sixpigs1/dexbench_assets_test

Evo-DexBench asset workspace

This directory is the canonical local asset workspace for Evo-DexBench. It is kept outside the Git checkout so that restricted and large datasets are never accidentally committed.

Runtime configuration

Set these variables before starting simulation or evaluation:

export EVODEX_WORKSPACE=/path/to/EvoDexBench
export EVODEX_ASSET_DIR="$EVODEX_WORKSPACE/assets"
export PARTNET_MOBILITY_DATASET="$EVODEX_WORKSPACE/assets/partnet_mobility"
export PARTNET_MOBILITY_MODIFIED_DATASET="$EVODEX_WORKSPACE/assets/partnet_mobility_modified_generated"
export MS_ASSET_DIR="$EVODEX_WORKSPACE/assets/maniskill"
export YCB_DATASET="$EVODEX_WORKSPACE/assets/ycb"

The official and generated PartNet trees must remain siblings: generated URDFs use relative paths into ../partnet_mobility.

Contents

• kenney/, polyhaven/, ycb/: externally sourced task and scene assets.
• task_assets/: task-specific authored and adapted assets.
• maniskill/data/: selected ManiSkill YCB and RoboCasa runtime trees.
• partnet_mobility/: selected restricted PartNet-Mobility originals.
• partnet_mobility_modified/: retained legacy restricted staging data.
• partnet_mobility_modified_generated/: locally generated collision overlays.
• licenses/: retained upstream license and attribution records.
• reports/: task coverage and known-gap reports.
• releases/: local redistribution archives; PartNet is always excluded.
• asset_manifest.yaml: machine-readable collection inventory.

The repository's robot assets remain embedded in the Python package and are listed in the manifest rather than duplicated here.

Selected PartNet model IDs:

3392 3558 3574 3614 3678 4200 4216 4500 5601 6963 7167 8736 8867
9992 10143 10449 10489 12050 12065 12445 16378 25144 27189 30666 36912
45642 47443 47648 48381 100021 100038 100078 100129 100150 100189 100664 100828
100906 100908 101377 101408 101860 102100 103041 103301 103323
103477 103927 103981

Distribution boundary

The workspace is broader than the public redistribution bundle. Files marked restricted in asset_manifest.yaml must not be copied into a public release. Original and legacy modified PartNet-Mobility files are excluded. The public code generates the required collision overlays after downloading official models through each user's own gated access.

Provenance and verification

The source files were copied on 2026-09-13 from the data-collection machine:

/home/bozhao/code/myr/code/Evo-DexBench/assets/partnet_mobility
/home/bozhao/.maniskill/data/assets/mani_skill2_ycb
/home/bozhao/.maniskill/data/scene_datasets/robocasa_dataset

Transfer archive SHA-256 values:

e2abc0fba95d6426c285e7badfd80a0059845fbdd55d10e69b1bcddf50660b68  partnet selection
84d2bf0b333023256ae0f14cfef7f5ce69a3db41620b3479b850a8650bb838bc  RoboCasa selection
c808c122767493dc12e27703d07f59d150a27b9b209855744dd7b7f26cde70dc  ManiSkill YCB

The earlier M01–M15 isolated check created, reset, and stepped 105 task/layout/ generalization combinations successfully. See reports/ for the current all-task coverage and known gaps.

All 49 selected PartNet models, including B05 model 100664, are now present. Future users must accept the official Hugging Face dataset terms and download these models with their own account; no PartNet file enters our upload bundle.