Benchmark suite overhaul: consolidate aloha, add clutter & unitree G1#1325
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Merge aloha_pot, aloha_sdf, aloha_cloth into benchmarks/aloha/ with scene-specific XMLs (scene_pot.xml, scene_sdf.xml, scene_cloth.xml). Add aloha_clutter benchmark with YCB/GSO object assets from aloha_sim. Other changes: - Add glob pattern support in run.py asset specs for flexible asset mapping - Migrate run.py from os.path to pathlib - Auto-set nstep from replay trajectory length when not explicitly specified - Update benchmarks/README.md documentation - Generalize load_trajectory docstring and variable naming
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thowell
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May 1, 2026
thowell
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May 1, 2026
thowell
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May 1, 2026
thowell
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this file appears twice, is that intentional? here (unitree_g1/assets/) and in unitree_g1/
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do we know where this asset is from?
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I think it's from a .to_zip() of the scene as constructed via mjspec in mjlab. We reference mjlab explicitly in the benchmark documentation so I think we're good here.
thowell
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May 4, 2026
thowell
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kevinzakka
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May 4, 2026
thowell
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Summary
Overhaul of the benchmark suite with structural consolidation, new benchmarks, and infrastructure improvements.
Benchmark changes
aloha_pot/,aloha_sdf/,aloha_cloth/into a singlebenchmarks/aloha/directory with scene-specific XMLs (scene_pot.xml,scene_sdf.xml,scene_cloth.xml)aloha_sim, exercising broad-phase collision detection with many convex mesh pairsInfrastructure
os.path/globwithpathlib.Paththroughout__init__.pynow support*patterns (e.g."ycb/*/google_64k") for flexible directory mapping--replayis specified and--nstepis not,nstepdefaults to the trajectory length instead of 1000Documentation