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0000000000000000000000000000000000000000..b9c2077856ddc18c76144228a4d3368286be53cc --- /dev/null +++ b/Objects/037-b_scissors/google_16k/usd/.asset_hash @@ -0,0 +1 @@ +5a7498c849a927508e0c9134c6232a48 \ No newline at end of file diff --git a/Objects/037-b_scissors/google_16k/usd/Props/instanceable_meshes.usd b/Objects/037-b_scissors/google_16k/usd/Props/instanceable_meshes.usd new file mode 100644 index 0000000000000000000000000000000000000000..dbdcdfcf325dc50dbff8080d7397a7f0b54cb361 --- /dev/null +++ b/Objects/037-b_scissors/google_16k/usd/Props/instanceable_meshes.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f81cf9829da9088ddd9d606330a7dd4b73d20c1d8b60cef87ebdd1f8ef41c08 +size 1152606 diff --git a/Objects/037-b_scissors/google_16k/usd/config.yaml b/Objects/037-b_scissors/google_16k/usd/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..943de1bb30ac9fda4d060389b2895cec24c12cd4 --- /dev/null +++ b/Objects/037-b_scissors/google_16k/usd/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_models\037-b_scissors\google_16k\textured.obj +usd_dir: E:\phd\research\dex\datasets\ycb_models\037-b_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 11:14:37. +## diff --git a/Objects/037-b_scissors/google_16k/usd/textured.usd b/Objects/037-b_scissors/google_16k/usd/textured.usd new file mode 100644 index 0000000000000000000000000000000000000000..bbf4abb1916c59d40cd9e9e24109dacfde893898 --- /dev/null +++ b/Objects/037-b_scissors/google_16k/usd/textured.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e0e9aaff98393f9054ac7e7ed6dfbb0f7ea238c6a2a7dd4db76ef59de1034c4 +size 1152515 diff --git a/Objects/037-b_scissors/google_16k/usd/textures/texture_map.png b/Objects/037-b_scissors/google_16k/usd/textures/texture_map.png new file mode 100644 index 0000000000000000000000000000000000000000..825f61589f46f92b6e2546d040727a6f04d2e2ec --- /dev/null +++ b/Objects/037-b_scissors/google_16k/usd/textures/texture_map.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b482492db503f8e07927cf6ff63c5e19e8ff641e992f372f8ffd76c2e825b062 +size 2769540 diff --git a/Objects/037-b_scissors/google_16k/usd_decomposition_linux/.asset_hash b/Objects/037-b_scissors/google_16k/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..99009f18be8dbd41778f4cf08d840b804436e7ff --- /dev/null +++ b/Objects/037-b_scissors/google_16k/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +62100fd8ec4f57d8fd7e87e1a0bd6c11 \ No newline at end of file diff --git a/Objects/037-b_scissors/google_16k/usd_decomposition_linux/config.yaml b/Objects/037-b_scissors/google_16k/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..16a0519d0b5f04c8f8b65d4fd1b70136f963cebb --- /dev/null +++ b/Objects/037-b_scissors/google_16k/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/037-b_scissors/google_16k/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/037-b_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 16:43:39. +## diff --git a/Objects/037-b_scissors/google_16k/usd_decomposition_linux/textured.usd b/Objects/037-b_scissors/google_16k/usd_decomposition_linux/textured.usd new file mode 100644 index 0000000000000000000000000000000000000000..e62a05cb92998fb666404e707e0adfd6eea33804 --- /dev/null +++ b/Objects/037-b_scissors/google_16k/usd_decomposition_linux/textured.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a06c652c102eac300d1923484d9854dbdbfec85c23106d4a3d948edbfad09d36 +size 1153315 diff --git a/Objects/037-b_scissors/google_16k/usd_decomposition_linux/textures/texture_map.png b/Objects/037-b_scissors/google_16k/usd_decomposition_linux/textures/texture_map.png new file mode 100644 index 0000000000000000000000000000000000000000..825f61589f46f92b6e2546d040727a6f04d2e2ec --- /dev/null +++ b/Objects/037-b_scissors/google_16k/usd_decomposition_linux/textures/texture_map.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b482492db503f8e07927cf6ff63c5e19e8ff641e992f372f8ffd76c2e825b062 +size 2769540 diff --git a/Objects/037-b_scissors/google_16k/usd_sdf_linux/.asset_hash b/Objects/037-b_scissors/google_16k/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..94ef7ff7949730c84b63a53d85e60b729ea1f537 --- /dev/null +++ b/Objects/037-b_scissors/google_16k/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +47a303e46b2749d6c6b4314dfaf8af10 \ No newline at end of file diff --git a/Objects/037-b_scissors/google_16k/usd_sdf_linux/config.yaml b/Objects/037-b_scissors/google_16k/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c3f1f28d683662629ad3547a6e4b78385e89b267 --- /dev/null +++ b/Objects/037-b_scissors/google_16k/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/037-b_scissors/google_16k/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/037-b_scissors/google_16k/usd_sdf_linux +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.09 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: {} + physx_func: pxr.PhysxSchema:PhysxSDFMeshCollisionAPI + mesh_approximation_name: sdf + sdf_margin: null + sdf_narrow_band_thickness: null + sdf_resolution: null + sdf_subgrid_resolution: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by 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+ + + + + + + + + + + + + + + + + + + + + + + diff --git a/Objects/053_mini_soccer_ball/textured.mtl b/Objects/053_mini_soccer_ball/textured.mtl new file mode 100644 index 0000000000000000000000000000000000000000..c6e411f88f1403a4eddf2aff5ad69428cf84e956 --- /dev/null +++ b/Objects/053_mini_soccer_ball/textured.mtl @@ -0,0 +1,4 @@ +newmtl material_0 +# shader_type beckmann +map_Kd texture_map.png + diff --git a/Objects/053_mini_soccer_ball/textured.obj b/Objects/053_mini_soccer_ball/textured.obj new file mode 100644 index 0000000000000000000000000000000000000000..ac15b08e010d40dd03e7a93fbb99f1c11feccaeb --- /dev/null +++ b/Objects/053_mini_soccer_ball/textured.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6223378447e2410cd09d2815c2c009f864ca3f59b84aad21dbaea574a8aa4de +size 1472156 diff --git a/Objects/053_mini_soccer_ball/usd/.asset_hash b/Objects/053_mini_soccer_ball/usd/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..9e87a5b2e48c3122d97fbb42155e0fb9d200c440 --- /dev/null +++ b/Objects/053_mini_soccer_ball/usd/.asset_hash @@ -0,0 +1 @@ +41f39f9fe3325d29cfbf9f5242daef3a \ No newline at end of file diff --git a/Objects/053_mini_soccer_ball/usd/Props/instanceable_meshes.usd b/Objects/053_mini_soccer_ball/usd/Props/instanceable_meshes.usd new file mode 100644 index 0000000000000000000000000000000000000000..a04ee9cf767131be5b483d803a0d42aee52e749a --- /dev/null +++ b/Objects/053_mini_soccer_ball/usd/Props/instanceable_meshes.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de95c5bc11a75f5d31d4ea938a0e4d31f6deb71c66f7dde93bf070df45989bb0 +size 1156210 diff --git a/Objects/053_mini_soccer_ball/usd/config.yaml b/Objects/053_mini_soccer_ball/usd/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23e359fad3e6f07e3b6fa3bfaf0348917cf2d54c --- /dev/null +++ b/Objects/053_mini_soccer_ball/usd/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_models\053_mini_soccer_ball\google_16k\textured.obj +usd_dir: E:\phd\research\dex\datasets\ycb_models\053_mini_soccer_ball\google_16k\usd +usd_file_name: textured.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 2026-03-02 at 11:16:38. +## diff --git a/Objects/053_mini_soccer_ball/usd/textured.usd b/Objects/053_mini_soccer_ball/usd/textured.usd new file mode 100644 index 0000000000000000000000000000000000000000..5bd3c37b49a84d608f05f83c4e12b1cf2b1edbe6 --- /dev/null +++ b/Objects/053_mini_soccer_ball/usd/textured.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5f7e56bd0920e8312d62e42c1bd711b045beb8646ce8e753339e64f6e1b62c6 +size 1156121 diff --git a/Objects/053_mini_soccer_ball/usd/textures/texture_map.png b/Objects/053_mini_soccer_ball/usd/textures/texture_map.png new file mode 100644 index 0000000000000000000000000000000000000000..072ddc425489180b79271f1bc2fe8648749fefe7 --- /dev/null +++ b/Objects/053_mini_soccer_ball/usd/textures/texture_map.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b146adbcb6098b91f4f5a38de909e8b7998d0aac63d469d18262046e05096d60 +size 6377081 diff --git a/Objects/053_mini_soccer_ball/usd_decomposition_linux/.asset_hash b/Objects/053_mini_soccer_ball/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..c7e6ffe43c669845c8ec13cd1d70576721ed4046 --- /dev/null +++ b/Objects/053_mini_soccer_ball/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +3efddbef1039b9d5ddb8282dba1a2c9c \ No newline at end of file diff --git a/Objects/053_mini_soccer_ball/usd_decomposition_linux/config.yaml b/Objects/053_mini_soccer_ball/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5240e3fadd35bf33dfaa736104599434ff72f95d --- /dev/null +++ b/Objects/053_mini_soccer_ball/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/053_mini_soccer_ball/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/053_mini_soccer_ball/usd_decomposition_linux +usd_file_name: textured.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 16:44:38. +## diff --git a/Objects/053_mini_soccer_ball/usd_decomposition_linux/textured.usd b/Objects/053_mini_soccer_ball/usd_decomposition_linux/textured.usd new file mode 100644 index 0000000000000000000000000000000000000000..2235564450e7d77a169d9204b1c49a15a0f6943b --- /dev/null +++ b/Objects/053_mini_soccer_ball/usd_decomposition_linux/textured.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:593da51b35f34c77617d5c18ec99371f159838ba3359861bce811055dee07e6b +size 1156910 diff --git a/Objects/053_mini_soccer_ball/usd_decomposition_linux/textures/texture_map.png b/Objects/053_mini_soccer_ball/usd_decomposition_linux/textures/texture_map.png new file mode 100644 index 0000000000000000000000000000000000000000..072ddc425489180b79271f1bc2fe8648749fefe7 --- /dev/null +++ b/Objects/053_mini_soccer_ball/usd_decomposition_linux/textures/texture_map.