c4e680207af7 --- /dev/null +++ b/Objects/217_whiteboard-eraser/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/217_whiteboard-eraser/base0.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/217_whiteboard-eraser/usd_decomposition_linux +usd_file_name: base0.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 16:56:39. +## diff --git a/Objects/217_whiteboard-eraser/usd_sdf_linux/.asset_hash b/Objects/217_whiteboard-eraser/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..7103a5d139d6b164b20d3ecc3d16ae5be6351351 --- /dev/null +++ b/Objects/217_whiteboard-eraser/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +e327473b09ff71ca0597e74cb831c949 \ No newline at end of file diff --git a/Objects/217_whiteboard-eraser/usd_sdf_linux/config.yaml b/Objects/217_whiteboard-eraser/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5e06838a014312088f133423c0a95d0446c18523 --- /dev/null +++ b/Objects/217_whiteboard-eraser/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/217_whiteboard-eraser/base0.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/217_whiteboard-eraser/usd_sdf_linux +usd_file_name: base0.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 +- 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 18:29:42. +## diff --git a/Objects/220_plant/.asset_hash b/Objects/220_plant/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..40983fa6665e8540cddd1ca6eb6fcbdbb5bd0f6e --- /dev/null +++ b/Objects/220_plant/.asset_hash @@ -0,0 +1 @@ +9d0af88bb5841e31c778a44d83bdd68a \ No newline at end of file diff --git a/Objects/220_plant/config.yaml b/Objects/220_plant/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5335e964cf2a0155d44004728bb56783bd9d1fb7 --- /dev/null +++ b/Objects/220_plant/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_spaien\220_plant\visual\base0.glb +usd_dir: E:\phd\research\dex\datasets\ycb_spaien\220_plant\visual +usd_file_name: base0.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.7 + 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 2026-03-05 at 02:57:51. +## diff --git a/Objects/220_plant/usd_decomposition_linux/.asset_hash b/Objects/220_plant/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..17fc434f5df0cfec4979d3e13ff3b38e71a32bcf --- /dev/null +++ b/Objects/220_plant/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +17d068fbaae657440b7841afc6c24087 \ No newline at end of file diff --git a/Objects/220_plant/usd_decomposition_linux/config.yaml b/Objects/220_plant/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0ef6734c0d07e8e73292303c6041ac15fe974f4b --- /dev/null +++ b/Objects/220_plant/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/220_plant/base0.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/220_plant/usd_decomposition_linux +usd_file_name: base0.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.7 + 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 16:56:56. +## diff --git a/Objects/220_plant/usd_sdf_linux/.asset_hash b/Objects/220_plant/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..aaaa7e7b0a6c3a07870c48f457cb2c664d81fbb2 --- /dev/null +++ b/Objects/220_plant/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +0d8af3a0bdeac113bd4b3a8a04ff9019 \ No newline at end of file diff --git a/Objects/220_plant/usd_sdf_linux/config.yaml b/Objects/220_plant/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3f3fb27bc706758278df1d469b56660d8ee83fd --- /dev/null +++ b/Objects/220_plant/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/220_plant/base0.glb +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/220_plant/usd_sdf_linux +usd_file_name: base0.