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.gitattributes

@@ -290,3 +290,4 @@ assets/scene_usds/ebench/long_horizon/scene_dish/SubUSDs/10.usd filter=lfs diff=
 assets/scene_usds/ebench/long_horizon/scene_dish/SubUSDs/3.usd filter=lfs diff=lfs merge=lfs -text
 assets/scene_usds/ebench/long_horizon/scene_dish/SubUSDs/MWAX5JYKTKJZ2AABAAAAABY8_usd_living_room_0.usd filter=lfs diff=lfs merge=lfs -text
 assets/scene_usds/ebench/long_horizon/scene_dish/SubUSDs/5.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/peppermint_powerplant_2_4k.exr filter=lfs diff=lfs merge=lfs -text

assets/object_usds/custom_usd/ebench_usds/apple/a5a9d26bcf154076b5b6ba669a1c9190/.collect.mapping.json

@@ -0,0 +1,11 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/a5a9d26bcf154076b5b6ba669a1c9190/usd/a5a9d26bcf154076b5b6ba669a1c9190.usd",
+            "source_hash": "be5012d31e7d87cce29de37414c293084ef675d5",
+            "target_url": "./a5a9d26bcf154076b5b6ba669a1c9190.usd",
+            "target_hash": "1c81bdea734e2c6428b825c25e45611c079cc668"
+        }
+    ]
+}

assets/object_usds/custom_usd/ebench_usds/apple/a5a9d26bcf154076b5b6ba669a1c9190/a5a9d26bcf154076b5b6ba669a1c9190_annotation.json

@@ -0,0 +1,17 @@
+{
+    "uid": "a5a9d26bcf154076b5b6ba669a1c9190",
+    "category": "apple",
+    "description": "Round fruit, smooth skin, yellow-pink hues, slight sheen, small dimple at the top.",
+    "material": "skin, flesh, stem",
+    "dimensions": "0.1 * 0.1 * 0.1",
+    "mass": 0.2,
+    "placement": [
+        "OnObject",
+        "OnTable"
+    ],
+    "asset_type": "rigid",
+    "glb_size": 0.11,
+    "usd_size": 0.16,
+    "usd_material_softlink": false,
+    "source": "holodeck"
+}

assets/object_usds/custom_usd/ebench_usds/apple/ready/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"
+        }
+    ]
+}

assets/object_usds/custom_usd/ebench_usds/apple/ready/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"
+}

assets/object_usds/custom_usd/ebench_usds/apple/ready/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"
+        }
+    ]
+}

assets/object_usds/custom_usd/ebench_usds/apple/ready/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"
+}

assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/0309dcb2f1cff82e56b5928b8258b489/0309dcb2f1cff82e56b5928b8258b489_annotation.json

@@ -0,0 +1,17 @@
+{
+  "uid": "0309dcb2f1cff82e56b5928b8258b489",
+  "category": "bottle",
+  "description": "The object appears to be a cylindrical container with a textured lid. The container has a smooth, transparent surface, suggesting to be be made of plastic or glass. The lid is covered with a rough, granular material, possibly cork or a similar natural fiber. The container seems to be have a consistent diameter throughout its length, suggesting to be be a standard size for storage containers. The container is currently empty, suggesting to be be used for storing dry goods such as grains or seeds. The lid's texture provides a non-slip grip and may help to seal the contents securely.",
+  "material": "The container's body is likely made of plastic or glass, with the lid potentially being made of cork or a similar material.",
+  "dimensions": "0.15 * 0.15 * 0.25",
+  "mass": "0.2",
+  "placement": [
+    "OnTable"
+  ],
+  "asset_type": "rigid",
+  "glb_size": 6.861549377441406,
+  "usd_size": 7.550846099853516,
+  "urdf_size": null,
+  "orientation": 0,
+  "usd_material_softlink": true
+}

assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/173e246d5eb10f81265e2c174de2101d/173e246d5eb10f81265e2c174de2101d_annotation.json

