v0.2.5 update 1: added object colliders, receptacle meshes, updated object configs, filter files, uncluttered scenes, uncluttered dataset config

README.md

@@ -27,20 +27,32 @@ See [this repository](https://huggingface.co/datasets/hssd/hssd-models) for corr
 ```
 ├── objects
 │   ├── */*.glb
+│   ├── */*.collider.glb
+│   ├── */*.filteredSupportSurface(.ply|.glb)
 │   ├── */*.object_config.json
 ├── stages
 │   ├── *.glb
 │   ├── *.stage_config.json
 ├── scenes
 │   ├── *.scene_instance.json
+├── scenes_uncluttered
+│   ├── *.scene_instance.json
+├── scene_filter_files
+│   ├── *.rec_filter.json
 └── hssd-hab.scene_dataset_config.json
+└── hssd-hab-uncluttered.scene_dataset_config.json
 ```
 
-- `hssd-hab.scene_dataset_config.json`: This SceneDataset config file aggregates the assets and metadata necessary to fully describe the set of stages, objects, and scenes constituting the dataset
-- `objects`: 3D models representing distinct objects that are used to compose scenes
-- `stages`: A stage in Habitat is the set of static mesh components which make up the backdrop of a scene (e.g. floor, walls, stairs, etc.)
-- `scenes`: A scene is a single 3D world composed of a static stage and a variable number of objects
+- `hssd-hab.scene_dataset_config.json`: This SceneDataset config file aggregates the assets and metadata necessary to fully describe the set of stages, objects, and scenes constituting the dataset.
+- `objects`: 3D models representing distinct objects that are used to compose scenes. Contains configuration files, render assets, collider assets, and Receptacle mesh assets.
+- `stages`: A stage in Habitat is the set of static mesh components which make up the backdrop of a scene (e.g. floor, walls, stairs, etc.).
+- `scenes`: A scene is a single 3D world composed of a static stage and a variable number of objects.
 
+### Rearrange-ready assets:
+Supporting Habitat 3.0 embodied rearrangement tasks with updated colliders, adjusted and de-cluttered scene contents, receptacle meshes, and receptacle filter files. See [aihabitat.org/habitat3/](aihabitat.org/habitat3/) for more details.
+- `hssd-hab-uncluttered.scene_dataset_config.json`: This SceneDataset config file aggregates adds the adjusted and uncluttered scenes for rearrangement tasks.
+- `scenes_uncluttered`: Contains the adjusted scene instance configuration files.
+- `scene_filter_files`: A scene filter file organizes available Receptacle instances in a scene into active and inactive groups based on simualtion heuristics and manual edits. It is consumed by the RearrangeEpisodeGenerator to construct valid RearrangeEpisodeDatasets.
 
 ## Getting Started
 
@@ -59,9 +71,15 @@ Habitat-Sim is typically used with [Habitat-Lab](https://github.com/facebookrese
 To define embodied AI tasks (e.g. navigation, instruction following, question answering), train agents, and benchmark their performance using standard metrics, you can download habitat-lab using the instructions provided [here](https://github.com/facebookresearch/habitat-lab#installation).
 
 ## Changelog
-
+ - `v0.2.5` (work in progress): **Rearrange-ready HSSD**
+   - Note: this is a checkpoint. Known issues exist and continued polish is ongoing.
+   - Adds Receptacle meshes describing support surfaces for small objects (e.g. table or shelf surfaces).
+   - Adds collider meshes (.collider.glb) for assets with Receptacle meshes to support simulation.
+   - Adds new scenes 'scenes_uncluttered' and new SceneDataset 'hssd-hab-uncluttered' containing adjusted and de-cluttered versions of the scenes for use in embodied rearrangement tasks.
+   - Adds 'scene_filter_files' which sort Receptacles in each scene into active and inactive groups for RearrangeEpisode generation.
+ - `v0.2.4`: 
+   - Recompresses several object GLBs to preserve PBR material status. 
+   - Adds CSV with object metadata and semantic lexicon files for Habitat.
+   - Adds train/val scene splits file.
 - `v0.2.3`: First release.
-- `v0.2.4`: 
-  - Recompresses several object GLBs to preserve PBR material status. 
-  - Adds CSV with object metadata and semantic lexicon files for Habitat.
-  - Adds train/val scene splits file.
+

hssd-hab-uncluttered.scene_dataset_config.json

@@ -0,0 +1,30 @@
+{
+    "stages": {
+        "paths": {
+            ".json": [
+                "stages"
+            ]
+        }
+    },
+    "objects": {
+        "paths": {
+            ".json": [
+                "objects/*", "objects/decomposed/*"
+            ]
+        }
+    },
+    "scene_instances": {
+        "default_attributes": {
+            "default_lighting": "",
+            "semantic_scene_instance": "hssd_ssd_map"
+        },
+        "paths": {
+            ".json": [
+                "scenes-uncluttered"
+            ]
+        }
+    },
+    "semantic_scene_descriptor_instances": {
+        "hssd_ssd_map": "semantics/hssd-hab_semantic_lexicon.json"
+    }
+}

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objects/0/00662bccdee49ca148d0c96929286db6d6d3c267.collider.glb

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objects/0/00662bccdee49ca148d0c96929286db6d6d3c267.filteredSupportSurface.glb

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