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b146adbcb6098b91f4f5a38de909e8b7998d0aac63d469d18262046e05096d60 +size 6377081 diff --git a/Objects/053_mini_soccer_ball/usd_sdf_linux/.asset_hash b/Objects/053_mini_soccer_ball/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..25f754266fa4310437bac72ee2c066ed88215932 --- /dev/null +++ b/Objects/053_mini_soccer_ball/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ 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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 18:05:17. +## diff --git a/Objects/053_mini_soccer_ball/usd_sdf_linux/textured.usd b/Objects/053_mini_soccer_ball/usd_sdf_linux/textured.usd new file mode 100644 index 0000000000000000000000000000000000000000..a0d3f5bb28c699d38967e785182e0a593d0ce726 --- 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2148 2148 6101 18305 2575 2575 6102 18306 3214 3214 6102 18307 2595 2595 6102 18308 3094 3094 6103 18309 2894 2894 6103 18310 2903 2903 6103 18311 3217 3217 6104 18312 2595 2595 6104 18313 3214 3214 6104 18314 3094 3094 6105 18315 2903 2903 6105 18316 2907 2907 6105 18317 2622 2622 6106 18318 2571 2571 6106 18319 2570 2570 6106 18320 2906 2906 6107 18321 2125 2125 6107 18322 2127 2127 6107 18323 2570 2570 6108 18324 2573 2573 6108 18325 2612 2612 6108 18326 2570 2570 6109 18327 2612 2612 6109 18328 2620 2620 6109 18329 2570 2570 6110 18330 2620 2620 6110 18331 2622 2622 6110 18332 2127 2127 6111 18333 2907 2907 6111 18334 2906 2906 6111 18335 2148 2148 6112 18336 2141 2141 6112 18337 2811 2811 6112 18338 2147 2147 6113 18339 2141 2141 6113 18340 2148 2148 6113 18341 3094 3094 6114 18342 3118 3118 6114 18343 2894 2894 6114 18344 2619 2619 6115 18345 2603 2603 6115 18346 2616 2616 6115 18347 3218 3218 6116 18348 2612 2612 6116 18349 2619 2619 6116 18350 3218 3218 6117 18351 2620 2620 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21535 3503 3503 7178 21536 3775 3775 7179 21537 3762 3762 7179 21538 3760 3760 7179 21539 1965 1965 7180 21540 3760 3760 7180 21541 1179 1179 7180 21542 3548 3548 7181 21543 3782 3782 7181 21544 3783 3783 7181 21545 3553 3553 7182 21546 3548 3548 7182 21547 3783 3783 7182 21548 3784 3784 7183 21549 3785 3785 7183 21550 3786 3786 7183 21551 3787 3787 7184 21552 3788 3788 7184 21553 3789 3789 7184 21554 3788 3788 7185 21555 3790 3790 7185 21556 3789 3789 7185 21557 3790 3790 7186 21558 3766 3766 7186 21559 3789 3789 7186 21560 3766 3766 7187 21561 3767 3767 7187 21562 3789 3789 7187 21563 3767 3767 7188 21564 3785 3785 7188 21565 3789 3789 7188 21566 3785 3785 7189 21567 3784 3784 7189 21568 3789 3789 7189 21569 3784 3784 7190 21570 3787 3787 7190 21571 3789 3789 7190 21572 3775 3775 7191 21573 3786 3786 7191 21574 3787 3787 7191 21575 3787 3787 7192 21576 3786 3786 7192 21577 3785 3785 7192 21578 3787 3787 7193 21579 3785 3785 7193 21580 3769 3769 7193 21581 3785 3785 7194 21582 3767 3767 7194 21583 3769 3769 7194 21584 3788 3788 7195 21585 3787 3787 7195 21586 3769 3769 7195 21587 1965 1965 7196 21588 3786 3786 7196 21589 3760 3760 7196 21590 3775 3775 7197 21591 3760 3760 7197 21592 3786 3786 7197 21593 1965 1965 7198 21594 3784 3784 7198 21595 3786 3786 7198 21596 3775 3775 7199 21597 3787 3787 7199 21598 3784 3784 7199 21599 3784 3784 7200 21600 1965 1965 7200 21601 3775 3775 7200 21602 3790 3790 7201 21603 3772 3772 7201 21604 3766 3766 7201 21605 3791 3791 7202 21606 3772 3772 7202 21607 1965 1965 7202 21608 3792 3792 7203 21609 3790 3790 7203 21610 3788 3788 7203 21611 3792 3792 7204 21612 3769 3769 7204 21613 3774 3774 7204 21614 3792 3792 7205 21615 3788 3788 7205 21616 3769 3769 7205 21617 3792 3792 7206 21618 3793 3793 7206 21619 3790 3790 7206 21620 3772 3772 7207 21621 3790 3790 7207 21622 3793 3793 7207 21623 3794 3794 7208 21624 3793 3793 7208 21625 3792 3792 7208 21626 3794 3794 7209 21627 3792 3792 7209 21628 3774 3774 7209 21629 3794 3794 7210 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21725 3791 3791 7242 21726 1965 1965 7242 21727 1964 1964 7242 21728 1964 1964 7243 21729 3457 3457 7243 21730 3791 3791 7243 21731 3671 3671 7244 21732 3654 3654 7244 21733 3816 3816 7244 21734 3802 3802 7245 21735 3804 3804 7245 21736 3817 3817 7245 21737 3791 3791 7246 21738 3817 3817 7246 21739 3804 3804 7246 21740 3818 3818 7247 21741 3819 3819 7247 21742 3820 3820 7247 21743 3821 3821 7248 21744 3822 3822 7248 21745 3823 3823 7248 21746 3819 3819 7249 21747 3822 3822 7249 21748 3820 3820 7249 21749 3739 3739 7250 21750 3742 3742 7250 21751 3814 3814 7250 21752 3775 3775 7251 21753 3796 3796 7251 21754 3815 3815 7251 21755 3820 3820 7252 21756 3822 3822 7252 21757 3821 3821 7252 21758 3778 3778 7253 21759 3775 3775 7253 21760 3815 3815 7253 21761 3824 3824 7254 21762 3816 3816 7254 21763 3654 3654 7254 21764 3824 3824 7255 21765 3825 3825 7255 21766 3816 3816 7255 21767 3826 3826 7256 21768 3827 3827 