update assests

.gitattributes

@@ -0,0 +1,4 @@
+*.usd filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.usd* filter=lfs diff=lfs merge=lfs -text

LICENSE

@@ -0,0 +1,439 @@
+Copyright © 2026 UBTECH ROBOTICS CORP LTD ("UBTECH ROBOTICS")
+
+Attribution-NonCommercial-ShareAlike 4.0 International
+
+=======================================================================
+
+Creative Commons Corporation ("Creative Commons") is not a law firm and
+does not provide legal services or legal advice. Distribution of
+Creative Commons public licenses does not create a lawyer-client or
+other relationship. Creative Commons makes its licenses and related
+information available on an "as-is" basis. Creative Commons gives no
+warranties regarding its licenses, any material licensed under their
+terms and conditions, or any related information. Creative Commons
+disclaims all liability for damages resulting from their use to the
+fullest extent possible.
+
+Using Creative Commons Public Licenses
+
+Creative Commons public licenses provide a standard set of terms and
+conditions that creators and other rights holders may use to share
+original works of authorship and other material subject to copyright
+and certain other rights specified in the public license below. The
+following considerations are for informational purposes only, are not
+exhaustive, and do not form part of our licenses.
+
+     Considerations for licensors: Our public licenses are
+     intended for use by those authorized to give the public
+     permission to use material in ways otherwise restricted by
+     copyright and certain other rights. Our licenses are
+     irrevocable. Licensors should read and understand the terms
+     and conditions of the license they choose before applying it.
+     Licensors should also secure all rights necessary before
+     applying our licenses so that the public can reuse the
+     material as expected. Licensors should clearly mark any
+     material not subject to the license. This includes other CC-
+     licensed material, or material used under an exception or
+     limitation to copyright. More considerations for licensors:
+    wiki.creativecommons.org/Considerations_for_licensors
+
+     Considerations for the public: By using one of our public
+     licenses, a licensor grants the public permission to use the
+     licensed material under specified terms and conditions. If
+     the licensor's permission is not necessary for any reason--for
+     example, because of any applicable exception or limitation to
+     copyright--then that use is not regulated by the license. Our
+     licenses grant only permissions under copyright and certain
+     other rights that a licensor has authority to grant. Use of
+     the licensed material may still be restricted for other
+     reasons, including because others have copyright or other
+     rights in the material. A licensor may make special requests,
+     such as asking that all changes be marked or described.
+     Although not required by our licenses, you are encouraged to
+     respect those requests where reasonable. More considerations
+     for the public:
+    wiki.creativecommons.org/Considerations_for_licensees
+
+=======================================================================
+
+Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International
+Public License
+
+By exercising the Licensed Rights (defined below), You accept and agree
+to be bound by the terms and conditions of this Creative Commons
+Attribution-NonCommercial-ShareAlike 4.0 International Public License
+("Public License"). To the extent this Public License may be
+interpreted as a contract, You are granted the Licensed Rights in
+consideration of Your acceptance of these terms and conditions, and the
+Licensor grants You such rights in consideration of benefits the
+Licensor receives from making the Licensed Material available under
+these terms and conditions.
+
+
+Section 1 -- Definitions.
+
+  a. Adapted Material means material subject to Copyright and Similar
+     Rights that is derived from or based upon the Licensed Material
+     and in which the Licensed Material is translated, altered,
+     arranged, transformed, or otherwise modified in a manner requiring
+     permission under the Copyright and Similar Rights held by the
+     Licensor. For purposes of this Public License, where the Licensed
+     Material is a musical work, performance, or sound recording,
+     Adapted Material is always produced where the Licensed Material is
+     synched in timed relation with a moving image.
+
+  b. Adapter's License means the license You apply to Your Copyright
+     and Similar Rights in Your contributions to Adapted Material in
+     accordance with the terms and conditions of this Public License.
+
+  c. BY-NC-SA Compatible License means a license listed at
+     creativecommons.org/compatiblelicenses, approved by Creative
+     Commons as essentially the equivalent of this Public License.
+
+  d. Copyright and Similar Rights means copyright and/or similar rights
+     closely related to copyright including, without limitation,
+     performance, broadcast, sound recording, and Sui Generis Database
+     Rights, without regard to how the rights are labeled or
+     categorized. For purposes of this Public License, the rights
+     specified in Section 2(b)(1)-(2) are not Copyright and Similar
+     Rights.
+
+  e. Effective Technological Measures means those measures that, in the
+     absence of proper authority, may not be circumvented under laws
+     fulfilling obligations under Article 11 of the WIPO Copyright
+     Treaty adopted on December 20, 1996, and/or similar international
+     agreements.
+
+  f. Exceptions and Limitations means fair use, fair dealing, and/or
+     any other exception or limitation to Copyright and Similar Rights
+     that applies to Your use of the Licensed Material.
+
+  g. License Elements means the license attributes listed in the name
+     of a Creative Commons Public License. The License Elements of this
+     Public License are Attribution, NonCommercial, and ShareAlike.
+
+  h. Licensed Material means the artistic or literary work, database,
+     or other material to which the Licensor applied this Public
+     License.
+
+  i. Licensed Rights means the rights granted to You subject to the
+     terms and conditions of this Public License, which are limited to
+     all Copyright and Similar Rights that apply to Your use of the
+     Licensed Material and that the Licensor has authority to license.
+
+  j. Licensor means the individual(s) or entity(ies) granting rights
+     under this Public License.
+
+  k. NonCommercial means not primarily intended for or directed towards
+     commercial advantage or monetary compensation. For purposes of
+     this Public License, the exchange of the Licensed Material for
+     other material subject to Copyright and Similar Rights by digital
+     file-sharing or similar means is NonCommercial provided there is
+     no payment of monetary compensation in connection with the
+     exchange.
+
+  l. Share means to provide material to the public by any means or
+     process that requires permission under the Licensed Rights, such
+     as reproduction, public display, public performance, distribution,
+     dissemination, communication, or importation, and to make material
+     available to the public including in ways that members of the
+     public may access the material from a place and at a time
+     individually chosen by them.
+
+  m. Sui Generis Database Rights means rights other than copyright
+     resulting from Directive 96/9/EC of the European Parliament and of
+     the Council of 11 March 1996 on the legal protection of databases,
+     as amended and/or succeeded, as well as other essentially
+     equivalent rights anywhere in the world.
+
+  n. You means the individual or entity exercising the Licensed Rights
+     under this Public License. Your has a corresponding meaning.
+
+
+Section 2 -- Scope.
+
+  a. License grant.
+
+       1. Subject to the terms and conditions of this Public License,
+          the Licensor hereby grants You a worldwide, royalty-free,
+          non-sublicensable, non-exclusive, irrevocable license to
+          exercise the Licensed Rights in the Licensed Material to:
+
+            a. reproduce and Share the Licensed Material, in whole or
+               in part, for NonCommercial purposes only; and
+
+            b. produce, reproduce, and Share Adapted Material for
+               NonCommercial purposes only.
+
+       2. Exceptions and Limitations. For the avoidance of doubt, where
+          Exceptions and Limitations apply to Your use, this Public
+          License does not apply, and You do not need to comply with
+          its terms and conditions.
+
+       3. Term. The term of this Public License is specified in Section
+          6(a).
+
+       4. Media and formats; technical modifications allowed. The
+          Licensor authorizes You to exercise the Licensed Rights in
+          all media and formats whether now known or hereafter created,
+          and to make technical modifications necessary to do so. The
+          Licensor waives and/or agrees not to assert any right or
+          authority to forbid You from making technical modifications
+          necessary to exercise the Licensed Rights, including
+          technical modifications necessary to circumvent Effective
+          Technological Measures. For purposes of this Public License,
+          simply making modifications authorized by this Section 2(a)
+          (4) never produces Adapted Material.
+
+       5. Downstream recipients.
+
+            a. Offer from the Licensor -- Licensed Material. Every
+               recipient of the Licensed Material automatically
+               receives an offer from the Licensor to exercise the
+               Licensed Rights under the terms and conditions of this
+               Public License.
+
+            b. Additional offer from the Licensor -- Adapted Material.
+               Every recipient of Adapted Material from You
+               automatically receives an offer from the Licensor to
+               exercise the Licensed Rights in the Adapted Material
+               under the conditions of the Adapter's License You apply.
+
+            c. No downstream restrictions. You may not offer or impose
+               any additional or different terms or conditions on, or
+               apply any Effective Technological Measures to, the
+               Licensed Material if doing so restricts exercise of the
+               Licensed Rights by any recipient of the Licensed
