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robot-agent-bench assets
The simulation Assets of robot-agent-bench: USD layers, textures, MDL materials, HDR environment maps,
and the planning URDF with its meshes. The bench fetches them on demand with python -m membench.assets.
Layout
| Path | Contents |
|---|---|
robots/marvin/ |
the Marvin rig: its USD layers, marvin_import/ and panda_hand.usd |
robots/marvin/urdf/, robots/marvin/meshes/ |
the planning URDF and its STL meshes |
objects/artvip/ |
articulated objects from ArtVIP |
objects/gso/ |
Google Scanned Objects, converted to USD |
scenes/house_205/ |
the house_205 scene |
scenes/supermarket/ |
the supermarket scene, internal layout kept, including its private copy of the old rig used by the warehouse checkpoint |
README.md |
this card |
Each subtree keeps its internal relative layout, and references between subtrees are relative paths.
Versions
Consumers pin a commit; main moves. robot-agent-bench pins one commit of this repository, and the size
and sha256 of every file it uses, in its assets.lock.json. A new commit here changes nothing for a
consumer until its lock moves.
Access
Access is limited to current contributors of the robot-agent-bench project; other requests are declined. Approved requesters may use this content for research and evaluation only, and may not redistribute it.
Attribution
Third-party content whose terms are known:
- Google Scanned Objects (CC-BY-4.0), converted to USD with box colliders added.
- YCB (CC-BY-4.0).
- ArtVIP (
X-Humanoid/ArtVIP, Apache-2.0). Five object layers (oven_6, dishwasher_3, coffee_machine_6, microwave_2, faucet_3) were changed to load their glass and anodized-aluminum MDLs from NVIDIA's public content server instead of the copies ArtVIP vendors. - SceneSmith (
nepfaff/scenesmith-example-scenes, Apache-2.0), edited. - Poly Haven "Cannon" HDRI (CC0).
- NVIDIA SimReady
kitchenware_spoon_d01(nvidia/simready-assets, CC-BY-4.0):scenes/supermarket/supermarket/textures/spoonface_*.pngare orthographic renders of it.
The Marvin robot model (robots/marvin/ and its copy under scenes/supermarket/assets/) comes from its
vendor TianJi, converted to USD by the robot-agent-bench team.
Some layers reference NVIDIA's public Omniverse content by URL. Kit downloads that content from NVIDIA at run time; it is not part of this repository.
The Franka hand (robots/marvin/panda_hand.usd and its copy under scenes/supermarket/assets/) uses the
hand and finger meshes of frankarobotics/franka_description
(Apache-2.0, Copyright 2023 Franka Robotics GmbH), converted
to USD by the robot-agent-bench team. Its LICENSE and NOTICE are in
robots/marvin/third_party/franka_description/.
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