7256 21769 3459 3459 7256 21770 3821 3821 7257 21771 3826 3826 7257 21772 3828 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new file mode 100644 index 0000000000000000000000000000000000000000..91770812578157bcb58b589a252ec3e20a4346e3 --- /dev/null +++ b/Objects/070-a_colored_wood_blocks/google_16k/usd/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_models\070-a_colored_wood_blocks\google_16k\textured.obj +usd_dir: E:\phd\research\dex\datasets\ycb_models\070-a_colored_wood_blocks\google_16k\usd +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.45 + 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 11:20:26. +## diff --git a/Objects/070-a_colored_wood_blocks/google_16k/usd/textured.usd b/Objects/070-a_colored_wood_blocks/google_16k/usd/textured.usd new file mode 100644 index 0000000000000000000000000000000000000000..5394096eb3161e4f6386983691dd0be96e9a4c7b --- /dev/null +++ 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+ 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 18:08:31. +## diff --git a/Objects/070-a_colored_wood_blocks/google_16k/usd_sdf_linux/textured.usd b/Objects/070-a_colored_wood_blocks/google_16k/usd_sdf_linux/textured.usd new file mode 100644 index 0000000000000000000000000000000000000000..1261d4d4e3caf668169dfc58b26dc7a0efe07638 --- /dev/null +++ b/Objects/070-a_colored_wood_blocks/google_16k/usd_sdf_linux/textured.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 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3221 3221 6012 18037 3224 3224 6012 18038 3228 3228 6013 18039 3227 3227 6013 18040 3222 3222 6013 18041 3197 3197 6014 18042 3229 3229 6014 18043 3220 3220 6014 18044 3230 3230 6015 18045 3225 3225 6015 18046 3224 3224 6015 18047 3228 3228 6016 18048 3222 3222 6016 18049 3220 3220 6016 18050 3231 3231 6017 18051 3227 3227 6017 18052 3232 3232 6017 18053 3232 3232 6018 18054 3227 3227 6018 18055 3228 3228 6018 18056 3232 3232 6019 18057 3228 3228 6019 18058 3233 3233 6019 18059 3232 3232 6020 18060 3234 3234 6020 18061 3231 3231 6020 18062 3234 3234 6021 18063 3232 3232 6021 18064 3235 3235 6021 18065 3210 3210 6022 18066 2131 2131 6022 18067 2110 2110 6022 18068 3231 3231 6023 18069 3199 3199 6023 18070 3198 3198 6023 18071 3231 3231 6024 18072 3214 3214 6024 18073 3199 3199 6024 18074 3236 3236 6025 18075 3230 3230 6025 18076 3224 3224 6025 18077 3231 3231 6026 18078 3198 3198 6026 18079 3227 3227 6026 18080 3237 3237 6027 18081 3230 3230 6027 18082 3236 3236 6027 18083 3214 3214 6028 18084 3231 3231 6028 18085 3234 3234 6028 18086 3137 3137 6029 18087 3203 3203 6029 18088 3185 3185 6029 18089 3114 3114 6030 18090 3151 3151 6030 18091 3206 3206 6030 18092 3218 3218 6031 18093 3214 3214 6031 18094 3238 3238 6031 18095 3238 3238 6032 18096 3214 3214 6032 18097 3234 3234 6032 18098 3203 3203 6033 18099 3226 3226 6033 18100 3185 3185 6033 18101 3014 3014 6034 18102 2926 2926 6034 18103 3013 3013 6034 18104 3218 3218 6035 18105 3238 3238 6035 18106 3239 3239 6035 18107 3015 3015 6036 18108 3012 3012 6036 18109 3118 3118 6036 18110 3118 3118 6037 18111 3012 3012 6037 18112 3014 3014 6037 18113 3240 3240 6038 18114 3234 3234 6038 18115 3235 3235 6038 18116 3206 3206 6039 18117 3151 3151 6039 18118 3241 3241 6039 18119 3241 3241 6040 18120 3151 3151 6040 18121 3242 3242 6040 18122 2131 2131 6041 18123 3210 3210 6041 18124 3243 3243 6041 18125 3206 3206 6042 18126 3241 3241 6042 18127 3212 3212 6042 18128 2131 2131 6043 18129 3243 3243 6043 18130 1887 1887 6043 18131 3212 3212 6044 18132 3241 3241 6044 18133 3244 3244 6044 18134 3021 3021 6045 18135 3015 3015 6045 18136 3124 3124 6045 18137 3240 3240 6046 18138 3238 3238 6046 18139 3234 3234 6046 18140 3245 3245 6047 18141 3246 3246 6047 18142 3244 3244 6047 18143 3240 3240 6048 18144 3239 3239 6048 18145 3238 3238 6048 18146 3244 3244 6049 18147 3241 3241 6049 18148 3247 3247 6049 18149 3247 3247 6050 18150 3245 3245 6050 18151 3244 3244 6050 18152 3248 3248 6051 18153 3246 3246 6051 18154 3245 3245 6051 18155 3249 3249 6052 18156 3239 3239 6052 18157 3250 3250 6052 18158 3201 3201 6053 18159 3200 3200 6053 18160 3218 3218 6053 18161 3223 3223 6054 18162 3243 3243 6054 18163 3210 3210 6054 18164 3065 3065 6055 18165 3066 3066 6055 18166 3073 3073 6055 18167 3241 3241 6056 18168 3242 3242 6056 18169 3247 3247 6056 18170 3251 3251 6057 18171 3245 3245 6057 18172 3247 3247 6057 18173 3242 3242 6058 18174 3252 3252 6058 18175 3247 3247 6058 18176 3252 3252 6059 18177 3253 3253 6059 18178 3251 3251 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3207 3207 6075 18227 3257 3257 6076 18228 3252 3252 6076 18229 3174 3174 6076 18230 3171 3171 6077 18231 3003 3003 6077 18232 3172 3172 6077 18233 3257 3257 6078 18234 3253 3253 6078 18235 3252 3252 6078 18236 3253 3253 6079 18237 3258 3258 6079 18238 3259 3259 6079 18239 3251 3251 6080 18240 3259 3259 6080 18241 3256 3256 6080 18242 3260 3260 6081 18243 3255 3255 6081 18244 3256 3256 