+               Material.
+
+       6. No endorsement. Nothing in this Public License constitutes or
+          may be construed as permission to assert or imply that You
+          are, or that Your use of the Licensed Material is, connected
+          with, or sponsored, endorsed, or granted official status by,
+          the Licensor or others designated to receive attribution as
+          provided in Section 3(a)(1)(A)(i).
+
+  b. Other rights.
+
+       1. Moral rights, such as the right of integrity, are not
+          licensed under this Public License, nor are publicity,
+          privacy, and/or other similar personality rights; however, to
+          the extent possible, the Licensor waives and/or agrees not to
+          assert any such rights held by the Licensor to the limited
+          extent necessary to allow You to exercise the Licensed
+          Rights, but not otherwise.
+
+       2. Patent and trademark rights are not licensed under this
+          Public License.
+
+       3. To the extent possible, the Licensor waives any right to
+          collect royalties from You for the exercise of the Licensed
+          Rights, whether directly or through a collecting society
+          under any voluntary or waivable statutory or compulsory
+          licensing scheme. In all other cases the Licensor expressly
+          reserves any right to collect such royalties, including when
+          the Licensed Material is used other than for NonCommercial
+          purposes.
+
+
+Section 3 -- License Conditions.
+
+Your exercise of the Licensed Rights is expressly made subject to the
+following conditions.
+
+  a. Attribution.
+
+       1. If You Share the Licensed Material (including in modified
+          form), You must:
+
+            a. retain the following if it is supplied by the Licensor
+               with the Licensed Material:
+
+                 i. identification of the creator(s) of the Licensed
+                    Material and any others designated to receive
+                    attribution, in any reasonable manner requested by
+                    the Licensor (including by pseudonym if
+                    designated);
+
+                ii. a copyright notice;
+
+               iii. a notice that refers to this Public License;
+
+                iv. a notice that refers to the disclaimer of
+                    warranties;
+
+                 v. a URI or hyperlink to the Licensed Material to the
+                    extent reasonably practicable;
+
+            b. indicate if You modified the Licensed Material and
+               retain an indication of any previous modifications; and
+
+            c. indicate the Licensed Material is licensed under this
+               Public License, and include the text of, or the URI or
+               hyperlink to, this Public License.
+
+       2. You may satisfy the conditions in Section 3(a)(1) in any
+          reasonable manner based on the medium, means, and context in
+          which You Share the Licensed Material. For example, it may be
+          reasonable to satisfy the conditions by providing a URI or
+          hyperlink to a resource that includes the required
+          information.
+       3. If requested by the Licensor, You must remove any of the
+          information required by Section 3(a)(1)(A) to the extent
+          reasonably practicable.
+
+  b. ShareAlike.
+
+     In addition to the conditions in Section 3(a), if You Share
+     Adapted Material You produce, the following conditions also apply.
+
+       1. The Adapter's License You apply must be a Creative Commons
+          license with the same License Elements, this version or
+          later, or a BY-NC-SA Compatible License.
+
+       2. You must include the text of, or the URI or hyperlink to, the
+          Adapter's License You apply. You may satisfy this condition
+          in any reasonable manner based on the medium, means, and
+          context in which You Share Adapted Material.
+
+       3. You may not offer or impose any additional or different terms
+          or conditions on, or apply any Effective Technological
+          Measures to, Adapted Material that restrict exercise of the
+          rights granted under the Adapter's License You apply.
+
+
+Section 4 -- Sui Generis Database Rights.
+
+Where the Licensed Rights include Sui Generis Database Rights that
+apply to Your use of the Licensed Material:
+
+  a. for the avoidance of doubt, Section 2(a)(1) grants You the right
+     to extract, reuse, reproduce, and Share all or a substantial
+     portion of the contents of the database for NonCommercial purposes
+     only;
+
+  b. if You include all or a substantial portion of the database
+     contents in a database in which You have Sui Generis Database
+     Rights, then the database in which You have Sui Generis Database
+     Rights (but not its individual contents) is Adapted Material,
+     including for purposes of Section 3(b); and
+
+  c. You must comply with the conditions in Section 3(a) if You Share
+     all or a substantial portion of the contents of the database.
+
+For the avoidance of doubt, this Section 4 supplements and does not
+replace Your obligations under this Public License where the Licensed
+Rights include other Copyright and Similar Rights.
+
+
+Section 5 -- Disclaimer of Warranties and Limitation of Liability.
+
+  a. UNLESS OTHERWISE SEPARATELY UNDERTAKEN BY THE LICENSOR, TO THE
+     EXTENT POSSIBLE, THE LICENSOR OFFERS THE LICENSED MATERIAL AS-IS
+     AND AS-AVAILABLE, AND MAKES NO REPRESENTATIONS OR WARRANTIES OF
+     ANY KIND CONCERNING THE LICENSED MATERIAL, WHETHER EXPRESS,
+     IMPLIED, STATUTORY, OR OTHER. THIS INCLUDES, WITHOUT LIMITATION,
+     WARRANTIES OF TITLE, MERCHANTABILITY, FITNESS FOR A PARTICULAR
+     PURPOSE, NON-INFRINGEMENT, ABSENCE OF LATENT OR OTHER DEFECTS,
+     ACCURACY, OR THE PRESENCE OR ABSENCE OF ERRORS, WHETHER OR NOT
+     KNOWN OR DISCOVERABLE. WHERE DISCLAIMERS OF WARRANTIES ARE NOT
+     ALLOWED IN FULL OR IN PART, THIS DISCLAIMER MAY NOT APPLY TO YOU.
+
+  b. TO THE EXTENT POSSIBLE, IN NO EVENT WILL THE LICENSOR BE LIABLE
+     TO YOU ON ANY LEGAL THEORY (INCLUDING, WITHOUT LIMITATION,
+     NEGLIGENCE) OR OTHERWISE FOR ANY DIRECT, SPECIAL, INDIRECT,
+     INCIDENTAL, CONSEQUENTIAL, PUNITIVE, EXEMPLARY, OR OTHER LOSSES,
+     COSTS, EXPENSES, OR DAMAGES ARISING OUT OF THIS PUBLIC LICENSE OR
+     USE OF THE LICENSED MATERIAL, EVEN IF THE LICENSOR HAS BEEN
+     ADVISED OF THE POSSIBILITY OF SUCH LOSSES, COSTS, EXPENSES, OR
+     DAMAGES. WHERE A LIMITATION OF LIABILITY IS NOT ALLOWED IN FULL OR
+     IN PART, THIS LIMITATION MAY NOT APPLY TO YOU.
+
+  c. The disclaimer of warranties and limitation of liability provided
+     above shall be interpreted in a manner that, to the extent
+     possible, most closely approximates an absolute disclaimer and
+     waiver of all liability.
+
+
+Section 6 -- Term and Termination.
+
+  a. This Public License applies for the term of the Copyright and
+     Similar Rights licensed here. However, if You fail to comply with
+     this Public License, then Your rights under this Public License
+     terminate automatically.
+
+  b. Where Your right to use the Licensed Material has terminated under
+     Section 6(a), it reinstates:
+
+       1. automatically as of the date the violation is cured, provided
+          it is cured within 30 days of Your discovery of the
+          violation; or
+
+       2. upon express reinstatement by the Licensor.
+
+     For the avoidance of doubt, this Section 6(b) does not affect any
+     right the Licensor may have to seek remedies for Your violations
+     of this Public License.
+
+  c. For the avoidance of doubt, the Licensor may also offer the
+     Licensed Material under separate terms or conditions or stop
+     distributing the Licensed Material at any time; however, doing so
+     will not terminate this Public License.
+
+  d. Sections 1, 5, 6, 7, and 8 survive termination of this Public
+     License.
+
+
+Section 7 -- Other Terms and Conditions.
+
+  a. The Licensor shall not be bound by any additional or different
+     terms or conditions communicated by You unless expressly agreed.
+
+  b. Any arrangements, understandings, or agreements regarding the
+     Licensed Material not stated herein are separate from and
+     independent of the terms and conditions of this Public License.
+
+
+Section 8 -- Interpretation.
+
+  a. For the avoidance of doubt, this Public License does not, and
+     shall not be interpreted to, reduce, limit, restrict, or impose
+     conditions on any use of the Licensed Material that could lawfully
+     be made without permission under this Public License.
+
+  b. To the extent possible, if any provision of this Public License is
+     deemed unenforceable, it shall be automatically reformed to the
+     minimum extent necessary to make it enforceable. If the provision
+     cannot be reformed, it shall be severed from this Public License
+     without affecting the enforceability of the remaining terms and
+     conditions.
+
+  c. No term or condition of this Public License will be waived and no
+     failure to comply consented to unless expressly agreed to by the
+     Licensor.
+
+  d. Nothing in this Public License constitutes or may be interpreted
+     as a limitation upon, or waiver of, any privileges and immunities
+     that apply to the Licensor or You, including from the legal
+     processes of any jurisdiction or authority.
+
+=======================================================================
+
+Creative Commons is not a party to its public
+licenses. Notwithstanding, Creative Commons may elect to apply one of
+its public licenses to material it publishes and in those instances
+will be considered the “Licensor.” The text of the Creative Commons
+public licenses is dedicated to the public domain under the CC0 Public
+Domain Dedication. Except for the limited purpose of indicating that
+material is shared under a Creative Commons public license or as
+otherwise permitted by the Creative Commons policies published at
+creativecommons.org/policies, Creative Commons does not authorize the
+use of the trademark "Creative Commons" or any other trademark or logo
+of Creative Commons without its prior written consent including,
+without limitation, in connection with any unauthorized modifications
+to any of its public licenses or any other arrangements,
+understandings, or agreements concerning use of licensed material. For
+the avoidance of doubt, this paragraph does not form part of the
+public licenses.
+
+Creative Commons may be contacted at creativecommons.org.

