diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..fc84a7a3f9cdb2c630be320f15ee550a1358c7a6 100644 --- a/.gitattributes +++ b/.gitattributes @@ -58,3 +58,50 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task10/scene.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task2/scene.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task4/scene.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task3/scene.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/scene.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task1/scene.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task8/scene.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task6/scene.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/8.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/0_1.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/6.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/2.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/3.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/1.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/5.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/model_42bfd814921da5caa11f98e41e207019_0.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/0.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/MVUHLWYKTKJ5EAABAAAAAAI8_usd_dinning_room_0.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/6_1.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/4.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/8.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/model_d63f525c78a190e4f0c499fc8604cdbd_0.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/MVUHLWYKTKJ5EAABAAAAAEA8_usd_study_room_2.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_96.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/7.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_86.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/6.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_1.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/2.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_100.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/3.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_63.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_60.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_67.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/9.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_116.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_104.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_105.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_113.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/1.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/5.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/0.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_46.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_90.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_56.usd filter=lfs diff=lfs merge=lfs -text +assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_101.usd filter=lfs diff=lfs merge=lfs -text diff --git a/assets/scene_usds/ebench/long_horizon/scene_fruit/SubUSDs/materials/MI_6576cd0911bd150001eb0eb0.mdl b/assets/scene_usds/ebench/long_horizon/scene_fruit/SubUSDs/materials/MI_6576cd0911bd150001eb0eb0.mdl new file mode 100644 index 0000000000000000000000000000000000000000..f5794f9bceb7ab1844cdc77739b6e7448088cd19 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_fruit/SubUSDs/materials/MI_6576cd0911bd150001eb0eb0.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6576cd0911bd150001eb0eb0(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.7332999706f, 0.521600008f, 0.4471000135f), + reflect: color(0.07999999821f, 0.07999999821f, 0.07999999821f), + reflect_glossiness: 0.8000000119f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/b0bedc070e1941f789294bd0fb4853f3/.collect.mapping.json b/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/b0bedc070e1941f789294bd0fb4853f3/.collect.mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..04e89ad98c8ae99b50480b45c9170401447f87bf --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/b0bedc070e1941f789294bd0fb4853f3/.collect.mapping.json @@ -0,0 +1,23 @@ +{ + "version": "1.0", + "file_records": [ + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/b0bedc070e1941f789294bd0fb4853f3/usd/b0bedc070e1941f789294bd0fb4853f3.usd", + "source_hash": "6b6546fe726a28ca7a40eea55f12019104da9e1b", + "target_url": "./b0bedc070e1941f789294bd0fb4853f3.usd", + "target_hash": "ce1b356f8a88ad7ffca127bfcca2209d61b3610a" + }, + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/b0bedc070e1941f789294bd0fb4853f3/usd/textures/b0bedc070e1941f789294bd0fb4853f3_texture0.png", + "source_hash": "e875c938be49187e785fea13fe9d95b18728f528", + "target_url": "./SubUSDs/textures/b0bedc070e1941f789294bd0fb4853f3_texture0.png", + "target_hash": "4a341254bdc2b41f492f68c6a26b15f722863d1d" + }, + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/b0bedc070e1941f789294bd0fb4853f3/usd/textures/b0bedc070e1941f789294bd0fb4853f3_texture1.png", + "source_hash": "757ee1f4f24772450bb8431c2f7a1ef3dfdcffa7", + "target_url": "./SubUSDs/textures/b0bedc070e1941f789294bd0fb4853f3_texture1.png", + "target_hash": "b7d39b4f098872938e79c7c6ce479ea4121b7ddd" + } + ] +} \ No newline at end of file diff --git a/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/b0bedc070e1941f789294bd0fb4853f3/b0bedc070e1941f789294bd0fb4853f3_annotation.json b/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/b0bedc070e1941f789294bd0fb4853f3/b0bedc070e1941f789294bd0fb4853f3_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..0c5741a8bc907448dee108b4c40bab16c43c2476 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/b0bedc070e1941f789294bd0fb4853f3/b0bedc070e1941f789294bd0fb4853f3_annotation.json @@ -0,0 +1,18 @@ +{ + "uid": "b0bedc070e1941f789294bd0fb4853f3", + "category": "apple", + "description": "Round, red apple with yellow stripes, small brown stem, smooth, shiny texture, symmetrical shape.", + "material": "skin, stem", + "dimensions": "0.1 * 0.1 * 0.1", + "mass": 0.2, + "placement": [ + "OnFloor", + "OnObject", + "OnTable" + ], + "asset_type": "rigid", + "glb_size": 4.5, + "usd_size": 5.57, + "usd_material_softlink": false, + "source": "holodeck" +} \ No newline at end of file diff --git a/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/dc5a0c0c439942d58d038a10d7064c91/.collect.mapping.json b/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/dc5a0c0c439942d58d038a10d7064c91/.collect.mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..19e3d883ef0f57d92e7b90c0d44ef93e9b962815 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/dc5a0c0c439942d58d038a10d7064c91/.collect.mapping.json @@ -0,0 +1,35 @@ +{ + "version": "1.0", + "file_records": [ + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/dc5a0c0c439942d58d038a10d7064c91/usd/dc5a0c0c439942d58d038a10d7064c91.usd", + "source_hash": "56c368ac5ebf8f6ebb8bfe1f1857d7635a40b095", + "target_url": "./dc5a0c0c439942d58d038a10d7064c91.usd", + "target_hash": "1a9be947141559afe0cd96bde88e56db0dbc901b" + }, + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/dc5a0c0c439942d58d038a10d7064c91/usd/textures/dc5a0c0c439942d58d038a10d7064c91_texture0.png", + "source_hash": "e490dff955a903146926729a1df607f2037f8446", + "target_url": "./SubUSDs/textures/dc5a0c0c439942d58d038a10d7064c91_texture0.png", + "target_hash": "1c06f57e4abc3677a0ab2fac4105c3b2df4d7e6c" + }, + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/dc5a0c0c439942d58d038a10d7064c91/usd/textures/dc5a0c0c439942d58d038a10d7064c91_texture1.png", + "source_hash": "9e53ca4eb54754558b5d00ffacc4d965a3b19267", + "target_url": "./SubUSDs/textures/dc5a0c0c439942d58d038a10d7064c91_texture1.png", + "target_hash": "4f0d2c209c888a772afe21d13d2940fa6a1f0072" + }, + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/dc5a0c0c439942d58d038a10d7064c91/usd/textures/dc5a0c0c439942d58d038a10d7064c91_texture2.png", + "source_hash": "14b2accc6e343a7e903fcb7d9bd559d4d8c37f40", + "target_url": "./SubUSDs/textures/dc5a0c0c439942d58d038a10d7064c91_texture2.png", + "target_hash": "4a203268c58181a18c7efef7159115ac275771c2" + }, + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/dc5a0c0c439942d58d038a10d7064c91/usd/textures/dc5a0c0c439942d58d038a10d7064c91_texture3.png", + "source_hash": "504d42bb4aa680b0340a914989e5608c353d96e3", + "target_url": "./SubUSDs/textures/dc5a0c0c439942d58d038a10d7064c91_texture3.png", + "target_hash": "d4ac8e2e1508eb8fc444312ada4a3dd42fe1579c" + } + ] +} \ No newline at end of file diff --git a/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/dc5a0c0c439942d58d038a10d7064c91/dc5a0c0c439942d58d038a10d7064c91_annotation.json