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.7 + 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 18:30:09. +## diff --git a/Objects/308_folding_knife/01_folding_knife/01/meta.json b/Objects/308_folding_knife/01_folding_knife/01/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a8a2e03ebcc0855f69fb696613593ca1fb89ffca --- /dev/null +++ b/Objects/308_folding_knife/01_folding_knife/01/meta.json @@ -0,0 +1,7 @@ +{ + "category": "Knife", + "source": "PhysX_mobility", + "source_id": "103723", + "task_object_number": 308, + "usd_collision_approximation": "convex_decomposition" +} diff --git a/Objects/308_folding_knife/01_folding_knife/01/mobility.urdf b/Objects/308_folding_knife/01_folding_knife/01/mobility.urdf new file mode 100644 index 0000000000000000000000000000000000000000..4fa0733ea46d891644bc1b92e47cd654167ad994 --- /dev/null +++ b/Objects/308_folding_knife/01_folding_knife/01/mobility.urdf @@ -0,0 +1,186 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Objects/308_folding_knife/01_folding_knife/01/mobility_v2.json b/Objects/308_folding_knife/01_folding_knife/01/mobility_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..552aa51a126779594ccc1ead495c4027f172e33c --- /dev/null +++ b/Objects/308_folding_knife/01_folding_knife/01/mobility_v2.json @@ -0,0 +1,80 @@ +{ + "object_name": "Knife", + "category": "Folding Knife", + "dimension": "20*3*2", + "parts": [ + { + "label": 0, + "name": "Rotation Blade", + "material": "Stainless Steel", + "density": "7.8 g/cm^3", + "Young's Modulus (GPa)": 200.0, + "Poisson's Ratio": 0.3, + "priority_rank": 5, + "Basic_description": "This is the rotation blade of a folding knife, made of stainless steel. It is a sharp, metallic component designed for cutting.", + "Functional_description": "The blade performs the cutting function of the knife. It can rotate or fold into the base body for safety and portability.", + "Movement_description": "It rotates around a pivot joint to fold into or extend out from the base body.", + "obj": [ + "original-15" + ] + }, + { + "label": 1, + "name": "Base Body", + "material": "Wood", + "density": "0.7 g/cm^3", + "Young's Modulus (GPa)": 10.0, + "Poisson's Ratio": 0.35, + "priority_rank": 1, + "Basic_description": "This is the base body or handle of the folding knife, made of wood. It provides grip and houses the rotating blade.", + "Functional_description": "The base body serves as the handle for holding and controlling the knife. It also contains the pivot mechanism for the blade.", + "Movement_description": "It remains stationary during use, providing a stable grip while the blade rotates relative to it.", + "obj": [ + "original-21", + "original-28", + "original-26", + "original-4", + "original-3", + "original-2", + "original-16", + "original-8", + "original-13", + "original-9", + "original-5", + "original-27", + "original-6", + "original-23", + "original-11", + "original-18", + "original-25", + "original-12", + "original-24", + "original-20", + "original-10", + "original-19" + ] + } + ], + "group_info": { + "0": [ + 1 + ], + "1": [ + [ + 0 + ], + "0", + [ + 0.0, + -1.0, + 0.0, + -0.011503965084021558, + 0.0, + 0.25647755649304516, + -0.8440000000000001, + 0.0 + ], + "C" + ] + } +} \ No newline at end of file diff --git a/Objects/308_folding_knife/01_folding_knife/01/textured_objs/original-10.mtl b/Objects/308_folding_knife/01_folding_knife/01/textured_objs/original-10.mtl new file mode 100644 index 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a/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-4.mtl b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-4.