@@ -0,0 +1,17 @@
+{
+  "uid": "173e246d5eb10f81265e2c174de2101d",
+  "category": "bottle",
+  "description": "The object appears to be a cylindrical container with a lid. It has a white smooth surface with a matte finish. The container's body is white white white with black abstract patterns printed on it. The lid is made of wood with visible grain patterns, suggesting a natural texture. The proportions suggest a compact size, suitable for storing small items. The container is currently closed, serving a functional purpose of preserving contents within.",
+  "material": "The container's body is made of ceramic, evident from its the smooth, uniform surface and the printed pattern. The lid is constructed from wood, identifiable by the visible grain and texture.",
+  "dimensions": "0.15 * 0.15 * 0.10",
+  "mass": "0.2",
+  "placement": [
+    "OnTable"
+  ],
+  "asset_type": "rigid",
+  "glb_size": 3.0636863708496094,
+  "usd_size": 3.423457145690918,
+  "urdf_size": null,
+  "orientation": 0,
+  "usd_material_softlink": true
+}

assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/1a900e94264d9104f45200db6e0b5e5c/1a900e94264d9104f45200db6e0b5e5c_annotation.json

@@ -0,0 +1,17 @@
+{
+  "uid": "1a900e94264d9104f45200db6e0b5e5c",
+  "category": "bottle",
+  "description": "The object is a cylindrical glass jar with a textured wooden lid secured by a black metal clasp. The jar appears to be made of clear glass, allowing visibility into its contents. The lid has a natural wood grain pattern, suggesting to be be crafted from a single piece of wood, possibly oak or maple. The clasp is metallic, likely made of steel or iron, providing a sturdy closure mechanism. The jar's proportions suggest a medium-sized container, suitable for storing dry goods or preservesable items. The current appears to be in in a closed state, ready for use use.",
+  "material": "Glass Body, Wood Lid, Metal Clasp",
+  "dimensions": "0.15 * 0.15 * 0.20",
+  "mass": "0.5",
+  "placement": [
+    "OnTable"
+  ],
+  "asset_type": "rigid",
+  "glb_size": 12.887805938720703,
+  "usd_size": 12.890887260437012,
+  "urdf_size": null,
+  "orientation": 0,
+  "usd_material_softlink": true
+}

assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/23f1d3ecc9f811bdcd7b4f9a169f9f9f/23f1d3ecc9f811bdcd7b4f9a169f9f9f_annotation.json

@@ -0,0 +1,17 @@
+{
+  "uid": "23f1d3ecc9f811bdcd7b4f9a169f9f9f",
+  "category": "bottle",
+  "description": "The object appears to be a bottle with a cylindrical neck and a square-shaped body filled with a golden liquid. The surface of the liquid has a textured appearance resembling small cream or a thick gel. The bottle's cap is black and smooth, suggesting like made from plastic or rubber. The bottle's body seems to be made from a transparent material, possibly glass or plastic, allowing visibility of the contents. The bottle's overall shape is simple and functional, designed for holding liquids.",
+  "material": "The bottle's body is likely made from glass or clear plastic, the cap is probably made from black plastic or rubber, and the liquid inside could be a thick gel or cream-like substance.",
+  "dimensions": "0.15 * 0.15 * 0.25",
+  "mass": "0.2",
+  "placement": [
+    "OnTable"
+  ],
+  "asset_type": "rigid",
+  "glb_size": 7.597206115722656,
+  "usd_size": 7.562780380249023,
+  "urdf_size": null,
+  "orientation": 0,
+  "usd_material_softlink": true
+}

assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/2475b1d276562a0152bb481253b15d9a/2475b1d276562a0152bb481253b15d9a_annotation.json

