Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -65,3 +65,11 @@ demo_assets/remote_control/result/mesh/remote_control.glb filter=lfs diff=lfs me
 demo_assets/rubik's_cube/result/mesh/rubik's_cube.glb filter=lfs diff=lfs merge=lfs -text
 demo_assets/table/result/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
 demo_assets/vase/result/mesh/vase.glb filter=lfs diff=lfs merge=lfs -text

 demo_assets/rubik's_cube/result/mesh/rubik's_cube.glb filter=lfs diff=lfs merge=lfs -text
 demo_assets/table/result/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
 demo_assets/vase/result/mesh/vase.glb filter=lfs diff=lfs merge=lfs -text
+demo_assets/banana/usd/banana.usd filter=lfs diff=lfs merge=lfs -text
+demo_assets/book/usd/book.usd filter=lfs diff=lfs merge=lfs -text
+demo_assets/lamp/usd/lamp.usd filter=lfs diff=lfs merge=lfs -text
+demo_assets/mug/usd/mug.usd filter=lfs diff=lfs merge=lfs -text
+demo_assets/remote_control/usd/remote_control.usd filter=lfs diff=lfs merge=lfs -text
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+demo_assets/table/usd/table.usd filter=lfs diff=lfs merge=lfs -text
+demo_assets/vase/usd/vase.usd filter=lfs diff=lfs merge=lfs -text

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="banana">
+  <asset>
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+    <texture name="texture_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/banana.obj" scale="1.0 1.0 1.0" />
+    <mesh name="collision_mesh_0" file="mesh/banana_collision.obj" scale="1.0 1.0 1.0" />
+  </asset>
+  <worldbody>
+    <body name="banana">
+      <geom type="mesh" mesh="visual_mesh_0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

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demo_assets/banana/mjcf/mesh/banana_collision.obj ADDED Viewed

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demo_assets/banana/mjcf/mesh/material.mtl ADDED Viewed

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+# https://github.com/mikedh/trimesh
+newmtl material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
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Git LFS Details

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+version https://git-lfs.github.com/spec/v1
+oid sha256:356deabcd8d29bfb2978d9221414a8d00739783be8cb54d348cb9a3f4b8f24bc
+size 349248

demo_assets/banana/usd/config.yaml ADDED Viewed

	@@ -0,0 +1,25 @@

+asset_path: /home/users/xinjie.wang/xinjie/asset3d-gen/outputs/embodiedgen_assets/demo_assets/banana/usd/mesh/banana.obj
+usd_dir: /home/users/xinjie.wang/xinjie/asset3d-gen/outputs/embodiedgen_assets/demo_assets/banana/usd
+usd_file_name: banana.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props: null
+rigid_props: null
+collision_props: null
+collision_approximation: convexDecomposition
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
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+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2025-10-02 at 16:18:13.
+##

demo_assets/banana/usd/mesh/banana.obj ADDED Viewed

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demo_assets/banana/usd/mesh/material.mtl ADDED Viewed

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+# https://github.com/mikedh/trimesh
+newmtl material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
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Git LFS Details

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Pointer size: 132 Bytes
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+<?xml version='1.0' encoding='utf-8'?>
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+    <texture name="texture_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0" file="mesh/book_collision.obj" scale="1.0 1.0 1.0" />
+  </asset>
+  <worldbody>
+    <body name="book">
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+      <geom type="mesh" mesh="collision_mesh_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
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+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

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+asset_path: /home/users/xinjie.wang/xinjie/asset3d-gen/outputs/embodiedgen_assets/demo_assets/book/usd/mesh/book.obj
+usd_dir: /home/users/xinjie.wang/xinjie/asset3d-gen/outputs/embodiedgen_assets/demo_assets/book/usd
+usd_file_name: book.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props: null
+rigid_props: null
+collision_props: null
+collision_approximation: convexDecomposition
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2025-10-02 at 16:18:14.
+##

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+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

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Git LFS Details

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Pointer size: 132 Bytes
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lamp">
+  <asset>
+    <material name="material_0" texture="texture_0" reflectance="0.2" />
+    <texture name="texture_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lamp.obj" scale="1.0 1.0 1.0" />
+    <mesh name="collision_mesh_0" file="mesh/lamp_collision.obj" scale="1.0 1.0 1.0" />
+  </asset>
+  <worldbody>
+    <body name="lamp">
+      <geom type="mesh" mesh="visual_mesh_0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

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	@@ -0,0 +1,8 @@

+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

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Git LFS Details

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+asset_path: /home/users/xinjie.wang/xinjie/asset3d-gen/outputs/embodiedgen_assets/demo_assets/lamp/usd/mesh/lamp.obj
+usd_dir: /home/users/xinjie.wang/xinjie/asset3d-gen/outputs/embodiedgen_assets/demo_assets/lamp/usd
+usd_file_name: lamp.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props: null
+rigid_props: null
+collision_props: null
+collision_approximation: convexDecomposition
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2025-10-02 at 16:18:15.
+##

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+oid sha256:4c94d0f447ec963855716058306888b975ebb42dfe94139417dcae74d705f8c3
+size 920363

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+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

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	@@ -0,0 +1,8 @@

+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mug">
+  <asset>
+    <material name="material_0" texture="texture_0" reflectance="0.2" />
+    <texture name="texture_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/mug.obj" scale="1.0 1.0 1.0" />
+    <mesh name="collision_mesh_0" file="mesh/mug_collision.obj" scale="1.0 1.0 1.0" />
+  </asset>
+  <worldbody>
+    <body name="mug">
+      <geom type="mesh" mesh="visual_mesh_0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

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+asset_path: /home/users/xinjie.wang/xinjie/asset3d-gen/outputs/embodiedgen_assets/demo_assets/mug/usd/mesh/mug.obj
+usd_dir: /home/users/xinjie.wang/xinjie/asset3d-gen/outputs/embodiedgen_assets/demo_assets/mug/usd
+usd_file_name: mug.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props: null
+rigid_props: null
+collision_props: null
+collision_approximation: convexDecomposition
+translation: !!python/tuple
+- 0.0
+- 0.0
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+rotation: !!python/tuple
+- 1.0
+- 0.0
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+scale: !!python/tuple
+- 1.0
+- 1.0
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+##
+# Generated by MeshConverter on 2025-10-02 at 16:18:16.
+##

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+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

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+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png