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-4.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-4.obj b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-4.obj new file mode 100644 index 0000000000000000000000000000000000000000..e30da5eb1b534ddf66ed363ae28e16011fa35bf0 --- /dev/null +++ b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-4.obj @@ -0,0 +1,145 @@ +# SSTK version 0.8.0 +# 4 +mtllib original-4.mtl +o 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65//12 66//12 +f 67//5 68//5 69//5 +f 70//6 71//6 72//6 +f 73//9 74//9 75//9 +f 76//10 77//10 78//10 +f 79//11 80//11 81//11 +f 82//12 83//12 84//12 +f 85//5 86//5 87//5 +f 88//6 89//6 90//6 +f 91//5 92//5 93//5 +f 94//6 95//6 96//6 diff --git a/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-4.obj.convex.stl b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-4.obj.convex.stl new file mode 100644 index 0000000000000000000000000000000000000000..c2f2d50b973bb42e97bc95d3b7de0fd061c66b0c --- /dev/null +++ b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-4.obj.convex.stl @@ -0,0 +1,194 @@ +solid AssimpScene + facet normal 0 0 0 + outer loop + vertex 0.0595609993 0.833369017 0.113715 + vertex 0.0692320019 0.833369017 0.106892996 + vertex 0.0692320019 0.833369017 -0.339666963 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.0595609993 0.833369017 0.113715 + vertex 0.0692320019 0.833369017 -0.339666963 + vertex 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outer loop + vertex 0.0595609993 0.833369017 0.113715 + vertex 0.0595609993 0.681317985 0.113715 + vertex 0.0692320019 0.681317985 0.106892996 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.0595609993 0.833369017 0.113715 + vertex 0.0692320019 0.681317985 0.106892996 + vertex 0.0692320019 0.833369017 0.106892996 + endloop + endfacet + +endsolid AssimpScene diff --git a/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-5.mtl b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-5.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-5.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-5.obj b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-5.obj new file mode 100644 index 0000000000000000000000000000000000000000..3969700bb50b89b98f08b789f296151c2b9ea353 --- /dev/null +++ b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-5.obj @@ -0,0 +1,15 @@ +# SSTK version 0.8.0 +# 5 +mtllib original-5.mtl +o 3dw.9b9a4bb5550f00ea586350d6e78ecc7/Model/mesh1/mesh1-geometry/material_2/component_2#mesh1-geometry +v 0.069232 0.907000 0.449623 +v 0.069232 0.906402 0.106893 +v 0.069232 0.907000 0.106893 +v 0.069232 0.907000 0.106893 +v 0.069232 0.906402 0.106893 +v 0.069232 0.907000 0.449623 +vn 1 0 0 +vn -1 0 0 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 4//2 5//2 6//2 diff --git a/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-5.obj.convex.stl b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-5.obj.convex.stl