b/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/dc5a0c0c439942d58d038a10d7064c91/dc5a0c0c439942d58d038a10d7064c91_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..180de30016029b39c4bbd9ff894238b32f86f80d --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/dc5a0c0c439942d58d038a10d7064c91/dc5a0c0c439942d58d038a10d7064c91_annotation.json @@ -0,0 +1,18 @@ +{ + "uid": "dc5a0c0c439942d58d038a10d7064c91", + "category": "apple", + "description": "Round, glossy red apple with yellow undertones, slight dimples, small speckles, and slender stem.", + "material": "red skin, yellow skin, stem", + "dimensions": "0.1 * 0.1 * 0.1", + "mass": 0.15, + "placement": [ + "OnFloor", + "OnObject", + "OnTable" + ], + "asset_type": "rigid", + "glb_size": 2.54, + "usd_size": 3.02, + "usd_material_softlink": false, + "source": "holodeck" +} \ No newline at end of file diff --git a/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/e1f96691aaf648b885d927f5c3f5be61/.collect.mapping.json b/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/e1f96691aaf648b885d927f5c3f5be61/.collect.mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..c2d2b5a4de5b5d851417fdbc445d197fc0bf03a6 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/e1f96691aaf648b885d927f5c3f5be61/.collect.mapping.json @@ -0,0 +1,35 @@ +{ + "version": "1.0", + "file_records": [ + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/e1f96691aaf648b885d927f5c3f5be61/usd/e1f96691aaf648b885d927f5c3f5be61.usd", + "source_hash": "10f428f278e09525ee0e051ee2d61fd2327233d1", + "target_url": "./e1f96691aaf648b885d927f5c3f5be61.usd", + "target_hash": "601f199d5ae2f62223e74f8043e6e8df200816ac" + }, + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/e1f96691aaf648b885d927f5c3f5be61/usd/textures/e1f96691aaf648b885d927f5c3f5be61_texture0.png", + "source_hash": "6f5cba9f48ebfa65636e42cb8204381bb0dd1453", + "target_url": "./SubUSDs/textures/e1f96691aaf648b885d927f5c3f5be61_texture0.png", + "target_hash": "c1c79eb156c56c7e279d495268dfb6822108ec6a" + }, + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/e1f96691aaf648b885d927f5c3f5be61/usd/textures/e1f96691aaf648b885d927f5c3f5be61_texture1.png", + "source_hash": "fb96c8705e6db9de2ba27ed740554a598e850a03", + "target_url": "./SubUSDs/textures/e1f96691aaf648b885d927f5c3f5be61_texture1.png", + "target_hash": "954a45353f41eeddc000755a4116e676d743c092" + }, + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/e1f96691aaf648b885d927f5c3f5be61/usd/textures/e1f96691aaf648b885d927f5c3f5be61_texture2.png", + "source_hash": "7230d1ca0861e6aa26c584cbf1f20ca3096cd294", + "target_url": "./SubUSDs/textures/e1f96691aaf648b885d927f5c3f5be61_texture2.png", + "target_hash": "8c6fbb1c721ed60cc6faa88ad4c474e6abef0a2d" + }, + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/e1f96691aaf648b885d927f5c3f5be61/usd/textures/e1f96691aaf648b885d927f5c3f5be61_texture3.png", + "source_hash": "bca5d600e9beaa7ea5ce50d0d353b79619718417", + "target_url": "./SubUSDs/textures/e1f96691aaf648b885d927f5c3f5be61_texture3.png", + "target_hash": "578d2eafaffafd89547625844d390b3e92cbf827" + } + ] +} \ No newline at end of file diff --git a/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/e1f96691aaf648b885d927f5c3f5be61/e1f96691aaf648b885d927f5c3f5be61_annotation.json b/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/e1f96691aaf648b885d927f5c3f5be61/e1f96691aaf648b885d927f5c3f5be61_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..d5efa2d4f7815fcfc0598c6a50f7495ce1cf097b --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/e1f96691aaf648b885d927f5c3f5be61/e1f96691aaf648b885d927f5c3f5be61_annotation.json @@ -0,0 +1,18 @@ +{ + "uid": "e1f96691aaf648b885d927f5c3f5be61", + "category": "apple", + "description": "Round, shiny, pinkish-red skin, smooth texture, slight curvature, stem, subtle color variations, engraved symbol.", + "material": "skin, flesh, stem", + "dimensions": "0.08 * 0.08 * 0.08", + "mass": 0.15, + "placement": [ + "OnFloor", + "OnObject", + "OnTable" + ], + "asset_type": "rigid", + "glb_size": 1.66, + "usd_size": 2.05, + "usd_material_softlink": false, + "source": "holodeck" +} \ No newline at end of file diff --git a/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/eval/368e681cac614850b6b4a1887fc1bcce/.collect.mapping.json b/assets/scene_usds/ebench/long_horizon/scene_fruit/apple/eval/368e681cac614850b6b4a1887fc1bcce/.collect.mapping.json new file mode 100644 index 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