6081 18245 3259 3259 6082 18246 3251 3251 6082 18247 3253 3253 6082 18248 3171 3171 6083 18249 3004 3004 6083 18250 3003 3003 6083 18251 3256 3256 6084 18252 3259 3259 6084 18253 3261 3261 6084 18254 1707 1707 6085 18255 1417 1417 6085 18256 3052 3052 6085 18257 3262 3262 6086 18258 3256 3256 6086 18259 3261 3261 6086 18260 3208 3208 6087 18261 3263 3263 6087 18262 3020 3020 6087 18263 3262 3262 6088 18264 3261 3261 6088 18265 3264 3264 6088 18266 1707 1707 6089 18267 3052 3052 6089 18268 3265 3265 6089 18269 3265 3265 6090 18270 3052 3052 6090 18271 3266 3266 6090 18272 3262 3262 6091 18273 3260 3260 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6123 18369 3278 3278 6123 18370 3275 3275 6123 18371 3208 3208 6124 18372 3239 3239 6124 18373 3263 3263 6124 18374 3271 3271 6125 18375 3280 3280 6125 18376 2966 2966 6125 18377 3249 3249 6126 18378 3263 3263 6126 18379 3239 3239 6126 18380 3269 3269 6127 18381 3223 3223 6127 18382 3213 3213 6127 18383 2954 2954 6128 18384 3271 3271 6128 18385 2966 2966 6128 18386 3236 3236 6129 18387 3224 3224 6129 18388 3278 3278 6129 18389 3260 3260 6130 18390 3279 3279 6130 18391 3255 3255 6130 18392 3279 3279 6131 18393 3274 3274 6131 18394 3255 3255 6131 18395 3267 3267 6132 18396 3279 3279 6132 18397 3260 3260 6132 18398 2758 2758 6133 18399 3263 3263 6133 18400 3249 3249 6133 18401 3279 3279 6134 18402 3267 3267 6134 18403 3281 3281 6134 18404 3282 3282 6135 18405 3263 3263 6135 18406 2758 2758 6135 18407 3279 3279 6136 18408 3281 3281 6136 18409 3278 3278 6136 18410 3282 3282 6137 18411 2758 2758 6137 18412 2759 2759 6137 18413 3223 3223 6138 18414 3269 3269 6138 18415 3277 3277 6138 18416 3070 3070 6139 18417 3283 3283 6139 18418 3082 3082 6139 18419 3284 3284 6140 18420 3285 3285 6140 18421 3237 3237 6140 18422 3286 3286 6141 18423 3281 3281 6141 18424 3267 3267 6141 18425 3287 3287 6142 18426 3281 3281 6142 18427 3286 3286 6142 18428 3288 3288 6143 18429 3283 3283 6143 18430 3289 3289 6143 18431 2554 2554 6144 18432 2596 2596 6144 18433 3270 3270 6144 18434 3270 3270 6145 18435 3213 3213 6145 18436 2554 2554 6145 18437 3288 3288 6146 18438 3082 3082 6146 18439 3283 3283 6146 18440 3290 3290 6147 18441 3236 3236 6147 18442 3278 3278 6147 18443 3282 3282 6148 18444 3276 3276 6148 18445 3020 3020 6148 18446 3020 3020 6149 18447 3263 3263 6149 18448 3282 3282 6149 18449 3290 3290 6150 18450 3284 3284 6150 18451 3236 3236 6150 18452 3284 3284 6151 18453 3237 3237 6151 18454 3236 3236 6151 18455 3058 3058 6152 18456 3082 3082 6152 18457 3288 3288 6152 18458 3281 3281 6153 18459 3290 3290 6153 18460 3278 3278 6153 18461 3288 3288 6154 18462 3271 3271 6154 18463 3058 3058 6154 18464 1887 1887 6155 18465 3243 3243 6155 18466 1958 1958 6155 18467 3169 3169 6156 18468 3143 3143 6156 18469 2819 2819 6156 18470 2942 2942 6157 18471 2819 2819 6157 18472 2871 2871 6157 18473 3254 3254 6158 18474 1958 1958 6158 18475 3243 3243 6158 18476 2819 2819 6159 18477 2942 2942 6159 18478 3169 3169 6159 18479 3290 3290 6160 18480 3291 3291 6160 18481 3284 3284 6160 18482 3291 3291 6161 18483 3292 3292 6161 18484 3284 3284 6161 18485 3280 3280 6162 18486 3271 3271 6162 18487 3288 3288 6162 18488 3162 3162 6163 18489 3169 3169 6163 18490 3293 3293 6163 18491 2942 2942 6164 18492 3294 3294 6164 18493 3169 3169 6164 18494 3287 3287 6165 18495 3290 3290 6165 18496 3281 3281 6165 18497 3290 3290 6166 18498 3287 3287 6166 18499 3291 3291 6166 18500 3169 3169 6167 18501 3295 3295 6167 18502 3293 3293 6167 18503 3294 3294 6168 18504 3295 3295 6168 18505 3169 3169 6168 18506 2722 2722 6169 18507 1958 1958 6169 18508 3254 3254 6169 18509 3287 3287 6170 18510 3296 3296 6170 18511 3291 3291 6170 18512 3294 3294 6171 18513 3297 3297 6171 18514 3295 3295 6171 18515 3170 3170 6172 18516 3139 3139 6172 18517 3298 3298 6172 18518 3299 3299 6173 18519 2964 2964 6173 18520 2966 2966 6173 18521 3300 3300 6174 18522 2722 2722 6174 18523 3254 3254 6174 18524 3178 3178 6175 18525 3301 3301 6175 18526 3174 3174 6175 18527 3186 3186 6176 18528 3302 3302 6176 18529 3303 3303 6176 18530 3186 3186 6177 18531 3303 3303 6177 18532 3197 3197 6177 18533 3145 3145 6178 18534 3170 3170 6178 18535 3178 3178 6178 18536 3197 3197 6179 18537 3303 3303 6179 18538 3229 3229 6179 18539 3304 3304 6180 18540 3229 3229 6180 18541 3303 3303 6180 18542 2688 2688 6181 18543 2964 2964 6181 18544 3299 3299 6181 18545 3303 3303 6182 18546 3302 3302 6182 18547 3304 3304 6182 18548 3305 3305 6183 18549 3229 3229 6183 18550 3304 3304 6183 18551 3299 3299 6184 18552 2686 2686 6184 18553 2688 2688 6184 18554 3170 3170 6185 18555 3306 3306 6185 18556 3307 3307 6185 18557 3308 3308 6186 18558 3299 3299 6186 18559 2966 2966 6186 18560 3307 3307 6187 18561 3178 3178 6187 18562 3170 3170 6187 18563 3309 3309 6188 18564 3307 3307 6188 18565 3306 3306 6188 18566 3300 3300 6189 18567 3254 3254 6189 18568 3277 3277 6189 18569 3162 3162 6190 18570 3293 3293 6190 18571 3186 3186 6190 18572 