new file mode 100644 index 0000000000000000000000000000000000000000..ad05a1613e7d7ecaa37791e7743e804235d70039 --- /dev/null +++ b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-5.obj.convex.stl @@ -0,0 +1,34 @@ +solid AssimpScene + facet normal 0 0 0 + outer loop + vertex 0.0692021027 0.906401992 0.449622989 + vertex 0.0692619011 0.906999946 0.106893003 + vertex 0.0692021027 0.906401992 0.106893003 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.0692619011 0.906401992 0.106893003 + vertex 0.0692021027 0.906401992 0.449622989 + vertex 0.0692021027 0.906401992 0.106893003 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.0692619011 0.906401992 0.106893003 + vertex 0.0692021027 0.906401992 0.106893003 + vertex 0.0692619011 0.906999946 0.106893003 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.0692619011 0.906401992 0.106893003 + vertex 0.0692619011 0.906999946 0.106893003 + vertex 0.0692021027 0.906401992 0.449622989 + endloop + endfacet + +endsolid AssimpScene diff --git a/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-6.mtl b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-6.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-6.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-6.obj b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-6.obj new file mode 100644 index 0000000000000000000000000000000000000000..639ef6c7d1d7692111779395c272e99f8591ba58 --- /dev/null +++ b/Objects/312_spray_bottle/01_spray_bottle/01/textured_objs/original-6.obj @@ -0,0 +1,81 @@ +# SSTK version 0.8.0 +# 6 +mtllib original-6.mtl +o 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0000000000000000000000000000000000000000..c6d14536020bb3b578d46a50ca817975a799283d --- /dev/null +++ b/Objects/317_laptop/01_laptop/01/textured_objs/original-28.obj.convex.stl @@ -0,0 +1,338 @@ +solid AssimpScene + facet normal 0 0 0 + outer loop + vertex 0.356606007 0.457605988 -0.688376009 + vertex 0.356153995 0.456014007 -0.686783969 + vertex 0.356606007 0.454342961 -0.685112 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.356606007 0.457605988 -0.688376009 + vertex 0.356606007 0.454342961 -0.685112 + vertex 0.358927995 0.452470005 -0.683239996 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.356606007 0.457605988 -0.688376009 + vertex 0.358927995 0.452470005 -0.683239996 + vertex 0.362560987 0.451799959 -0.682569027 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.356606007 0.457605988 -0.688376009 + vertex 0.362560987 0.451799959 -0.682569027 + vertex 0.366207987 0.452464998 -0.68323493 + endloop + endfacet + + facet normal 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+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 2026-07-15 at 01:16:48. +## diff --git a/Objects/359_dippers_cap/01_dippers_cap/01/usd_decomposition_linux/dippers_cap.usd b/Objects/359_dippers_cap/01_dippers_cap/01/usd_decomposition_linux/dippers_cap.usd new file mode 100644 index 0000000000000000000000000000000000000000..c773fb43ac46e26cbf68aef14e0dacbe65b55ec3 Binary files /dev/null and b/Objects/359_dippers_cap/01_dippers_cap/01/usd_decomposition_linux/dippers_cap.usd differ diff --git a/Objects/objects.md b/Objects/objects.md new file mode 100644 index 0000000000000000000000000000000000000000..21bd838fd1c89163a68e3526832079bfc287360f --- /dev/null +++ b/Objects/objects.md @@ -0,0 +1,447 @@ +# dex2bench 资产目录说明 + +> 路径：`/home/ubuntu/jiangchenyu/dex2bench_dataset/Objects/` +> +> 生成日期：2026-07-10 +> +> 资产总数：约 250+ 个独立资产目录（不含 thor 子变体） + +--- + +## 一、刚体资产（Rigid Body） + +以下所有资产均为**刚体**，USD 文件中不含 `PhysicsArticulationRootAPI` 或任何关节定义，使用时 `body_type: dynamic`。 + +### 1.1 YCB 标准物品（002–077） + +源自 YCB（Yale-CMU-Berkeley）物体数据集，是灵巧操作的标准基准物品。 + +| 目录名 | 中文名称 | 说明 | +|--------|----------|------| +| `002_master_chef_can` | 主厨罐头 | 小型金属罐 | +| `003_cracker_box` | 饼干盒 | 纸盒包装 | +| `004_sugar_box` | 糖盒 | 纸盒包装 | +| `005_tomato_soup_can` | 番茄汤罐头 | 小型金属罐 | +| `006_mustard_bottle` | 芥末瓶 | 塑料挤压瓶 | +| `007_tuna_fish_can` | 金枪鱼罐头 | 小型金属罐 | +| `008_pudding_box` | 布丁盒 | 纸盒包装 | +| `009_gelatin_box` | 果冻盒 | 纸盒包装 | +| `010_potted_meat_can` | 肉罐头 | 小型金属罐 | +| `011_banana` | 香蕉 | 水果 | +| `012_strawberry` | 草莓 | 水果 | +| `013_apple` | 苹果 | 水果 | +| `014_lemon` | 柠檬 | 水果 | +| `015_peach` | 桃子 | 水果 | +| `016_pear` | 梨 | 水果 | +| `017_orange` | 橙子 | 水果 | +| `018_plum` | 李子 | 水果 | +| `019_pitcher_base` | 水壶底座 | 厨房用具 | +| `021_bleach_cleanser` | 漂白清洁剂 | 瓶装 | +| `022_windex_bottle` | 玻璃清洁剂瓶 | 喷雾瓶 | +| `024_bowl` | 碗 | 厨房用具 | +| `025_mug` | 马克杯 | 杯子 | +| `026_sponge` | 海绵 | 清洁用具（可在场景中配置为关节体） | +| `027_skillet` | 煎锅 | 厨房用具 | +| `027-a_skillet` | 煎锅（变体A） | 高精度版本 | +| `028_skillet_lid` | 煎锅盖 | 厨房用具 | +| `029_plate` | 盘子 | 餐具 | +| `030_fork` | 叉子 | 餐具 | +| `031_spoon` | 勺子 | 餐具 | +| `032_knife` | 刀 | 餐具 | +| `033_spatula` | 锅铲 | 厨房用具 | +| `035_power_drill` | 电钻 | 工具 | +| `036_wood_block` | 木块 | 木块 | +| `037_scissors` | 剪刀 | 工具 | +| `037-a_scissors` | 剪刀（变体A） | 高精度版本 | +| `037-b_scissors` | 剪刀（变体B） | 高精度版本 | +| `038_padlock` | 挂锁 | 小型金属件 | +| `040_large_marker` | 大号马克笔 | 文具 | +| `042_adjustable_wrench` | 活动扳手 | 工具 | +| `043_phillips_screwdriver` | 十字螺丝刀 | 工具 | +| `044_flat_screwdriver` | 平头螺丝刀 | 工具 | +| `048_hammer` | 锤子 | 工具 | +| `050_medium_clamp` | 中型夹钳 | 工具 | +| `051_large_clamp` | 大型夹钳 | 工具 | +| `052_extra_large_clamp` | 特大夹钳 | 工具 | +| `053_mini_soccer_ball` | 迷你足球 | 球类 | +| `054_softball` | 垒球 | 球类 | +| `055_baseball` | 棒球 | 球类 | +| `056_tennis_ball` | 网球 | 球类 | +| `057_racquetball` | 壁球 | 球类 | +| `058_golf_ball` | 高尔夫球 | 球类 | +| `059_chain` | 链条 | 柔性物体 | +| `061_foam_brick` | 泡沫砖 | 方块 | +| `062_dice` | 骰子 | 小型方块 | +| `063-a_marbles` | 弹珠（变体A） | 小球 | +| `063-b_marbles` | 弹珠（变体B） | 小球 | +| `065-a_cups` ～ `065-j_cups` | 杯子（变体A–J） | 10种杯子变体 | +| `070-a_colored_wood_blocks` | 彩色木块（变体A） | 积木 | +| `070-b_colored_wood_blocks` | 彩色木块（变体B） | 积木 | +| `071_nine_hole_peg_test` | 九孔钉测试板 | 灵巧操作测试工具 | +| `071-b_nine_hole_peg_test` | 九孔钉测试板（变体B） | 高精度版本 | +| `071-c_nine_hole_peg_test` | 九孔钉测试板（变体C） | 高精度版本 | +| `072-a_toy_airplane` ～ `072-e_toy_airplane` | 玩具飞机（变体A–E） | 5种飞机变体 | +| `073-a_lego_duplo` ～ `073-g_lego_duplo` | 乐高得宝积木（A–G） | 7种积木变体 | +| `077_rubiks_cube` | 魔方 | 魔方 | + +### 1.2 PartNet-Mobility 物品（080–125） + +源自 PartNet-Mobility 数据集。虽然源数据集是关节物体，但本目录中的 USD 导出版本**不含关节定义**，均视为刚体。 + +| 目录名 | 中文名称 | 说明 | +|--------|----------|------| +| `080_bottle` | 瓶子 | 容器 | +| `081_box` | 盒子 | 容器 | +| `082_bucket` | 水桶 | 容器 | +| `083_camera` | 相机 | 电子设备 | +| `084_cart` | 推车 | 家具 | +| `085_chair` | 椅子 | 家具 | +| `086_clock` | 时钟 | 家居用品 | +| `087_coffeemachine` | 咖啡机 | 家电 | +| `088_dishwasher` | 洗碗机 | 家电 | +| `089_dispenser` | 分配器 | 设备 | +| `090_display` | 显示器 | 电子设备 | +| `091_door` | 门 | 建筑构件 | +| `092_eyeglasses` | 眼镜 | 个人用品 | +| `093_fan` | 风扇 | 家电 | +| `094_faucet` | 水龙头 | 卫浴设备 | +| `095_foldingchair` | 折叠椅 | 家具 | +| `096_globe` | 