README.md

@@ -0,0 +1,78 @@
+ECBG 机器人仿真环境
+概述
+基于 Isaac Sim 5.1，用于模拟 ECBG 赛事中的 WalkerS2 机器人控制及相关场景搭建。
+
+功能特性
+场景构建与加载
+WalkerS2 机器人加载与双臂 IK 控制
+抓取目标自动规划（选臂、姿态计算、实时跟踪）
+姿态数据记录（CSV 格式）— 作为评分输入
+摄像头图像采集（HDF5 格式）— 临时作为图像信息检查的手段
+项目结构
+ecbg/
+├── source/                  # Python 源码包
+│   ├── __init__.py          # 包初始化
+│   ├── config_loader.py     # 配置加载与路径解析
+│   ├── coordinate_utils.py  # 世界坐标 ↔ Pinocchio 基座坐标变换
+│   ├── grasp_planner.py     # 抓取目标规划与实时跟踪
+│   ├── DataLogger.py        # 位姿 CSV / 相机 HDF5 数据记录
+│   ├── DualArmIK.py         # 基于 Pinocchio 的双臂逆运动学求解器
+│   ├── RobotArticulation.py # WalkerS2 机器人 Articulation 控制接口
+│   └── SceneBuilder.py      # 场景构建（桌子、箱子、零件、机器人）
+├── config/                  # 任务配置 (task1.yaml – task4.yaml)
+├── main.py                  # 仿真入口：编排上述模块的流水线
+└── README.md                # 本文档
+核心模块
+config_loader
+配置加载工具，解析 YAML 文件并将 root_path 解析为绝对路径；apply_scatter_config 用散布区域覆盖 plane 配置。
+
+配置文件路径说明：
+
+任务配置文件：ecbg/config/task1.yaml ~ task4.yaml
+资产文件路径：../assets/resources/（在配置文件中设置 root_path）
+CoordinateTransform
+管理世界坐标系与 Pinocchio URDF 根坐标系之间的刚体变换，通过 torso_link 锚点自动计算。
+
+GraspPlanner
+抓取目标规划器：根据零件位姿自动选臂、计算抓取姿态和 TCP 偏移，并在控制回调中实时跟踪目标物体。
+
+SceneBuilder
+负责构建和初始化仿真场景，使用 Replicator 功能，加载 USD 文件和设置场景元素。
+
+资产文件位置：
+
+机器人模型：../assets/resources/Collected_s2_v1_ecbg/s2_v1.usd
+URDF 文件：../assets/resources/s2.urdf
+其他 USD 资产：../assets/resources/ 目录
+RobotArticulation
+实现 WalkerS2 的感知和控制接口搭建，包括关节状态获取、双臂 IK 控制和传感器（六维力、相机）数据获取。
+
+DualArmIK
+基于 Pinocchio 的双臂逆运动学求解器，使用加权阻尼最小二乘法（DLS），支持位置 / 姿态权重分离。
+
+DataLogger
+提供目标物体位姿数据（打分用）和摄像头图像的数据记录功能，支持 CSV 和 HDF5 格式输出。 各目标物体的位姿数据通过 PhysX view 接口获取，放在物理回调中。
+
+配置文件
+四个任务分别用 config/task1.yaml – config/task4.yaml 进行参数配置。
+
+关键配置项：
+
+root_path: 资产文件根路径，应设置为 ../assets/resources/
+scene_usd: 场景 USD 文件路径（相对于 root_path）
+task_number: 任务编号（1-4）
+使用方式
+1. 配置路径
+确保 config/*.yaml 中的 root_path 指向正确的资产目录：
+
+root_path: "../assets/resources/"
+2. 运行仿真
+# 在项目根目录
+cd GlobalHumanoidRobotChallenge2026_Baseline
+
+# 运行 ECBG 仿真
+python ecbg/main.py
+依赖关系
+Isaac Sim 5.1+: 仿真环境
+Pinocchio: 运动学计算
+PyYAML: 配置文件解析

resources/14-15-M1-5.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f33256c296527131d2a8f2a9606b69f1cfbe1eb52f97f43b8270a46d664d734d
+size 127381

resources/6901-12246.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6b03c456bafb9e85fe70bab9d0a9363ab95c01d26564ae63f65e86e13920ad7
+size 835561

resources/Box/.collect.mapping.json

@@ -0,0 +1,17 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/home/user/isaacdata/0.ISAAC/6.material/box_material/plastic_ver2/Textures/FOF_Map_Labels_D.png",
+            "source_hash": "ff8c6f89f5739bca4daa874376b2d75e3e473161",
+            "target_url": "./SubUSDs/textures/FOF_Map_Labels_D.png",
+            "target_hash": "b3027f1a4ab11f54fa813fbc5996fa5672097483"
+        },
+        {
+            "source_url": "/home/user/isaacdata/0.ISAAC/6.material/box_texture/0.random/0.png",
+            "source_hash": "954cdf5fc048ee2e61919a303a0297276358db53",
+            "target_url": "./SubUSDs/textures/0.png",
+            "target_hash": "87f0966f654b8c22f3fb5d27e1adc327065e6e79"
+        }
+    ]
+}