3307 3307 6191 18573 3301 3301 6191 18574 3178 3178 6191 18575 3310 3310 6192 18576 3301 3301 6192 18577 3307 3307 6192 18578 3307 3307 6193 18579 3309 3309 6193 18580 3310 3310 6193 18581 3302 3302 6194 18582 3293 3293 6194 18583 3311 3311 6194 18584 3186 3186 6195 18585 3293 3293 6195 18586 3302 3302 6195 18587 3302 3302 6196 18588 3311 3311 6196 18589 3312 3312 6196 18590 3302 3302 6197 18591 3312 3312 6197 18592 3304 3304 6197 18593 3304 3304 6198 18594 3312 3312 6198 18595 3305 3305 6198 18596 2662 2662 6199 18597 3138 3138 6199 18598 2656 2656 6199 18599 3313 3313 6200 18600 3233 3233 6200 18601 3305 3305 6200 18602 3233 3233 6201 18603 3313 3313 6201 18604 3314 3314 6201 18605 3314 3314 6202 18606 3313 3313 6202 18607 3315 3315 6202 18608 3316 3316 6203 18609 3315 3315 6203 18610 3317 3317 6203 18611 3289 3289 6204 18612 3283 3283 6204 18613 3318 3318 6204 18614 3312 3312 6205 18615 3311 3311 6205 18616 3319 3319 6205 18617 3293 3293 6206 18618 3295 3295 6206 18619 3311 3311 6206 18620 3295 3295 6207 18621 3320 3320 6207 18622 3311 3311 6207 18623 3311 3311 6208 18624 3320 3320 6208 18625 3319 3319 6208 18626 3321 3321 6209 18627 3319 3319 6209 18628 3322 3322 6209 18629 3298 3298 6210 18630 3139 3139 6210 18631 3138 3138 6210 18632 3318 3318 6211 18633 3323 3323 6211 18634 3289 3289 6211 18635 3300 3300 6212 18636 3324 3324 6212 18637 2722 2722 6212 18638 2725 2725 6213 18639 2727 2727 6213 18640 3323 3323 6213 18641 3313 3313 6214 18642 3305 3305 6214 18643 3312 3312 6214 18644 3312 3312 6215 18645 3325 3325 6215 18646 3313 3313 6215 18647 3324 3324 6216 18648 2730 2730 6216 18649 2722 2722 6216 18650 3321 3321 6217 18651 3312 3312 6217 18652 3319 3319 6217 18653 3312 3312 6218 18654 3321 3321 6218 18655 3325 3325 6218 18656 2725 2725 6219 18657 3323 3323 6219 18658 2729 2729 6219 18659 3326 3326 6220 18660 3313 3313 6220 18661 3325 3325 6220 18662 3317 3317 6221 18663 3326 3326 6221 18664 3327 3327 6221 18665 3328 3328 6222 18666 2662 2662 6222 18667 2663 2663 6222 18668 3313 3313 6223 18669 3326 3326 6223 18670 3315 3315 6223 18671 2662 2662 6224 18672 3328 3328 6224 18673 3138 3138 6224 18674 3317 3317 6225 18675 3315 3315 6225 18676 3326 3326 6225 18677 3325 3325 6226 18678 3321 3321 6226 18679 3329 3329 6226 18680 3326 3326 6227 18681 3325 3325 6227 18682 3329 3329 6227 18683 3288 3288 6228 18684 3289 3289 6228 18685 3280 3280 6228 18686 3326 3326 6229 18687 3329 3329 6229 18688 3330 3330 6229 18689 3297 3297 6230 18690 3331 3331 6230 18691 3295 3295 6230 18692 3295 3295 6231 18693 3331 3331 6231 18694 3320 3320 6231 18695 3269 3269 6232 18696 3332 3332 6232 18697 3333 3333 6232 18698 3322 3322 6233 18699 3319 3319 6233 18700 3320 3320 6233 18701 3328 3328 6234 18702 3298 3298 6234 18703 3138 3138 6234 18704 3308 3308 6235 18705 2966 2966 6235 18706 3280 3280 6235 18707 3329 3329 6236 18708 3321 3321 6236 18709 3322 3322 6236 18710 3322 3322 6237 18711 3334 3334 6237 18712 3329 3329 6237 18713 3280 3280 6238 18714 3289 3289 6238 18715 3308 3308 6238 18716 3333 3333 6239 18717 3277 3277 6239 18718 3269 3269 6239 18719 3328 3328 6240 18720 3335 3335 6240 18721 3336 3336 6240 18722 3289 3289 6241 18723 2727 2727 6241 18724 3308 3308 6241 18725 3323 3323 6242 18726 2727 2727 6242 18727 3289 3289 6242 18728 3294 3294 6243 18729 2942 2942 6243 18730 2988 2988 6243 18731 2686 2686 6244 18732 3299 3299 6244 18733 3308 3308 6244 18734 3308 3308 6245 18735 2727 2727 6245 18736 2686 2686 6245 18737 3317 3317 6246 18738 3337 3337 6246 18739 3338 3338 6246 18740 3337 3337 6247 18741 3317 3317 6247 18742 3327 3327 6247 18743 3170 3170 6248 18744 3298 3298 6248 18745 3306 3306 6248 18746 3326 3326 6249 18747 3330 3330 6249 18748 3327 3327 6249 18749 3306 3306 6250 18750 3298 3298 6250 18751 3336 3336 6250 18752 3333 3333 6251 18753 3339 3339 6251 18754 3277 3277 6251 18755 3337 3337 6252 18756 2760 2760 6252 18757 3338 3338 6252 18758 3336 3336 6253 18759 3298 3298 6253 18760 3328 3328 6253 18761 3337 3337 6254 18762 3327 3327 6254 18763 3340 3340 6254 18764 3337 3337 6255 18765 3340 3340 6255 18766 2760 2760 6255 18767 3336 3336 6256 18768 3341 3341 6256 18769 3306 3306 6256 18770 3341 3341 6257 18771 3336 3336 6257 18772 3342 3342 6257 18773 3343 3343 6258 18774 3341 3341 6258 18775 3342 3342 6258 18776 3193 3193 6259 18777 3180 3180 6259 18778 3194 3194 6259 18779 3344 3344 6260 18780 3341 3341 6260 18781 3343 3343 6260 18782 3341 3341 6261 18783 3309 3309 6261 18784 3306 3306 6261 18785 3341 3341 6262 18786 3344 3344 6262 18787 3309 3309 6262 18788 3310 3310 6263 18789 3309 3309 6263 18790 3344 3344 6263 18791 3345 3345 6264 18792 3310 3310 6264 18793 3344 3344 6264 18794 3345 3345 6265 18795 3346 3346 6265 18796 3347 3347 6265 18797 3194 3194 6266 18798 3348 3348 6266 18799 3193 3193 6266 18800 3349 3349 6267 18801 3346 3346 6267 18802 3344 3344 6267 18803 3340 3340 6268 18804 2682 2682 6268 18805 2760 2760 6268 18806 3345 3345 6269 