Boyun7/GroundProbe-assets

GroundProbe Scene Assets

The subset of RoboLab scene and object USD files that the GroundProbe benchmark scenes load, so the benchmark can be run without cloning the full RoboLab asset tree (~6.5 GB). These are RoboLab's assets, redistributed under their original licenses, eight of them modified for GroundProbe as listed below. We did not create them.

Use this subset rather than a fresh RoboLab clone: upstream RoboLab lacks the modifications, and its tools scene contains different objects.

• 129 files, ~740 MB
• Code: https://github.com/AndersonYu7/Benchmark
• Demonstrations: Boyun7/GroundProbe-dataset

What is included

The set is the full USD dependency closure (layers, references, payloads and textures, computed with UsdUtils.ComputeAllDependencies) of:

• the three RoboLab scenes GroundProbe builds on: scenes/toys_cleanup.usda, scenes/fruits_out_of_basket.usda, scenes/tools_container.usda
• the objects the GroundProbe scenes add on top of them: blocks (objects/basic), fruits and vegetables (objects/fruits_veggies), the rubik's cube and wooden bowl (objects/hot3d), the apple and coffee cup (objects/objaverse), and the plate, serving bowl and small pumpkin (objects/vomp)
• the grey bin used as the drop container (fixtures/grey_bin.usd)

The layout mirrors RoboLab/assets/, and it has to stay that way: the scenes refer to objects through relative paths such as ../objects/basic/red_block.usd.

Checked in an isolated copy: every local reference resolves inside this set, and all three scenes open. The references that do not resolve locally are NVIDIA Omniverse materials served from omniverse-content-production.s3 and the MDLs built into Isaac Sim (OmniPBR.mdl, gltf/pbr.mdl); Isaac Sim fetches or provides those at runtime.

Changes from upstream RoboLab

Relative to RoboLab v0.1.0 (commit c4416a7):

• fixtures/grey_bin.usd and objects/basic/{red,blue,green,yellow}_block.usd gain a grasps/grasp_0 prim, the grasp-pose annotation GroundProbe's script/bake_default_grasps.py authors. Geometry and physics are unchanged.
• objects/hot3d/rubiks_cube.usd and objects/hot3d/lizard_figurine.usd gain the same grasps/grasp_0 prim, plus Omniverse render-settings prims written when they were re-saved. Geometry and physics are unchanged.
• scenes/tools_container.usda replaces the cordless drill, the spring clamp and HANDAL hammers 7 and 8 with HANDAL hammers 1, 2, 3 and 6 at fixed poses, so the scene holds the four hammers the GroundProbe tools task uses.

Every other file is byte-identical to upstream.

Download

From the root of the GroundProbe repository:

bash script/_download_groundprobe.sh assets

or directly:

hf download Boyun7/GroundProbe-assets --repo-type dataset --local-dir ../RoboLab/assets

The GroundProbe scene envs look for these files in $ROBOLAB_ASSETS, and by default in RoboLab/assets/ next to the repository. To keep them anywhere else, export ROBOLAB_ASSETS=/path/to/assets.

Licenses

The files carry the licenses of the datasets they come from. Each applies to its own directory; the license texts are included.

directory	source	license
everything not listed below	RoboLab	CC BY-NC 4.0
objects/hot3d/	HOT3D (Meta)	CC BY-SA 4.0 with an additional no-sale restriction
objects/handal/	HANDAL (NVIDIA)	CC BY-NC-SA 4.0

In short: attribution is required, commercial use is not permitted, the HANDAL and HOT3D models must be shared under the same terms, and the HOT3D models may not be sold or built into a product that is sold.

Attribution

• RoboLab, the RoboLab authors: https://github.com/NVlabs/RoboLab
• HOT3D, Meta Platforms Technologies: https://github.com/facebookresearch/hot3d
• HANDAL, NVIDIA: https://github.com/NVlabs/HANDAL

Modifications by RoboLab, as stated in its per-directory LICENSE files: conversion of the original meshes to USD. Modifications by the GroundProbe authors: those listed under "Changes from upstream RoboLab".