resources/Box/box_60_40_23_cut_0.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eafd5cb89d6050bb002e02ce582f8ac089ab44853dc46843e36a87f400cf211
+size 1046520

resources/Box_blank/.collect.mapping.json

@@ -0,0 +1,17 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Box/SubUSDs/textures/0.png",
+            "source_hash": "9e794507b5234eba4aa8daf370975cb7a25546f9",
+            "target_url": "./SubUSDs/textures/0.png",
+            "target_hash": "fae56945f96459112ca8996eb21341b320b40480"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Box/SubUSDs/textures/FOF_Map_Labels_D.png",
+            "source_hash": "e5ead80f95237a99a6be2f2523f4cb46650c3187",
+            "target_url": "./SubUSDs/textures/FOF_Map_Labels_D.png",
+            "target_hash": "409fbb756f4d53059fe3b03398d6d2ae32471d90"
+        }
+    ]
+}

resources/Box_blank/box_60_40_23_cut_0.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed8efa0eceae5659decacd73f04555a53b8c23c65c05ead3577d57b70afdad8f
+size 1048282

resources/Box_blank_blue/.collect.mapping.json

@@ -0,0 +1,23 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Box_blank/SubUSDs/textures/0.png",
+            "source_hash": "fae56945f96459112ca8996eb21341b320b40480",
+            "target_url": "./SubUSDs/textures/0.png",
+            "target_hash": "704e188f2cc455b18d02f37f4ada65448c02b70f"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Box_blank/SubUSDs/textures/FOF_Map_Labels_D.png",
+            "source_hash": "409fbb756f4d53059fe3b03398d6d2ae32471d90",
+            "target_url": "./SubUSDs/textures/FOF_Map_Labels_D.png",
+            "target_hash": "da171427b4f066be1c7a2e0d1d3d0eb5f2ab1fed"
+        },
+        {
+            "source_url": "/home/user/isaacsim_assets/Assets/Isaac/4.5/NVIDIA/Materials/Base/Plastics/Plastic.mdl",
+            "source_hash": "8fc244453baa8f640dc60b95b273d0cff214158f",
+            "target_url": "./SubUSDs/materials/Plastic.mdl",
+            "target_hash": "a1faa47ed56d67e649dff4e8bdbd78423f4f73e1"
+        }
+    ]
+}

resources/Box_blank_blue/SubUSDs/materials/Plastic.mdl

@@ -0,0 +1,42 @@
+mdl 1.4;
+
+using ::OmniPBR import OmniPBR;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Plastic(*)
+ = OmniPBR(
+    diffuse_color_constant: color(1.0, 1.0, 1.0),
+    diffuse_texture: texture_2d(),     //"./Plastic/Plastic_BaseColor.png", ::tex::gamma_srgb
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),     //0.15f, 0.15f, 0.15f
+    reflection_roughness_constant: 0.45,
+    reflection_roughness_texture_influence: 0.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.0,
+    metallic_texture_influence: 0.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d(),     //"./Plastic/Plastic_ORM.png", ::tex::gamma_linear
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(0.0, 0.0, 0.0),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 0.0,
+    bump_factor: 0.5f,
+    normalmap_texture: texture_2d(),     //"./Plastic/Plastic_Normal.png", ::tex::gamma_linear
+    detail_bump_factor: 1.f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

resources/Box_blank_blue/box_60_40_23_cut_0.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5572a05b9b85b0a9aefeefdee0ecf55d23c9989719db203cc9e694801d65346c
+size 1048025

resources/Box_blank_gray/.collect.mapping.json

@@ -0,0 +1,23 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Box_blank/SubUSDs/textures/0.png",
+            "source_hash": "fae56945f96459112ca8996eb21341b320b40480",
+            "target_url": "./SubUSDs/textures/0.png",
+            "target_hash": "adc139b8fe82bf793047e3f24a41c2e423089a5d"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Box_blank/SubUSDs/textures/FOF_Map_Labels_D.png",
+            "source_hash": "409fbb756f4d53059fe3b03398d6d2ae32471d90",
+            "target_url": "./SubUSDs/textures/FOF_Map_Labels_D.png",
+            "target_hash": "d120ed3d7fa7156a92f3ce91c7227baaae91f93f"
+        },
+        {
+            "source_url": "/home/user/isaacsim_assets/Assets/Isaac/4.5/NVIDIA/Materials/Base/Plastics/Plastic.mdl",
+            "source_hash": "8fc244453baa8f640dc60b95b273d0cff214158f",
+            "target_url": "./SubUSDs/materials/Plastic.mdl",
+            "target_hash": "e0b0a943c157916cd102ef24d872ba4835f836d3"
+        }
+    ]
+}

resources/Box_blank_gray/SubUSDs/materials/Plastic.mdl

@@ -0,0 +1,42 @@
+mdl 1.4;
+
+using ::OmniPBR import OmniPBR;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Plastic(*)
+ = OmniPBR(
+    diffuse_color_constant: color(1.0, 1.0, 1.0),
+    diffuse_texture: texture_2d(),     //"./Plastic/Plastic_BaseColor.png", ::tex::gamma_srgb
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),     //0.15f, 0.15f, 0.15f
+    reflection_roughness_constant: 0.45,
+    reflection_roughness_texture_influence: 0.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.0,
+    metallic_texture_influence: 0.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d(),     //"./Plastic/Plastic_ORM.png", ::tex::gamma_linear
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(0.0, 0.0, 0.0),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 0.0,
+    bump_factor: 0.5f,
+    normalmap_texture: texture_2d(),     //"./Plastic/Plastic_Normal.png", ::tex::gamma_linear
+    detail_bump_factor: 1.f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

resources/Box_blank_gray/box_60_40_23_cut_0.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a2a32d4937ef4d0ca2e76b150dc2d4aba6f6554aa99e33ed753e590c3e01ca6
+size 1048025

resources/Box_blue/.collect.mapping.json

@@ -0,0 +1,23 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Box/SubUSDs/textures/0.png",
+            "source_hash": "9e794507b5234eba4aa8daf370975cb7a25546f9",
+            "target_url": "./SubUSDs/textures/0.png",
+            "target_hash": "d8da2d13eaf3b20e44b241ebb115e745abc96a1f"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Box/SubUSDs/textures/FOF_Map_Labels_D.png",
+            "source_hash": "e5ead80f95237a99a6be2f2523f4cb46650c3187",
+            "target_url": "./SubUSDs/textures/FOF_Map_Labels_D.png",
+            "target_hash": "e06cb78b2997e5d4e6d298958045cf5a4a2ffa88"
+        },
+        {
+            "source_url": "/home/user/isaacsim_assets/Assets/Isaac/4.5/NVIDIA/Materials/Base/Plastics/Plastic.mdl",
+            "source_hash": "8fc244453baa8f640dc60b95b273d0cff214158f",
+            "target_url": "./SubUSDs/materials/Plastic.mdl",
+            "target_hash": "3e133618f744e4a2c5de0bcf0e403fd3ca9ae737"
+        }
+    ]
+}

resources/Box_blue/SubUSDs/materials/Plastic.mdl

@@ -0,0 +1,42 @@
+mdl 1.4;
+
+using ::OmniPBR import OmniPBR;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Plastic(*)
+ = OmniPBR(
+    diffuse_color_constant: color(1.0, 1.0, 1.0),
+    diffuse_texture: texture_2d(),     //"./Plastic/Plastic_BaseColor.png", ::tex::gamma_srgb
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),     //0.15f, 0.15f, 0.15f
+    reflection_roughness_constant: 0.45,
+    reflection_roughness_texture_influence: 0.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.0,
+    metallic_texture_influence: 0.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d(),     //"./Plastic/Plastic_ORM.png", ::tex::gamma_linear
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(0.0, 0.0, 0.0),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 0.0,
+    bump_factor: 0.5f,
+    normalmap_texture: texture_2d(),     //"./Plastic/Plastic_Normal.png", ::tex::gamma_linear
+    detail_bump_factor: 1.f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