18807 3344 3344 6269 18808 3346 3346 6269 18809 3347 3347 6270 18810 3346 3346 6270 18811 3350 3350 6270 18812 3347 3347 6271 18813 3350 3350 6271 18814 3351 3351 6271 18815 2596 2596 6272 18816 2607 2607 6272 18817 3270 3270 6272 18818 3352 3352 6273 18819 3348 3348 6273 18820 3353 3353 6273 18821 3354 3354 6274 18822 3355 3355 6274 18823 3351 3351 6274 18824 3356 3356 6275 18825 3193 3193 6275 18826 3352 3352 6275 18827 2996 2996 6276 18828 3297 3297 6276 18829 2988 2988 6276 18830 3270 3270 6277 18831 2607 2607 6277 18832 3269 3269 6277 18833 3352 3352 6278 18834 3193 3193 6278 18835 3348 3348 6278 18836 3357 3357 6279 18837 3297 3297 6279 18838 2996 2996 6279 18839 2996 2996 6280 18840 3358 3358 6280 18841 3357 3357 6280 18842 2945 2945 6281 18843 2996 2996 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+ + + + + + + + + + + + + + + + + + + + + + + diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/textured.mtl b/Objects/071-b_nine_hole_peg_test/google_16k/textured.mtl new file mode 100644 index 0000000000000000000000000000000000000000..c6e411f88f1403a4eddf2aff5ad69428cf84e956 --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/textured.mtl @@ -0,0 +1,4 @@ +newmtl material_0 +# shader_type beckmann +map_Kd texture_map.png + diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/textured.obj b/Objects/071-b_nine_hole_peg_test/google_16k/textured.obj new file mode 100644 index 0000000000000000000000000000000000000000..aad3afae85e67687432268351364e8f44bbba893 --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/textured.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd1f02e1061ec9302a99a076e962e9c100f772b4109cf250b967461483561810 +size 1480166 diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/usd/.asset_hash b/Objects/071-b_nine_hole_peg_test/google_16k/usd/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..23c6e53006c4bb58a8256c9c9679fb55c624b8d0 --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/usd/.asset_hash @@ -0,0 +1 @@ +a0953ce08c326d671d8b3db1976b6951 \ No newline at end of file diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/usd/Props/instanceable_meshes.usd b/Objects/071-b_nine_hole_peg_test/google_16k/usd/Props/instanceable_meshes.usd new file mode 100644 index 0000000000000000000000000000000000000000..923dd16a31580f5ee94cadcdf6cb550dc084fb50 --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/usd/Props/instanceable_meshes.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:132bd0a26154f618705d7650bcc4688a1edfce488daa95dd87844bb45edb5a44 +size 1152360 diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/usd/config.yaml b/Objects/071-b_nine_hole_peg_test/google_16k/usd/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..64c1ed35f31e719a1cfb4ea933959a09393f16df --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/usd/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_models\071-b_nine_hole_peg_test\google_16k\textured.obj +usd_dir: E:\phd\research\dex\datasets\ycb_models\071-b_nine_hole_peg_test\google_16k\usd +usd_file_name: textured.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 2026-03-02 at 11:20:47. +## diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/usd/textured.usd b/Objects/071-b_nine_hole_peg_test/google_16k/usd/textured.usd new file mode 100644 index 0000000000000000000000000000000000000000..34a8bb91a7f77849f35451feab44d1b436f62f43 --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/usd/textured.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc541dcaa3c1d26c2f6cdcf92ab63880bfbe8c086cd0bcc7dd7f35ebb99cd12e +size 1152277 diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/usd/textures/texture_map.png b/Objects/071-b_nine_hole_peg_test/google_16k/usd/textures/texture_map.png new file mode 100644 index 0000000000000000000000000000000000000000..41bf2b4d7f923a52502cf225e9e9888e17099ca0 --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/usd/textures/texture_map.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48a40febcc944758c3f4254757cbf53c4113b0060471187b490b781108539b1b +size 8906348 diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/usd_decomposition_linux/.asset_hash b/Objects/071-b_nine_hole_peg_test/google_16k/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..bfac7bc8e0e170c698c096264ded2bc906eb1b8d --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +0ba46954121ce84ea7d03c135295adc0 \ No newline at end of file diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/usd_decomposition_linux/config.yaml b/Objects/071-b_nine_hole_peg_test/google_16k/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ba22974e4359c8c36436c56a17c812271b6c8a2d --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/071-b_nine_hole_peg_test/google_16k/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/071-b_nine_hole_peg_test/google_16k/usd_decomposition_linux +usd_file_name: textured.