@@ -0,0 +1,17 @@
+{
+  "uid": "2475b1d276562a0152bb481253b15d9a",
+  "category": "bottle",
+  "description": "The object appears to be a cylindrical container with a textured surface resembling a woven pattern on its top. The body of the container is transparent, allowing visibility into the contents inside, which seem to be be a granular substance. The lid is made of a cork-like material, providing a natural and rustic appearance. The container has a simple yet functional design, suitable for storing dry goods like grains or seeds. The proportions suggest a medium-sized container, neither too small nor too large for everyday use.",
+  "material": "The container's body is made of a clear plastic material, likely polycarbonate or acrylic, given its transparency and durability. The lid is crafted from a cork material, known for its its natural texture and ability to seal containers effectively.",
+  "dimensions": "0.15 * 0.15 * 0.25",
+  "mass": "0.2",
+  "placement": [
+    "OnTable"
+  ],
+  "asset_type": "rigid",
+  "glb_size": 6.108814239501953,
+  "usd_size": 7.101225852966309,
+  "urdf_size": null,
+  "orientation": 0,
+  "usd_material_softlink": true
+}

assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/45d5b1701028fc00adc75c5c76042cde/45d5b1701028fc00adc75c5c76042cde_annotation.json

@@ -0,0 +1,17 @@
+{
+  "uid": "45d5b1701028fc00adc75c5c76042cde",
+  "category": "bottle",
+  "description": "The object appears to be a glass jar with a wooden lid and a metal clamp. The jar has a smooth, transparent surface with a slight reflection, suggesting a glass material. The lid is made of wood with a natural grain pattern and a matte finish, suggesting a wood material. The clamp is black and has a metallic sheen, suggesting a metal material. The jar's shape is cylindrical with a slightly wider top than the bottom, giving it a rounded form. The lid fits snugly over the jar's opening, and the clamp secures the lid in place. The jar seems to be be designed for storing dry goods or other other food items, given its its size and shape.",
+  "material": "Glass (jar), Wood (lid), Metal (clamp)",
+  "dimensions": "0.15 * 0.15 * 0.20",
+  "mass": "0.2",
+  "placement": [
+    "OnTable"
+  ],
+  "asset_type": "rigid",
+  "glb_size": 12.887821197509766,
+  "usd_size": 12.882529258728027,
+  "urdf_size": null,
+  "orientation": 0,
+  "usd_material_softlink": true
+}

assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/471d4d7acbc09edb085f4bfdac8bb2cc/471d4d7acbc09edb085f4bfdac8bb2cc_annotation.json

@@ -0,0 +1,17 @@
+{
+  "uid": "471d4d7acbc09edb085f4bfdac8bb2cc",
+  "category": "bottle",
+  "description": "The object appears to be a simple, cylindrical cup with a slightly conical shape towards the bottom. It has a smooth, matte surface with a uniform gray color on the lower half and a white gradient to white at the top. The cup seems to be have a consistent diameter throughout its length, suggesting it is likely designed for holding liquids. The current top is flat and even, suggesting it could be used for drinking or serving beverages. The cup's design is minimalistic, with no visible handles or decorative elements.",
+  "material": "The cup's body appears to be made of a single material, likely ceramic or porcelain, given its smooth surface and uniform coloration. The top part, which is white white, could be made of a different material such as plastic or painted metal, but the exact material cannot be determined from the images alone.",
+  "dimensions": "0.15 * 0.15 * 0.10",
+  "mass": "0.2",
+  "placement": [
+    "OnTable"
+  ],
+  "asset_type": "rigid",
+  "glb_size": 0.24395751953125,
+  "usd_size": 0.27880859375,
+  "urdf_size": null,
+  "orientation": 0,
+  "usd_material_softlink": true
+}

assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/501a5ac3cbdae92226c51c349e4e6a17/501a5ac3cbdae92226c51c349e4e6a17_annotation.json