resources/Box_blue/box_60_40_23_cut_0.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a94901ad7cf93bed65da133d5b86dc1d0adb41e9ba77a472c88c591fb5146dc
+size 1046842

resources/Box_gray/.collect.mapping.json

@@ -0,0 +1,23 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Box/SubUSDs/textures/0.png",
+            "source_hash": "9e794507b5234eba4aa8daf370975cb7a25546f9",
+            "target_url": "./SubUSDs/textures/0.png",
+            "target_hash": "e922d9ca5c7e7ec68f5c3102fffa55046b95e239"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Box/SubUSDs/textures/FOF_Map_Labels_D.png",
+            "source_hash": "e5ead80f95237a99a6be2f2523f4cb46650c3187",
+            "target_url": "./SubUSDs/textures/FOF_Map_Labels_D.png",
+            "target_hash": "caf3380b8eac2657b68508fa0a41e287f73cc1d2"
+        },
+        {
+            "source_url": "/home/user/isaacsim_assets/Assets/Isaac/4.5/NVIDIA/Materials/Base/Plastics/Plastic.mdl",
+            "source_hash": "8fc244453baa8f640dc60b95b273d0cff214158f",
+            "target_url": "./SubUSDs/materials/Plastic.mdl",
+            "target_hash": "46d728de5886db67c89ba24ad3369caa625054b7"
+        }
+    ]
+}

resources/Box_gray/SubUSDs/materials/Plastic.mdl

@@ -0,0 +1,42 @@
+mdl 1.4;
+
+using ::OmniPBR import OmniPBR;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Plastic(*)
+ = OmniPBR(
+    diffuse_color_constant: color(1.0, 1.0, 1.0),
+    diffuse_texture: texture_2d(),     //"./Plastic/Plastic_BaseColor.png", ::tex::gamma_srgb
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),     //0.15f, 0.15f, 0.15f
+    reflection_roughness_constant: 0.45,
+    reflection_roughness_texture_influence: 0.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.0,
+    metallic_texture_influence: 0.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d(),     //"./Plastic/Plastic_ORM.png", ::tex::gamma_linear
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(0.0, 0.0, 0.0),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 0.0,
+    bump_factor: 0.5f,
+    normalmap_texture: texture_2d(),     //"./Plastic/Plastic_Normal.png", ::tex::gamma_linear
+    detail_bump_factor: 1.f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

resources/Box_gray/box_60_40_23_cut_0.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49596c6da14b877575bd7fe5639f7a73968fdb4725d0bee88bf6b9fd26ef5615
+size 1046842