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 16:46:43. +## diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/usd_decomposition_linux/textured.usd b/Objects/071-b_nine_hole_peg_test/google_16k/usd_decomposition_linux/textured.usd new file mode 100644 index 0000000000000000000000000000000000000000..34da6be9a8f52475cf96317ce9dcf5c21dc6406b --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/usd_decomposition_linux/textured.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5e0609246f8149490369d21e65b050b921876692490d17e9371c1ea0f3366ff +size 1153078 diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/usd_decomposition_linux/textures/texture_map.png b/Objects/071-b_nine_hole_peg_test/google_16k/usd_decomposition_linux/textures/texture_map.png new file mode 100644 index 0000000000000000000000000000000000000000..41bf2b4d7f923a52502cf225e9e9888e17099ca0 --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/usd_decomposition_linux/textures/texture_map.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48a40febcc944758c3f4254757cbf53c4113b0060471187b490b781108539b1b +size 8906348 diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/usd_sdf_linux/.asset_hash b/Objects/071-b_nine_hole_peg_test/google_16k/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..70229e32f386da5711773484b09ae5365db5db7e --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +744061626c92656d1c9650f1416bfc03 \ No newline at end of file diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/usd_sdf_linux/config.yaml b/Objects/071-b_nine_hole_peg_test/google_16k/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3005f105d0e9f73ec71a9594726af974bbb4cbbd --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/071-b_nine_hole_peg_test/google_16k/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/071-b_nine_hole_peg_test/google_16k/usd_sdf_linux +usd_file_name: textured.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 18:08:49. +## diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/usd_sdf_linux/textured.usd b/Objects/071-b_nine_hole_peg_test/google_16k/usd_sdf_linux/textured.usd new file mode 100644 index 0000000000000000000000000000000000000000..5dcbf092182b3bc78dde1d27235ce9935b179ca9 --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/usd_sdf_linux/textured.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b7491e18c4eea2bc88c577010d3857094ca1cc6ac7c21a505d402e9eb47db1b +size 1153074 diff --git a/Objects/071-b_nine_hole_peg_test/google_16k/usd_sdf_linux/textures/texture_map.png b/Objects/071-b_nine_hole_peg_test/google_16k/usd_sdf_linux/textures/texture_map.png new file mode 100644 index 0000000000000000000000000000000000000000..41bf2b4d7f923a52502cf225e9e9888e17099ca0 --- /dev/null +++ b/Objects/071-b_nine_hole_peg_test/google_16k/usd_sdf_linux/textures/texture_map.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48a40febcc944758c3f4254757cbf53c4113b0060471187b490b781108539b1b +size 8906348 diff --git a/Objects/098_keyboard/01_keyboard/01/bounding_box.json b/Objects/098_keyboard/01_keyboard/01/bounding_box.json new file mode 100644 index 0000000000000000000000000000000000000000..778d648127362cc583ca67cec1b5adad833e4332 --- /dev/null +++ b/Objects/098_keyboard/01_keyboard/01/bounding_box.json @@ -0,0 +1 @@ +{"min": [-0.913315, -0.077195, -0.33944], "max": [0.955768, 0.10832, 0.370055]} \ No newline at end of file diff --git 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/home/ubuntu/zdj/dex2bench_dataset/Objects/148_jam-jar/usd_sdf_linux +usd_file_name: base4.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.45 + 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 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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 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cover or uncover the box opening.", + "obj": [ + "original-3", + "original-4", + "original-2" + ] + }, + { + "label": 2, + "name": "Base Body", + "material": "Cardboard", + "density": "0.69 g/cm^3", + "Young's Modulus (GPa)": 0.004, + "Poisson's Ratio": 0.33, + "priority_rank": 4, + "Basic_description": "This is the base body of the cardboard box, forming the main structure that holds items.", + "Functional_description": "It provides the main storage space and structural support for the box.", + "Movement_description": "It remains stationary and rigid, serving as the foundation for the rotating lids.", + "obj": [ + "original-5", + "original-1" + ] + } + ], + "group_info": { + "0": [ + 2 + ], + "1": [ + [ + 0 + ], + "0", + [ + 0.9945741290525519, + 0.0, + 0.0, + 0.1368375968265807, + 0.25889499999999993, + 0.51237, + -1.038, + 0.46 + ], + "C" + ], + "2": [ + [ + 1 + ], + "0", + [ + -0.9945805685385236, + 0.0, + 0.0, + -0.058312168754828475, + 0.258895, + -0.47283, + -1.032, + 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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 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