Datasets:

bobbma
/

RoboBench

@@ -1,21 +0,0 @@
-# G2 枕头搬运场景
-本目录提供 `multitask_v2_wide_doors` 固定场景。主程序根据 `manifest.json` 和任务配置，在临时目录组合场景。
-- `scene.usda`、`common.usdc`：场景入口与公共配置。
-- `rooms/`：13 个房间的 26 份 low/fast USD；low 保留动态交互，fast 保留外观与静态碰撞。
-- `assets/`：14 个柔体参数覆写 USD。当前任务启用 `pillow_0008`～`pillow_0011` 的动态柔体，其余保留静态外观与碰撞。
-- `cache/`：沉降状态缓存；配置、资产或实现变化后按现有机制重新生成。
-网格、纹理与材质继续引用相邻的 `../kujiale_0004_deformable/` 和 `../kujiale_0004_simready/`，需保留这些依赖路径。
-Harness 服务启动后运行：
-```bash
-cd "/home/myx/RoboBench"
-bash "scripts/run_sim.sh" --gpu 1 --host 127.0.0.1 --port 8767 --seed 0
-```
-结果、视频和动作记录写入 `config.yaml` 中的 `storage_root/runs/`。
-历史材料、旧缓存和原说明已归档至 `/mnt/38_store/myx/RoboBench_archive/20261018T081120Z/kujiale_0004_multitask/`。