resources/Collected_28motor/.collect.mapping.json

@@ -0,0 +1,239 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/home/user/isaacsim_assets/Assets/Isaac/4.5/NVIDIA/Materials/Base/Metals/Brushed_Antique_Copper.mdl",
+            "source_hash": "a19033c5836daac73bd47fee141df0bbbae7fb06",
+            "target_url": "./SubUSDs/materials/Brushed_Antique_Copper.mdl",
+            "target_hash": "88bac4c29351d1bc2752c05e1b206808bf6f1230"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/materials/Aluminum_Anodized_Black.mdl",
+            "source_hash": "42d336903b397151e2dc6b6822aa2db68f456ebc",
+            "target_url": "./SubUSDs/materials/Aluminum_Anodized_Black.mdl",
+            "target_hash": "b9e9df5ff348f3984d08d7e6b15d16d624723338"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/materials/Aluminum_Anodized_Charcoal.mdl",
+            "source_hash": "86f471103b696b7015696ac3ecf8258e3350392d",
+            "target_url": "./SubUSDs/materials/Aluminum_Anodized_Charcoal.mdl",
+            "target_hash": "9f92449074659d439eea1827b4645d49717e11eb"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/materials/Aluminum_Cast.mdl",
+            "source_hash": "970f63eef81a597bcd2b7044247e06ba5a6547e8",
+            "target_url": "./SubUSDs/materials/Aluminum_Cast.mdl",
+            "target_hash": "f592207038d678eded7a93c6f36ea2bf51b0f717"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/materials/Aluminum_Polished.mdl",
+            "source_hash": "d3f2c880844d33ddca42639d334ea13347732000",
+            "target_url": "./SubUSDs/materials/Aluminum_Polished.mdl",
+            "target_hash": "d7db562e0076d0cd779cd8938a73b2426755cede"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/materials/Brass.mdl",
+            "source_hash": "27ef2dbaa94bce435100fa2a9c4fbbb3c0d584be",
+            "target_url": "./SubUSDs/materials/Brass.mdl",
+            "target_hash": "b385b3cc0f3cdf15398292de54439883afe888e9"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/materials/Cast_Metal_Silver_Vein.mdl",
+            "source_hash": "c41c37612e674f55bcc1db4a5a3be9144777c843",
+            "target_url": "./SubUSDs/materials/Cast_Metal_Silver_Vein.mdl",
+            "target_hash": "83c2e5f64c3a6bef37b3d2bddbf63b5edbcac113"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/materials/Chrome.mdl",
+            "source_hash": "a8a4e24863841ea9587b2ddab10ba14360344ca6",
+            "target_url": "./SubUSDs/materials/Chrome.mdl",
+            "target_hash": "2f305c1d2808427584fec0951d25609b0abe083b"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/materials/Metal_Door.mdl",
+            "source_hash": "2cfe92323032900b08023ec38ea1ec0655ed4f11",
+            "target_url": "./SubUSDs/materials/Metal_Door.mdl",
+            "target_hash": "9449f7762afb8cbacb304015f96b98788171bc50"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/materials/Silver.mdl",
+            "source_hash": "f8d6309f84c0f2709ad2508f2a79d95bc2b6e062",
+            "target_url": "./SubUSDs/materials/Silver.mdl",
+            "target_hash": "25b5c2869d5c91d83c14904f6ecdc25af982dc0b"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/materials/Steel_Blued.mdl",
+            "source_hash": "46e34d0d0bbff4ed95d38c5edd8b145ca91c31d3",
+            "target_url": "./SubUSDs/materials/Steel_Blued.mdl",
+            "target_hash": "691dbb65c9062545ccb4f1bd061ce453a810114a"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Aluminum_Anodized_Charcoal/Aluminum_Anodized_BaseColor.png",
+            "source_hash": "87864ee14fdcc82e2b47b55406f784ed2a0a54cc",
+            "target_url": "./SubUSDs/textures/Aluminum_Anodized_Black/Aluminum_Anodized_BaseColor.png",
+            "target_hash": "5534b72beae4ef42f11d82a06636b3374c7bf8f2"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Cast_Metal_Silver_Vein/Cast_Metal_Silver_Vein_BaseColor.png",
+            "source_hash": "948ff0a4fa7c176fb21318b56ebd4c4dd6a629fc",
+            "target_url": "./SubUSDs/textures/Cast_Metal_Silver_Vein/Cast_Metal_Silver_Vein_BaseColor.png",
+            "target_hash": "8a70d2e94ea633132aaa12262115ef004368e244"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Steel_Blued/Steel_Blued_BaseColor.png",
+            "source_hash": "a62b82177c82c62ed2962dc72acb6ed205ce4322",
+            "target_url": "./SubUSDs/textures/Steel_Blued/Steel_Blued_BaseColor.png",
+            "target_hash": "6fdc1d8fb757b293c285b0918eaeb815b0821889"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Chrome/Chrome_BaseColor.png",
+            "source_hash": "d4eb6be17636fb1f53b540ef51db6724fbc75d23",
+            "target_url": "./SubUSDs/textures/Chrome/Chrome_BaseColor.png",
+            "target_hash": "1283a7fec123f68a2c7f60cd3dfd41a6395529aa"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Aluminum_Cast/Aluminum_Cast_BaseColor.png",
+            "source_hash": "de4157998be937d83b236a8d0d42167dd5090c1b",
+            "target_url": "./SubUSDs/textures/Aluminum_Cast/Aluminum_Cast_BaseColor.png",
+            "target_hash": "7b91c142d25574e2094dd52f1fe05f5eb4955aa0"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Brass/Brass_BaseColor.png",
+            "source_hash": "210ed8978dd42f59ab9f81e943b933957be642d1",
+            "target_url": "./SubUSDs/textures/Brass/Brass_BaseColor.png",
+            "target_hash": "4948b4f84d150a3d6bd0509d769a1e1c170f4ad2"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Metal_Door/Metal_Door_Normal.png",
+            "source_hash": "e54efb5dad543229411b5e271f64a454e28d0d6a",
+            "target_url": "./SubUSDs/textures/Metal_Door/Metal_Door_Normal.png",
+            "target_hash": "31fcc35e6de31e96daacce3df505837d61c1fa79"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Aluminum_Anodized_Black/Aluminum_Anodized_ORM.png",
+            "source_hash": "04f7708d5befd1bbd4f764c78ba0f3fa49a6c91f",
+            "target_url": "./SubUSDs/textures/Aluminum_Anodized_Charcoal/Aluminum_Anodized_ORM.png",
+            "target_hash": "c7fa5782ca008eaa110b815708976d016762b21c"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Aluminum_Polished/Aluminum_Polished_BaseColor.png",
+            "source_hash": "f7a97fbf43fa2ecc7ee38c5668fce37a01bbbb97",
+            "target_url": "./SubUSDs/textures/Aluminum_Polished/Aluminum_Polished_BaseColor.png",
+            "target_hash": "2e67d064e66b78fd5cba29810a59b5768ec4da08"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Silver/Silver_BaseColor.png",
+            "source_hash": "7dd03e0a3b1556c6f67dc5dcf2633cec2f8a99fe",
+            "target_url": "./SubUSDs/textures/Silver/Silver_BaseColor.png",
+            "target_hash": "17cd181d81c735cc7b7cf1eb100acec40095a4f3"
+        },
+        {
+            "source_url": "/home/user/isaacsim_assets/Assets/Isaac/4.5/NVIDIA/Materials/Base/Metals/Brushed_Antique_Copper/Brushed_Antique_Copper_BaseColor.png",
+            "source_hash": "e26985b4310c54618ec04096aa762e7559fc6bc2",
+            "target_url": "./SubUSDs/textures/Brushed_Antique_Copper/Brushed_Antique_Copper_BaseColor.png",
+            "target_hash": "0c754d349123ff2d2cfae4faa5a2130909610ba8"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Aluminum_Anodized_Charcoal/Aluminum_Anodized_Normal.png",
+            "source_hash": "2a5124c320c05580742aacadc5c67133daea41b0",
+            "target_url": "./SubUSDs/textures/Aluminum_Anodized_Black/Aluminum_Anodized_Normal.png",
+            "target_hash": "356aa0986c3520b981214f8b0e7992c2bbd65e03"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Cast_Metal_Silver_Vein/Cast_Metal_Silver_Vein_ORM.png",
+            "source_hash": "6b0240387d20ecba362d718644118887be5ef8d4",
+            "target_url": "./SubUSDs/textures/Cast_Metal_Silver_Vein/Cast_Metal_Silver_Vein_ORM.png",
+            "target_hash": "abcc0c648978b54718d8464e487e94f6da17e121"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Steel_Blued/Steel_Blued_ORM.png",
+            "source_hash": "7cff22b44dbe6d3dd17f0ca817fae85484075362",
+            "target_url": "./SubUSDs/textures/Steel_Blued/Steel_Blued_ORM.png",
+            "target_hash": "07923af89740d4697a3f56f4d77fb4e91964cabd"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Chrome/Chrome_ORM.png",
+            "source_hash": "037b821ef5705437391197fe16d5c071d16fe148",
+            "target_url": "./SubUSDs/textures/Chrome/Chrome_ORM.png",
+            "target_hash": "4431f8c2f6ee1176927cab9b5d997a207ea86516"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Aluminum_Cast/Aluminum_Cast_ORM.png",
+            "source_hash": "1b649d243e504997544a7f0d93612aa011c35723",
+            "target_url": "./SubUSDs/textures/Aluminum_Cast/Aluminum_Cast_ORM.png",
+            "target_hash": "532d14a37bbb33420b6dddf9675e7aeefb1d2d1b"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Brass/Brass_ORM.png",
+            "source_hash": "21cadf8d95a3ff2242134831de46c81edb7a7a3f",
+            "target_url": "./SubUSDs/textures/Brass/Brass_ORM.png",
+            "target_hash": "179e8f44ffcd1514703e5ff6739018decde40f2d"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Aluminum_Polished/Aluminum_Polished_ORM.png",
+            "source_hash": "64c7b72565a6d2094e15bb635f9413f2b5faee6a",
+            "target_url": "./SubUSDs/textures/Aluminum_Polished/Aluminum_Polished_ORM.png",
+            "target_hash": "423957abcdfc4275ccacdb0a327cd9d0f0df0bb3"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Silver/Silver_ORM.png",
+            "source_hash": "7754c1db474df003fa7f6ad5305dc08252c38f6e",
+            "target_url": "./SubUSDs/textures/Silver/Silver_ORM.png",
+            "target_hash": "c4c93f99c1460fa535d615ab4533d3c7cb2b655f"
+        },
+        {
+            "source_url": "/home/user/isaacsim_assets/Assets/Isaac/4.5/NVIDIA/Materials/Base/Metals/Brushed_Antique_Copper/Brushed_Antique_Copper_ORM.png",
+            "source_hash": "0b0c4dfb359d7ee0a952768e7bef9551492a81a8",
+            "target_url": "./SubUSDs/textures/Brushed_Antique_Copper/Brushed_Antique_Copper_ORM.png",
+            "target_hash": "4fbb369b6c264e7c56e55824564169a32600d5e6"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Cast_Metal_Silver_Vein/Cast_Metal_Silver_Vein_N.png",
+            "source_hash": "1102014642b18961dd780f91bb15311d9861a438",
+            "target_url": "./SubUSDs/textures/Cast_Metal_Silver_Vein/Cast_Metal_Silver_Vein_N.png",
+            "target_hash": "9416bb0f1c2362c58ef573f6bac65f8d0fd01ed1"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Steel_Blued/Steel_Blued_N.png",
+            "source_hash": "90ca330dbea11683ab49a413bb04a4a96e41a418",
+            "target_url": "./SubUSDs/textures/Steel_Blued/Steel_Blued_N.png",
+            "target_hash": "aa2a7337d71204694d57a7332c0e5dbc602703e1"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Chrome/Chrome_N.png",
+            "source_hash": "193098de5a008aa89d8a281e5a9e4be5088f2904",
+            "target_url": "./SubUSDs/textures/Chrome/Chrome_N.png",
+            "target_hash": "60cad0e3baea7782fcdd78f24a939f726eb69aa3"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Aluminum_Cast/Aluminum_Cast_N.png",
+            "source_hash": "9ccadeb50666d4e92d70c65d6665549eace6b479",
+            "target_url": "./SubUSDs/textures/Aluminum_Cast/Aluminum_Cast_N.png",
+            "target_hash": "d12b60d2741c29fb1e67964e7e5844be3b94056f"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Brass/Brass_N.png",
+            "source_hash": "5ecc23db43c99bbfbfdd9e8ff91449b83641849e",
+            "target_url": "./SubUSDs/textures/Brass/Brass_N.png",
+            "target_hash": "fec178110400996e70d06e1ab6daa68493b6eef1"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Aluminum_Polished/Aluminum_Polished_Normal.png",
+            "source_hash": "d6eb7641fcf39b0afad35f4ea8bd687f34e81e52",
+            "target_url": "./SubUSDs/textures/Aluminum_Polished/Aluminum_Polished_Normal.png",
+            "target_hash": "9cdd1997975754f99c7512c3b3bacde3cbf0f383"
+        },
+        {
+            "source_url": "/media/user/WD_BLACK/ecbg/assets/Collected_28motor_yellow/SubUSDs/textures/Silver/Silver_N.png",
+            "source_hash": "adb36cfee8f8f483bab2a51559d9e60bac95b1a0",
+            "target_url": "./SubUSDs/textures/Silver/Silver_N.png",
+            "target_hash": "f6781f8c33c5d389a6efb2ae5958547c39a1d0df"
+        },
+        {
+            "source_url": "/home/user/isaacsim_assets/Assets/Isaac/4.5/NVIDIA/Materials/Base/Metals/Brushed_Antique_Copper/Brushed_Antique_Copper_N.png",
+            "source_hash": "633e8666a0d6c795fe8e6262ebfb2f150c3ae2da",
+            "target_url": "./SubUSDs/textures/Brushed_Antique_Copper/Brushed_Antique_Copper_N.png",
+            "target_hash": "6f07b0a52b45b876956322a6276a3cb02f602314"
+        }
+    ]
+}