地球仪 | 装饰品 | +| `097_kettle` | 水壶 | 厨房电器 | +| `098_keyboard` | 键盘 | 电脑配件 | +| `099_kitchenpot` | 厨房锅 | 厨房用具 | +| `100_knife` | 刀 | 厨房用具 | +| `101_lamp` | 台灯 | 灯具 | +| `102_laptop` | 笔记本电脑 | 电子设备 | +| `103_lighter` | 打火机 | 小型物品 | +| `104_microwave` | 微波炉 | 家电 | +| `105_mouse` | 鼠标 | 电脑配件 | +| `106_oven` | 烤箱 | 家电 | +| `107_pen` | 笔 | 文具 | +| `108_phone` | 电话 | 电子设备 | +| `109_pliers` | 钳子 | 工具 | +| `111_refrigerator` | 冰箱 | 家电 | +| `112_remote` | 遥控器 | 电子设备 | +| `113_safe` | 保险箱 | 柜子 | +| `114_scissors` | 剪刀 | 工具 | +| `115_stapler` | 订书机 | 文具 | +| `116_storagefurniture` | 储物柜 | 家具 | +| `117_suitcase` | 手提箱 | 箱包 | +| `118_switch` | 开关 | 电器配件 | +| `119_table` | 桌子 | 家具 | +| `120_toaster` | 烤面包机 | 厨房电器 | +| `121_toilet` | 马桶 | 卫浴设备 | +| `122_trashcan` | 垃圾桶 | 家居用品 | +| `123_usb` | U盘 | 电子设备 | +| `124_washingmachine` | 洗衣机 | 家电 | +| `125_window` | 窗户 | 建筑构件 | + +### 1.3 DexGraspNet 风格物品（126–222） + +各类日常生活物品，来自不同的抓取和操作数据集。 + +| 目录名 | 中文名称 | 目录名 | 中文名称 | +|--------|----------|--------|----------| +| `126_fluted-block` | 凹槽块 | `127_french-fries` | 薯条 | +| `128_hamburg` | 汉堡 | `129_shoe-box` | 鞋盒 | +| `130_tray` | 托盘 | `131_dustbin` | 垃圾桶 | +| `132_plant-pot` | 花盆 | `133_dumbbell-rack` | 哑铃架 | +| `134_bookcase` | 书架 | `135_calculator` | 计算器 | +| `136_microphone` | 麦克风 | `137_coaster` | 杯垫 | +| `138_cup` | 杯子 | `139_cup-with-liquid` | 杯子（带液体） | +| `140_tissue-box` | 纸巾盒 | `141_scanner` | 扫描仪 | +| `142_chips-tub` | 薯片桶 | `143_pet-collar` | 宠物项圈 | +| `144_table-tennis` | 乒乓球 | `145_roll-paper` | 卷纸 | +| `146_olive-oil` | 橄榄油 | `147_drill` | 钻头 | +| `148_jam-jar` | 果酱罐 | `149_screwdriver` | 螺丝刀 | +| `150_cabinet` | 柜子 | `151_milk-box` | 牛奶盒 | +| `152_rack` | 架子 | `153_shoe` | 鞋子 | +| `154_wooden_box` | 木盒 | `155_book` | 书 | +| `156_sand-clock` | 沙漏 | `157_alarm-clock` | 闹钟 | +| `158_shampoo` | 洗发水 | `159_bell` | 铃铛 | +| `160_candlestick` | 烛台 | `161_dumbbell` | 哑铃 | +| `162_teanet` | 茶漏 | `163_baguette` | 法棍面包 | +| `164_small-speaker` | 小音箱 | `165_toycar` | 玩具车 | +| `166_markpen` | 马克笔 | `167_pencup` | 笔筒 | +| `168_battery` | 电池 | `169_plasticbox` | 塑料盒 | +| `170_tabletrashbin` | 桌面垃圾桶 | `171_msg` | 味精 | +| `172_soy-sauce` | 酱油 | `173_vinegar` | 醋 | +| `174_steamer` | 蒸锅 | `175_boxdrink` | 盒装饮料 | +| `176_vagetable` | 蔬菜 | `177_paymentsign` | 付款牌 | +| `178_can` | 易拉罐 | `179_electronicscale` | 电子秤 | +| `180_rubikscube` | 魔方 | `181_displaystand` | 展示架 | +| `182_bread` | 面包 | `183_breadbasket` | 面包篮 | +| `184_phonestand` | 手机支架 | `185_remotecontrol` | 遥控器 | +| `186_pillbottle` | 药瓶 | `187_playingcards` | 扑克牌 | +| `188_smallshovel` | 小铲子 | `189_brush` | 刷子 | +| `190_woodenmallet` | 木槌 | `191_gong` | 锣 | +| `192_woodenblock` | 木块 | `193_waterer` | 浇水器 | +| `194_wineglass` | 红酒杯 | `195_trophy` | 奖杯 | +| `196_notebook` | 笔记本 | `197_brush-pen` | 毛笔 | +| `198_rest` | 搁架 | `199_glue` | 胶水 | +| `200_cleaner` | 清洁剂 | `201_screen` | 屏幕 | +| `202_speaker` | 音箱 | `203_seal` | 印章 | +| `204_milk-tea` | 奶茶 | `205_roller` | 滚筒 | +| `206_fruit` | 水果 | `207_board` | 板子 | +| `208_sauce-can` | 酱料罐 | `209_soap` | 肥皂 | +| `210_block` | 积木 | `211_hydrating-oil` | 保湿油 | +| `212_basket` | 篮子 | `213_callbell` | 呼叫铃 | +| `214_tea-box` | 茶盒 | `215_coffee-box` | 咖啡盒 | +| `216_perfume` | 香水 | `217_whiteboard-eraser` | 白板擦 | +| `218_tooth-paste` | 牙膏 | `219_mini-chalkboard` | 小黑板 | +| `220_plant` | 植物 | `221_pen` | 笔 | +| `222_bread_slice` | 面包片 |（无 USD 文件） | | +| `223_chefmate_frypan` | Chefmate 煎锅 | 煎锅 | + +### 1.4 高精度操作物品（300–324） + +高精度版本的关节类日常物品（USD 中不含关节定义，视为刚体）。 + +| 目录名 | 中文名称 | 目录名 | 中文名称 | +|--------|----------|--------|----------| +| `300_mouse` | 鼠标 | `301_dip_switch` | 拨码开关 | +| `302_soap_dispenser` | 皂液器 | `303_camera` | 相机 | +| `304_suitcase` | 手提箱 | `305_box` | 盒子 | +| `306_pen` | 笔 | `307_click_pen` | 按动笔 | +| `308_folding_knife` | 折叠刀 | `309_swiss_army_knife` | 瑞士军刀 | +| `310_shopping_cart` | 购物车 | `311_pliers` | 钳子 | +| `312_spray_bottle` | 喷雾瓶 | `313_dual_faucet` | 双水龙头 | +| `314_cabinet` | 柜子 | `315_eyeglasses` | 眼镜 | +| `316_lighter` | 打火机 | `317_laptop` | 笔记本电脑 | +| `318_locking_suitcase` | 密码锁手提箱 | `319_scissors` | 剪刀 | +| `320_usb_drive` | U盘 | `321_drawer_cabinet` | 抽屉柜 | +| `322_toilet` | 马桶 | `323_safe` | 保险箱 | +| `324_stapler` | 订书机 | | | + +### 1.5 测试资产 + +| 目录名 | 中文名称 | 说明 | +|--------|----------|------| +| `cup1_test` | 测试杯子 | 仅用于测试，刚体 | + +--- + +## 二、关节体资产（Articulation Body） + +以下所有资产位于 `thor/` 子目录中，源自 **iTHOR / RoboTHOR** 数据集。每个资产的 `.usda` 文件均包含 `PhysicsArticulationRootAPI` 以及转动关节（`PhysicsRevoluteJoint`）或棱柱关节（`PhysicsPrismaticJoint`），使用时需设 `body_type: articulation` 并配置 `actuators`。 + +> 每个 iTHOR 资产通常拥有 3 个目录：``（主文件）、`_mesh`（网格）、`_prim`（原始几何体）。以下按类别列出**主资产名称**。 + +### 2.1 厨房类 + +| 资产前缀 | 中文名称 | 关节说明 | +|----------|----------|----------| +| `Microwave`（约30个变体）| 微波炉 | 转动关节（门）| +| `Toaster`（约2个变体）| 烤面包机 | 转动关节（按压机构）| +| `Fridge`（约20+个变体）| 冰箱 | 转动关节（门）| +| `Kettle`（约20+个变体）| 水壶 | 转动关节（盖）| +| `Pot`（约30个变体）| 锅 | 转动关节（盖/把手）| +| `Pan`（约10个变体）| 平底锅 | 转动关节 | +| `coffee_machine` | 咖啡机 | 转动关节 | +| `StoveKnob1` / `StoveKnob2` / `StoveKnob3` | 炉灶旋钮 | 转动关节 | +| `Kitchen_Faucet` | 厨房水龙头 | 转动关节 | +| `Countertop_*`（多种尺寸）| 厨房台面 | 抽屉/柜门关节 | + +### 2.2 卫浴类 + +| 资产前缀 | 中文名称 | 关节说明 | +|----------|----------|----------| +| `Bathroom_Faucet`（约15个变体）| 浴室水龙头 | 转动关节 | +| `Bathtub_Faucet` | 浴缸水龙头 | 转动关节 | +| `Toilet`（约20+个变体）| 马桶 | 转动关节（盖）| +| `Shower_Head` | 淋浴头 | 转动关节 | +| `Shower_Curtain` | 浴帘 | 棱柱关节 | +| `Soap_Dispenser` | 皂液器 | 棱柱关节 | +| `Soap_Bar` | 肥皂 | 刚体（无关节）| +| `Bath_Towel` | 浴巾 | 刚体 | +| `Bath_Towel_Holder1` | 浴巾架 | 转动关节 | +| `Hand_Towel` | 手巾 | 刚体 | +| `Hand_Towel_Holder1` | 手巾架 | 转动关节 | +| `Toilet_Paper` | 卫生纸 | 转动关节 | +| `Toilet_Paper_Hanger` | 卫生纸挂架 | 转动关节 | +| `Plunger` | 疏通器 | 刚体 | +| `Scrub_Brush` | 刷子 | 刚体 | + +### 2.3 家具类 + +| 资产前缀 | 中文名称 | 关节说明 | +|----------|----------|----------| +| `Armchair_*` | 扶手椅 | 刚体（通常无活动关节）| +| `Chair_*` | 椅子 | 刚体或转动关节 | +| `Office_Chair`（RoboTHOR）| 办公椅 | 转动关节（旋转座椅）| +| `Sofa_*` | 沙发 | 刚体 | +| `Bed` / `Bed_*` | 床 | 刚体 | +| `Desk_*` | 书桌 | 抽屉关节 | +| `Dresser_*` | 抽屉柜 | 抽屉棱柱关节 | +| `Coffee_Table_*` | 茶几 | 刚体或抽屉关节 | +| `Dining_Table_*` | 餐桌 | 刚体或抽屉关节 | +| `Side_Table_*` | 边桌 | 抽屉关节 | +| `TV_Stand_*` | 电视柜 | 抽屉/柜门关节 | +| `Shelving_Unit_*` | 置物架 | 刚体 | +| `IKEACabinet` | 宜家柜子 | 柜门转动关节 | +| `Cabinet_Corner` | 转角柜 | 柜门转动关节 | +| `Cabinet_Straight` | 直柜 | 柜门转动关节 | +| `Footstool` / `Footstool_*` | 脚凳 | 刚体 | +| `Ottoman_*` | 脚凳 | 刚体 | +| `Stool_*` | 凳子 | 刚体 | + +### 2.4 门窗类 + +| 资产前缀 | 中文名称 | 关节说明 | +|----------|----------|----------| +| `Doorway` / `Doorway_Double` | 门洞 | 转动关节（门扇）| +| `Doorframe` / `Doorframe_Double` | 门框 | 转动关节 | +| `Window_*`（多种类型和尺寸）| 窗户 | 转动/滑动关节 | +| `Window_Bay` | 飘窗 | 转动/滑动关节 | +| `Blinds` | 百叶窗 | 转动关节 | + +### 2.5 电子电器类 + +| 资产前缀 | 中文名称 | 关节说明 | +|----------|----------|----------| +| `Television` / `Television_2` | 电视 | 转动关节（支架）| +| `Laptop`（约10+个变体）| 