assets/scenes/kujiale_0004_multitask/scene.usda DELETED Viewed

@@ -1,104 +0,0 @@
-#usda 1.0
-(
-    customLayerData = {
-        string revision = "multitask_v2_wide_doors"
-        string selection = '{"active_deformables": ["pillow_0000", "pillow_0001", "pillow_0002", "pillow_0003", "pillow_0004", "pillow_0005", "pillow_0006", "pillow_0007", "pillow_0008", "pillow_0009", "pillow_0010", "pillow_0011", "throw_pillow_0000", "throw_pillow_0001"], "deformable_iterations": {"pillow_0000": 96, "pillow_0001": 96, "pillow_0002": 96, "pillow_0003": 32, "pillow_0004": 32, "pillow_0005": 32, "pillow_0006": 96, "pillow_0007": 96, "pillow_0008": 32, "pillow_0009": 32, "pillow_0010": 32, "pillow_0011": 32, "throw_pillow_0000": 224, "throw_pillow_0001": 224}, "manifest": "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/manifest.json", "revision": "multitask_v2_wide_doors", "rooms": {"balcony_764413": "low", "balcony_792635": "low", "bathroom_763004": "low", "bathroom_765775": "low", "bedroom_765353": "low", "bedroom_778247": "low", "diningroom_785051": "low", "kitchen_768297": "low", "livingroom_763001": "low", "shared": "low", "studyroom_763003": "low", "unknown_783683": "low", "unknown_786425": "low"}, "scene": "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/scene.usda", "scope": {"always_active_objects": [], "candidate_objects": ["pillow_0000", "pillow_0001", "pillow_0002", "pillow_0003", "pillow_0004", "pillow_0005", "pillow_0006", "pillow_0007", "pillow_0008", "pillow_0009", "pillow_0010", "pillow_0011", "throw_pillow_0000", "throw_pillow_0001"], "low_rooms": ["balcony_764413", "balcony_792635", "bathroom_763004", "bathroom_765775", "bedroom_765353", "bedroom_778247", "diningroom_785051", "kitchen_768297", "livingroom_763001", "shared", "studyroom_763003", "unknown_783683", "unknown_786425"], "relevant_objects": ["basin_0000", "basin_0001", "bathroom_product_0000", "bathroom_product_0001", "bathroom_product_0002", "bathroom_product_0003", "bathroom_product_0004", "bathroom_product_0005", "bathroom_product_0006", "bed_0000", "bed_0001", "bed_0002", "bedding_0000", "bedding_0001", "bedding_0002", "bedding_0003", "bedding_0004", "book_0000", "book_0001", "book_0002", "book_0003", "book_0004", "book_0005", "book_0006", "book_0007", "book_0008", "book_0009", "book_0010", "book_0011", "book_0012", "book_0013", "book_0014", "book_0015", "bowl_0000", "bowl_0001", "bowl_0002", "bowl_0003", "bowl_0004", "bowl_0005", "cabinet_0000", "cabinet_0001", "cabinet_0002", "cabinet_0003", "cabinet_0004", "cabinet_0005", "cabinet_0006", "cabinet_0007", "cabinet_0008", "cabinet_0009", "cabinet_0010", "cabinet_0011", "cabinet_0012", "ceiling_0000", "ceiling_0001", "ceiling_0002", "ceiling_0003", "ceiling_0004", "ceiling_0005", "ceiling_0006", "ceiling_0007", "ceiling_0008", "ceiling_0009", "ceiling_0010", "ceiling_0011", "ceiling_0012", "ceiling_0013", "ceiling_0029", "ceiling_light_0000", "ceiling_light_0001", "ceiling_light_0001_1115", "ceiling_light_0002", "ceiling_light_0002_1116", "chair_0000", "chair_0001", "chair_0002", "chair_0003", "chair_0004", "chair_0005", "chair_0006", "chair_0007", "chandelier_0014", "chandelier_0015", "chandelier_0016", "chandelier_0017", "chandelier_0018", "clock_0000", "closestool_0000", "closestool_0001", "cookware_0000", "cosmetic_0000", "curtain_0000", "curtain_0001", "curtain_0002", "curtain_0003", "curtain_0004", "curtain_0005", "curtain_0006", "curtain_0007", "curtain_0008", "curtain_0009", "curtain_0010", "curtain_0011", "curtain_0012", "curtain_0013", "curtain_0014", "curtain_0015", "curtain_0016", "daily_equipment_0000", "daily_equipment_0001", "daily_equipment_0002", "daily_equipment_0003", "daily_equipment_0004", "daily_equipment_0005", "daily_equipment_0006", "daily_equipment_0007", "daily_equipment_0008", "daily_equipment_0009", "decorative_box_0000", "decorative_box_0001", "decorative_box_0002", "dining_table_0000", "door_0000", "door_0001", "door_0002", "door_0003", "door_0004", "door_0005", "door_0006", "door_0007", "door_handle_0000", "door_handle_0001", "door_handle_0002", "door_handle_0003", "door_handle_0004", "door_handle_0005", "door_handle_0006", "door_handle_0007", "door_handle_0008", "door_handle_0009", "door_handle_0010", "door_handle_0011", "door_handle_0012", "door_handle_0013", "door_handle_0014", "door_handle_0015", "door_handle_0016", "door_handle_0017", "door_handle_0018", "doorsill_0000", "doorsill_0001", "doorsill_0002", "doorsill_0003", "doorsill_0004", "doorsill_0005", "doorsill_0006", "doorsill_0007", "doorsill_0008", "doorsill_0009", "electric_appliance_0000", "floor_0000", "floor_0001", "floor_0002", "floor_0003", "floor_0004", "floor_0005", "floor_0006", "floor_0007", "floor_0008", "floor_0009", "floor_0010", "floor_0011", "floor_0012", "flower_0000", "flower_0001", "flower_0002", "flower_0003", "flower_0004", "flower_0005", "flower_0006", "flower_0007", "fridge_0000", "hardware_decoration_0000", "hardware_decoration_0001", "hardware_decoration_0002", "hardware_decoration_0003", "hardware_decoration_0004", "kitchenware_0000", "kitchenware_0001", "kitchenware_0002", "kitchenware_0003", "kitchenware_0004", "kitchenware_0005", "kitchenware_0006", "mirror_0000", "mirror_0001", "mirror_0002", "office_supply_0000", "office_supply_0001", "ornament_0000", "ornament_0001", "ornament_0003", "ornament_0004", "ornament_0005", "ornament_0006", "ornament_0007", "ornament_0008", "ornament_0009", "ornament_0010", "ornament_0011", "ornament_0012", "ornament_0013", "ornament_0014", "ornament_0015", "ornament_0016", "ornament_0017", "ornament_0018", "ornament_0019", "ornament_0020", "ornament_0021", "ornament_0022", "ornament_0023", "ornament_0024", "ornament_0025", "ornament_0026", "ornament_0027", "ornament_0028", "ornament_0029", "ornament_0030", "ornament_0031", "ornament_0032", "ornament_0033", "ornament_0034", "ornament_0035", "ornament_0037", "ornament_0038", "ornament_0039", "ornament_0042", "ornament_0044", "ornament_0045", "ornament_0046", "painting_0000", "painting_0001", "painting_0002", "painting_0003", "painting_0004", "painting_0005", "picture_frame_0000", "picture_frame_0001", "picture_frame_0002", "picture_frame_0003", "picture_frame_0004", "picture_frame_0005", "picture_frame_0006", "picture_frame_0007", "picture_frame_0008", "picture_frame_0009", "picture_frame_0010", "picture_frame_0011", "picture_frame_0012", "picture_frame_0013", "picture_frame_0014", "picture_frame_0015", "picture_frame_0016", "picture_frame_0017", "picture_frame_0018", "picture_frame_0019", "picture_frame_0020", "picture_frame_0021", "picture_frame_0022", "picture_frame_0023", "picture_frame_0024", "picture_frame_0025", "picture_frame_0026", "picture_frame_0027", "picture_frame_0028", "pillow_0000", "pillow_0001", "pillow_0002", "pillow_0003", "pillow_0004", "pillow_0005", "pillow_0006", "pillow_0007", "pillow_0008", "pillow_0009", "pillow_0010", "pillow_0011", "range_hood_0000", "shelf_0000", "shelf_0001", "shelf_0002", "sofa_0000", "sofa_0001", "spoon_0000", "stool_0000", "storage_0000", "storage_0001", "table_0000", "table_0001", "table_0002", "table_lamp_0000", "television_0000", "television_0001", "television_0002", "throw_pillow_0000", "throw_pillow_0001", "tooling_0000", "tray_0000", "tray_0001", "tray_0002", "vase_0000", "vase_0001", "vase_0002", "vase_0003", "vase_0004", "vase_0006", "vase_0007", "vase_0008", "vase_0009", "vase_0010", "wall_0000", "wall_0024", "wall_0025", "wall_0026", "wall_0027", "wall_0028", "wall_0029", "wall_0030", "wall_0031", "wall_0032", "wall_0033", "wall_0034", "wall_0035", "wall_0036", "wall_0037", "wall_0038", "wall_0039", "wall_0040", "wall_0041", "wall_0042", "wall_0043", "wall_0044", "wall_decoration_0000", "wall_decoration_0001", "wall_light_0000", "wall_light_0001", "wall_light_0002", "window_0000", "window_0001", "window_0002", "window_0003", "window_0004", "window_0005", "window_0006", "window_0007", "window_0008", "window_0009", "window_0010", "window_0011", "wine_set_0000", "wine_set_0001", "wine_set_0002", "wine_set_0003", "wine_set_0004", "wine_set_0005", "wine_set_0006", "wine_set_0007"]}, "static_deformables": []}'
-    }
-    defaultPrim = "World"
-    metersPerUnit = 1
-    subLayers = [
-        @common.usdc@,
-        @rooms/balcony_764413/low.usdc@,
-        @rooms/balcony_792635/low.usdc@,
-        @rooms/bathroom_763004/low.usdc@,
-        @rooms/bathroom_765775/low.usdc@,
-        @rooms/bedroom_765353/low.usdc@,
-        @rooms/bedroom_778247/low.usdc@,
-        @rooms/diningroom_785051/low.usdc@,
-        @rooms/kitchen_768297/low.usdc@,
-        @rooms/livingroom_763001/low.usdc@,
-        @rooms/shared/low.usdc@,
-        @rooms/studyroom_763003/low.usdc@,
-        @rooms/unknown_783683/low.usdc@,
-        @rooms/unknown_786425/low.usdc@
-    ]
-    timeCodesPerSecond = 120
-    upAxis = "Z"
-)
-def Xform "World"
-{
-    over "Assets"
-    {
-        over "pillow_0000"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 96
-        }
-        over "pillow_0001"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 96
-        }
-        over "pillow_0002"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 96
-        }
-        over "pillow_0003"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 32
-        }
-        over "pillow_0004"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 32
-        }
-        over "pillow_0005"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 32
-        }
-        over "pillow_0006"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 96
-        }
-        over "pillow_0007"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 96
-        }
-        over "pillow_0008"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 32
-        }
-        over "pillow_0009"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 32
-        }
-        over "pillow_0010"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 32
-        }
-        over "pillow_0011"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 32
-        }
-        over "throw_pillow_0000"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 224
-        }
-        over "throw_pillow_0001"
-        {
-            uint physxDeformableBody:solverPositionIterationCount = 224
-        }
-    }
-}