resources/Collected_28motor/28motor.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9ee48979e669b46d6577c7ea58817e6ab92d4d544c9037315a305c036b6e934
+size 5880611

resources/Collected_28motor/SubUSDs/materials/Aluminum_Anodized_Black.mdl

@@ -0,0 +1,43 @@
+mdl 1.4;
+
+using ::OmniPBR import OmniPBR;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Aluminum_Anodized_Black(*)
+ = OmniPBR(
+    diffuse_color_constant: color(0.500000, 0.500000, 0.500000),
+    diffuse_texture: texture_2d("../textures/Aluminum_Anodized_Black/Aluminum_Anodized_BaseColor.png", ::tex::gamma_srgb),
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(0.05f, 0.05f, 0.05f),
+    reflection_roughness_constant: 0.000000,
+    reflection_roughness_texture_influence: 1.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.000000,
+    metallic_texture_influence: 1.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d("../textures/Aluminum_Anodized_Charcoal/Aluminum_Anodized_ORM.png", ::tex::gamma_linear),
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(1.000000, 1.000000, 1.000000),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 0.000000,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d("../textures/Aluminum_Anodized_Black/Aluminum_Anodized_Normal.png", ::tex::gamma_linear),
+    detail_bump_factor: 0.300000012f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));
+

resources/Collected_28motor/SubUSDs/materials/Aluminum_Anodized_Charcoal.mdl

@@ -0,0 +1,43 @@
+mdl 1.4;
+
+using ::OmniPBR import OmniPBR;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Aluminum_Anodized_Charcoal(*)
+ = OmniPBR(
+    diffuse_color_constant: color(0.500000, 0.500000, 0.500000),
+    diffuse_texture: texture_2d("../textures/Aluminum_Anodized_Black/Aluminum_Anodized_BaseColor.png", ::tex::gamma_srgb),
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(0.2f, 0.2f, 0.2f),
+    reflection_roughness_constant: 0.000000,
+    reflection_roughness_texture_influence: 1.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.000000,
+    metallic_texture_influence: 1.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d("../textures/Aluminum_Anodized_Charcoal/Aluminum_Anodized_ORM.png", ::tex::gamma_linear),
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(1.000000, 1.000000, 1.000000),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 0.000000,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d("../textures/Aluminum_Anodized_Black/Aluminum_Anodized_Normal.png", ::tex::gamma_linear),
+    detail_bump_factor: 0.300000012f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));
+

resources/Collected_28motor/SubUSDs/materials/Aluminum_Cast.mdl

@@ -0,0 +1,54 @@
+mdl 1.4;
+
+import ::OmniPBR::OmniPBR;
+import ::anno::author;
+import ::anno::description;
+import ::anno::display_name;
+import ::anno::key_words;
+import ::anno::version;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Aluminum_Cast(*)
+[[
+    ::anno::display_name("Omni PBR "),
+    ::anno::description("Omni PBR, supports ORM textures"),
+    ::anno::version(1, 0, 0, ""),
+    ::anno::author("NVIDIA CORPORATION"),
+    ::anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
+]]
+ = ::OmniPBR::OmniPBR(
+    diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f),
+    diffuse_texture: texture_2d("../textures/Aluminum_Cast/Aluminum_Cast_BaseColor.png" /* tag 2739, version 3703676365 */, ::tex::gamma_srgb),
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),
+    reflection_roughness_constant: 0.5f,
+    reflection_roughness_texture_influence: 1.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.f,
+    metallic_texture_influence: 1.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d("../textures/Aluminum_Cast/Aluminum_Cast_ORM.png" /* tag 2741, version 2892271140 */, ::tex::gamma_linear),
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(1.f, 0.100000001f, 0.100000001f),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 40.f,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d("../textures/Aluminum_Cast/Aluminum_Cast_N.png" /* tag 2743, version 2148533726 */, ::tex::gamma_linear),
+    detail_bump_factor: 0.300000012f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

resources/Collected_28motor/SubUSDs/materials/Aluminum_Polished.mdl

@@ -0,0 +1,42 @@
+mdl 1.4;
+
+using ::OmniPBR import OmniPBR;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Aluminum_Polished(*)
+ = OmniPBR(
+    diffuse_color_constant: color(0.500000, 0.500000, 0.500000),
+    diffuse_texture: texture_2d("../textures/Aluminum_Polished/Aluminum_Polished_BaseColor.png", ::tex::gamma_srgb),
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),
+    reflection_roughness_constant: 0.000000,
+    reflection_roughness_texture_influence: 1.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.000000,
+    metallic_texture_influence: 1.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d("../textures/Aluminum_Polished/Aluminum_Polished_ORM.png", ::tex::gamma_linear),
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(1.000000, 1.000000, 1.000000),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 0.000000,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d("../textures/Aluminum_Polished/Aluminum_Polished_Normal.png", ::tex::gamma_linear),
+    detail_bump_factor: 0.300000012f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

resources/Collected_28motor/SubUSDs/materials/Brass.mdl

@@ -0,0 +1,54 @@
+mdl 1.4;
+
+import ::OmniPBR::OmniPBR;
+import ::anno::author;
+import ::anno::description;
+import ::anno::display_name;
+import ::anno::key_words;
+import ::anno::version;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Brass(*)
+[[
+    ::anno::display_name("Omni PBR "),
+    ::anno::description("Omni PBR, supports ORM textures"),
+    ::anno::version(1, 0, 0, ""),
+    ::anno::author("NVIDIA CORPORATION"),
+    ::anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
+]]
+ = ::OmniPBR::OmniPBR(
+    diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f),
+    diffuse_texture: texture_2d("../textures/Brass/Brass_BaseColor.png" /* tag 2784, version 2867840297 */, ::tex::gamma_srgb),
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),
+    reflection_roughness_constant: 0.5f,
+    reflection_roughness_texture_influence: 1.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.5f,
+    metallic_texture_influence: 1.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d("../textures/Brass/Brass_ORM.png" /* tag 2786, version 3429153493 */, ::tex::gamma_linear),
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(1.f, 0.100000001f, 0.100000001f),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 40.f,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d("../textures/Brass/Brass_N.png" /* tag 2788, version 4097231851 */, ::tex::gamma_linear),
+    detail_bump_factor: 0.300000012f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