笔记本电脑 | 转动关节（屏幕）| +| `Cellphone` | 手机 | 刚体 | +| `Remote`（约10个变体）| 遥控器 | 刚体 | +| `Alarm_Clock`（约30个变体）| 闹钟 | 刚体 | +| `Clothes_Dryer` | 干衣机 | 转动关节（门）| +| `Washing_Machine` | 洗衣机 | 转动关节（门）| +| `Vacuum_Cleaner_1` | 吸尘器 | 转动关节 | +| `RoboTHORCeiling` | 天花板灯 | 刚体 | +| `RoboTHOR_ceiling_vent` | 天花板通风口 | 刚体 | + +### 2.6 灯具类 + +| 资产前缀 | 中文名称 | 关节说明 | +|----------|----------|----------| +| `Desk_Lamp`（约10+个变体）| 台灯 | 转动关节（灯臂）| +| `Floor_Lamp`（约5+个变体）| 落地灯 | 转动关节（灯臂）| + +### 2.7 装饰与小型物品 + +| 资产前缀 | 中文名称 | 关节说明 | +|----------|----------|----------| +| `Vase_*` | 花瓶（多种形状）| 刚体 | +| `Candle` | 蜡烛 | 转动关节（盖）| +| `Book` | 书 | 转动关节（封面）| +| `Newspaper` | 报纸 | 刚体 | +| `CreditCard` | 信用卡 | 刚体 | +| `CD` | 光盘 | 刚体 | +| `Watch` | 手表 | 转动关节 | +| `Keychain` | 钥匙链 | 刚体 | +| `Pencil` | 铅笔 | 刚体 | +| `Pen` | 笔 | 刚体 | +| `Spray_Bottle` | 喷雾瓶 | 棱柱关节（按压）| +| `Tissue_Box` | 纸巾盒 | 刚体 | +| `Teddy_Bear` | 泰迪熊 | 刚体 | +| `Dog_Bed_1` / `Dog_Bed_2` | 狗窝 | 刚体 | +| `Dog_Statue` | 狗雕像 | 刚体 | +| `Hand_Statue` | 手雕像 | 刚体 | +| `Stone_Statue` | 石雕像 | 刚体 | +| `Fertility_Statue` | 生育雕像 | 刚体 | +| `Towel_Statue` | 毛巾雕像 | 刚体 | +| `Waving_Statue` | 挥手雕像 | 刚体 | + +### 2.8 容器与杂物 + +| 资产前缀 | 中文名称 | 关节说明 | +|----------|----------|----------| +| `Box`（约10个变体）| 盒子 | 转动关节（盖）| +| `Bowl` / `Mug` / `Cup` / `Plate` | 碗/杯/盘 | 刚体 | +| `Bottle` / `Wine_Bottle` | 瓶子/酒瓶 | 刚体 | +| `Bread` | 面包 | 刚体 | +| `Apple` / `Tomato` / `Lettuce` / `Egg` / `Potato` | 水果蔬菜 | 刚体 | +| `Egg_Cracked` | 碎鸡蛋 | 刚体 | +| `ButterKnife` / `Knife` / `Fork` / `Spoon` / `Spatula` | 餐具 | 刚体 | +| `Ladle` | 汤勺 | 刚体 | +| `Pepper_Shaker` / `Salt_Shaker` | 胡椒瓶/盐瓶 | 刚体 | +| `Dish_Sponge` | 洗碗海绵 | 刚体 | +| `Paper_Towel` | 厨房纸巾 | 刚体 | +| `Aluminum_Foil` | 铝箔 | 刚体 | +| `Tennis_Racquet` | 网球拍 | 刚体 | +| `BaseballBat` | 棒球棒 | 刚体 | +| `Basketball` | 篮球 | 刚体 | +| `Dumbbell_1` | 哑铃 | 刚体 | +| `Boot` | 靴子 | 刚体 | +| `Cloth` | 布料 | 刚体 | +| `Pillow` | 枕头 | 刚体 | +| `FloorTile` | 地砖 | 刚体 | +| `Watering_Can` | 浇水壶 | 刚体 | +| `GarbageBag_21` | 垃圾袋 | 刚体 | +| `Laundry_Hamper_1` | 洗衣篮 | 刚体 | +| `Safe_18` | 保险箱 | 转动关节（门）| +| `Sink` | 水槽 | 刚体 | +| `Bin` | 垃圾桶 | 刚体 | + +### 2.9 建筑构件 + +| 资产前缀 | 中文名称 | 关节说明 | +|----------|----------|----------| +| `Wall` | 墙壁 | 刚体 | +| `RoboTHOR_wall_panel` / `RoboTHOR_wall_panel_32` | 墙板 | 刚体 | +| `RoboTHOR_outer_boundary` | 外边界 | 刚体 | +| `Wall_Decor_Painting_*` | 墙面装饰画 | 刚体 | +| `Wall_Decor_Photo_*` | 墙面装饰照片 | 刚体 | +| `Room_Decor_1` | 房间装饰 | 刚体 | +| `Tabletop_Decor_1` | 桌面装饰 | 刚体 | +| `DecorativeBox1` ～ `DecorativeBox4` | 装饰盒 | 刚体 | +| `Desk_315` 等的 `Desktop_316` | 桌面 | 刚体 | + +--- + +## 三、使用说明 + +### 3.1 刚体配置示例 + +```yaml +assets: + a077_rubiks_cube: + path: ../../dex2bench_dataset/Objects/077_rubiks_cube/usd_decomposition_linux/textured.usd + scale: [1.8, 1.8, 1.8] + body_type: dynamic # 刚体使用 dynamic + spawn: + mass_props: + mass: 0.3 +``` + +### 3.2 关节体配置示例 + +```yaml +assets: + my_microwave: + path: ../../dex2bench_dataset/Objects/thor/Microwave_27/Microwave_27.usda + body_type: articulation # 关节体使用 articulation + spawn: + articulation_props: + fix_root_link: false + mass_props: + density: 100.0 + actuators: + door: # 自定义组名 + joint_names_expr: [Microwave_27_joint] + effort_limit_sim: 40.0 + velocity_limit_sim: 4.0 + stiffness: 10.0 + damping: 2.0 +``` + +### 3.3 关节名称查询 + +每个 thor 资产的关节名称可以通过查看其 `.usda` 文件获取： + +```bash +grep "PhysicsRevoluteJoint\|PhysicsPrismaticJoint" 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