@@ -0,0 +1,17 @@
+{
+  "uid": "501a5ac3cbdae92226c51c349e4e6a17",
+  "category": "bottle",
+  "description": "The object appears to be a bottle with a cylindrical shape tapering towards the top. It has a dark, possibly black, cap on the upper end. The body of the bottle seems to have a textured surface, resembling a rough or granular material, possibly indicating a material like sand or gravel. The bottle's lower section is wider than the top, creating a slight hourglass shape. The overall appearance suggests a functional purpose, likely for storing liquids, given its the cap and the shape typical of bottles designed to prevent spillage. The bottle's design includes a distinctive feature at the middle, a horizontal band with a lighter color, possibly indicating a label or an embossed design, adding a decorative element to the otherwise utilitarian form.",
+  "material": "The bottle's body seems to be made of a material like a glass or a transparent plastic, indicated by the reflective quality and the clarity of the contents within. The cap appears to be made of a different material, possibly a plastic or a rubber, given its the smooth and non a darker color contrasting with the lighter body of the bottle. The band around the middle could be made of a different material, possibly a sticker or a label, adhered to the bottle's surface.",
+  "dimensions": "0.15 * 0.05 * 0.10",
+  "mass": "0.2",
+  "placement": [
+    "OnTable"
+  ],
+  "asset_type": "rigid",
+  "glb_size": 6.755847930908203,
+  "usd_size": 6.6764421463012695,
+  "urdf_size": null,
+  "orientation": 0,
+  "usd_material_softlink": true
+}

assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/55c75d1633a577833010793d58dfee58/55c75d1633a577833010793d58dfee58_annotation.json

@@ -0,0 +1,17 @@
+{
+  "uid": "55c75d1633a577833010793d58dfee58",
+  "category": "bottle",
+  "description": "The object appears to be a cylindrical container with a textured lid that resembles a cork. The container has a transparent body, allowing visibility into its the contents inside, which seem to be be small, granular particles. The lid is slightly wider than the body, suggesting providing a snug fit when closed. The container's surface texture suggests a matte finish, with no reflective qualities. The proportions indicate a tall, slender shape, suitable for holding dry goods like grains or seeds. The container is currently sealed with the lid on, indicating preventing contents from spilling out. The functional purpose is storage, likely for food items such as cereals or spices. Distinctive design feature includes the textured lid, which adds an aesthetic element while also also serving a practical purpose.",
+  "material": "The container's body seems to be made of plastic, evident by its the translucency and slight sheen. The lid appears to be made of cork, identifiable by its the granular texture and warm brown color. The cork lid provides a natural, organic contrast to the synthetic body.",
+  "dimensions": "0.15 * 0.15 * 0.25",
+  "mass": "0.2",
+  "placement": [
+    "OnTable"
+  ],
+  "asset_type": "rigid",
+  "glb_size": 6.333808898925781,
+  "usd_size": 7.075676918029785,
+  "urdf_size": null,
+  "orientation": 0,
+  "usd_material_softlink": true
+}

assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/7218c60ede56775d76d74bf9a709cd7e/7218c60ede56775d76d74bf9a709cd7e_annotation.json

@@ -0,0 +1,17 @@
+{
+  "uid": "7218c60ede56775d76d74bf9a709cd7e",
+  "category": "bottle",
+  "description": "The object appears to be a cylindrical container with a textured lid. The container has a smooth, transparent surface suggesting, possibly made of glass or plastic, allowing visibility into its contents. The lid is covered with a rough, granular material resembling cork or a similar natural substance, providing a tactile contrast to the smooth body. The container's proportions suggest it is designed for holding dry goods, such as grains or seeds, given the lid's texture and the container's shape. The current is currently closed, serving a functional purpose of preserving freshness and preventing contamination.",
+  "material": "The transparent body of the container is likely made of glass or a clear plastic, while the textured lid is composed of a natural material like like cork or a similar material.",
+  "dimensions": "0.15 * 0.15 * 0.25",
+  "mass": "0.2",
+  "placement": [
+    "OnTable"
+  ],
+  "asset_type": "rigid",
+  "glb_size": 4.670234680175781,
+  "usd_size": 5.309653282165527,
+  "urdf_size": null,
+  "orientation": 0,
+  "usd_material_softlink": true
+}