bosch_props
The Bosch 800 benchmark's dishes and cutlery (the dishsim.config.OBJECTS registry), as rigid-body USDs plus the
Kit-free meshes and convex pieces the FCL collision world loads.
| Path | What |
|---|---|
usd/<name>_physics.usd |
the physics USDs the benchmark spawns (ObjectSpec.usd_path), with usd/textures/ |
meshes/<name>.obj |
body-frame meshes (the source of every cache's meshes/object.obj) |
parts/<name>/piece_*.obj |
the procedural props' exact convex parts (prop_gen) |
pieces/object_<digest>/piece_*.obj |
the carried object's collision pieces, content-addressed by mesh bytes + params (dishsim.geometry.coacd_dir_for) |
source/ |
prop_gen.py (the procedural props) and a note on the YCB-derived ones |
The machine-keyed caches that use these objects live with the dishwasher (../bosch800/cache/<state>/<object>/,
../artvip_dishwasher_2/cache/<state>/<object>/).
Licence: the YCB-derived props (mug, plate, saucer, bowl, cup, fork, spoon, knife, spatula, pitcher, their meshes and textures) come from the YCB Object and Model Set (Calli et al.), CC BY 4.0; the procedural props (tumbler, wine glass, serving spoon, container, lid) and every derived collision piece are BSD-3-Clause, like the code repo.