resources/Collected_28motor/SubUSDs/materials/Brushed_Antique_Copper.mdl

@@ -0,0 +1,54 @@
+mdl 1.4;
+
+import ::OmniPBR::OmniPBR;
+import ::anno::author;
+import ::anno::description;
+import ::anno::display_name;
+import ::anno::key_words;
+import ::anno::version;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Brushed_Antique_Copper(*)
+[[
+    ::anno::display_name("Omni PBR "),
+    ::anno::description("Omni PBR, supports ORM textures"),
+    ::anno::version(1, 0, 0, ""),
+    ::anno::author("NVIDIA CORPORATION"),
+    ::anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
+]]
+ = ::OmniPBR::OmniPBR(
+    diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f),
+    diffuse_texture: texture_2d("../textures/Brushed_Antique_Copper/Brushed_Antique_Copper_BaseColor.png" /* tag 2881, version 3331264037 */, ::tex::gamma_srgb),
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),
+    reflection_roughness_constant: 0.5f,
+    reflection_roughness_texture_influence: 1.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.f,
+    metallic_texture_influence: 1.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d("../textures/Brushed_Antique_Copper/Brushed_Antique_Copper_ORM.png" /* tag 2885, version 2626562058 */, ::tex::gamma_linear),
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(1.f, 0.100000001f, 0.100000001f),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 40.f,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d("../textures/Brushed_Antique_Copper/Brushed_Antique_Copper_N.png" /* tag 2883, version 2395521129 */, ::tex::gamma_linear),
+    detail_bump_factor: 0.300000012f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

resources/Collected_28motor/SubUSDs/materials/Cast_Metal_Silver_Vein.mdl

@@ -0,0 +1,54 @@
+mdl 1.4;
+
+import ::OmniPBR::OmniPBR;
+import ::anno::author;
+import ::anno::description;
+import ::anno::display_name;
+import ::anno::key_words;
+import ::anno::version;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Cast_Metal_Silver_Vein(*)
+[[
+    ::anno::display_name("Omni PBR "),
+    ::anno::description("Omni PBR, supports ORM textures"),
+    ::anno::version(1, 0, 0, ""),
+    ::anno::author("NVIDIA CORPORATION"),
+    ::anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
+]]
+ = ::OmniPBR::OmniPBR(
+    diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f),
+    diffuse_texture: texture_2d("../textures/Cast_Metal_Silver_Vein/Cast_Metal_Silver_Vein_BaseColor.png" /* tag 2887, version 3522366492 */, ::tex::gamma_srgb),
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),
+    reflection_roughness_constant: 0.5f,
+    reflection_roughness_texture_influence: 1.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.f,
+    metallic_texture_influence: 1.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d("../textures/Cast_Metal_Silver_Vein/Cast_Metal_Silver_Vein_ORM.png" /* tag 2891, version 2285210443 */, ::tex::gamma_linear),
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(1.f, 0.100000001f, 0.100000001f),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 40.f,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d("../textures/Cast_Metal_Silver_Vein/Cast_Metal_Silver_Vein_N.png" /* tag 2889, version 4204690550 */, ::tex::gamma_linear),
+    detail_bump_factor: 0.300000012f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

resources/Collected_28motor/SubUSDs/materials/Chrome.mdl

@@ -0,0 +1,54 @@
+mdl 1.4;
+
+import ::OmniPBR::OmniPBR;
+import ::anno::author;
+import ::anno::description;
+import ::anno::display_name;
+import ::anno::key_words;
+import ::anno::version;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Chrome(*)
+[[
+    ::anno::display_name("Omni PBR "),
+    ::anno::description("Omni PBR, supports ORM textures"),
+    ::anno::version(1, 0, 0, ""),
+    ::anno::author("NVIDIA CORPORATION"),
+    ::anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
+]]
+ = ::OmniPBR::OmniPBR(
+    diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f),
+    diffuse_texture: texture_2d("../textures/Chrome/Chrome_BaseColor.png" /* tag 2777, version 767000234 */, ::tex::gamma_srgb),
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),
+    reflection_roughness_constant: 0.5f,
+    reflection_roughness_texture_influence: 1.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.5f,
+    metallic_texture_influence: 1.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d("../textures/Chrome/Chrome_ORM.png" /* tag 2779, version 2298758028 */, ::tex::gamma_linear),
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(1.f, 0.100000001f, 0.100000001f),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 40.f,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d("../textures/Chrome/Chrome_N.png" /* tag 2781, version 3962068930 */, ::tex::gamma_linear),
+    detail_bump_factor: 0.300000012f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

resources/Collected_28motor/SubUSDs/materials/Metal_Door.mdl

@@ -0,0 +1,42 @@
+mdl 1.4;
+
+using ::OmniPBR import OmniPBR;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Metal_Door(*)
+ = OmniPBR(
+    diffuse_color_constant: color(0.439, 0.5, 0.561),
+    diffuse_texture: texture_2d(),     //"./Metal_Door/Metal_Door_BaseColor.png", ::tex::gamma_srgb
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),
+    reflection_roughness_constant: 0.5,
+    reflection_roughness_texture_influence: 0.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 1.0,
+    metallic_texture_influence: 0.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: false,
+    ORM_texture: texture_2d(),     //"./Metal_Door/Metal_Door_ORM.png", ::tex::gamma_linear
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(0.0, 0.0, 0.0),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 0.0,
+    bump_factor: 0.7f,
+    normalmap_texture: texture_2d("../textures/Metal_Door/Metal_Door_Normal.png", ::tex::gamma_linear),
+    detail_bump_factor: 0.3f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

resources/Collected_28motor/SubUSDs/materials/Silver.mdl

@@ -0,0 +1,54 @@
+mdl 1.4;
+
+import ::OmniPBR::OmniPBR;
+import ::anno::author;
+import ::anno::description;
+import ::anno::display_name;
+import ::anno::key_words;
+import ::anno::version;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Silver(*)
+[[
+    ::anno::display_name("Omni PBR "),
+    ::anno::description("Omni PBR, supports ORM textures"),
+    ::anno::version(1, 0, 0, ""),
+    ::anno::author("NVIDIA CORPORATION"),
+    ::anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
+]]
+ = ::OmniPBR::OmniPBR(
+    diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f),
+    diffuse_texture: texture_2d("../textures/Silver/Silver_BaseColor.png" /* tag 2812, version 2041580364 */, ::tex::gamma_srgb),
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),
+    reflection_roughness_constant: 0.5f,
+    reflection_roughness_texture_influence: 1.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.5f,
+    metallic_texture_influence: 1.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d("../textures/Silver/Silver_ORM.png" /* tag 2814, version 2252362237 */, ::tex::gamma_linear),
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(1.f, 0.100000001f, 0.100000001f),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 40.f,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d("../textures/Silver/Silver_N.png" /* tag 2816, version 3701140404 */, ::tex::gamma_linear),
+    detail_bump_factor: 0.300000012f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

resources/Collected_28motor/SubUSDs/materials/Steel_Blued.mdl

@@ -0,0 +1,54 @@
+mdl 1.4;
+
+import ::OmniPBR::OmniPBR;
+import ::anno::author;
+import ::anno::description;
+import ::anno::display_name;
+import ::anno::key_words;
+import ::anno::version;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Steel_Blued(*)
+[[
+    ::anno::display_name("Omni PBR "),
+    ::anno::description("Omni PBR, supports ORM textures"),
+    ::anno::version(1, 0, 0, ""),
+    ::anno::author("NVIDIA CORPORATION"),
+    ::anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
+]]
+ = ::OmniPBR::OmniPBR(
+    diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f),
+    diffuse_texture: texture_2d("../textures/Steel_Blued/Steel_Blued_BaseColor.png" /* tag 2750, version 1941569663 */, ::tex::gamma_srgb),
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),
+    reflection_roughness_constant: 0.5f,
+    reflection_roughness_texture_influence: 0.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.f,
+    metallic_texture_influence: 0.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d("../textures/Steel_Blued/Steel_Blued_ORM.png" /* tag 2754, version 2522242520 */, ::tex::gamma_linear),
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(1.f, 0.100000001f, 0.100000001f),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 40.f,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d("../textures/Steel_Blued/Steel_Blued_N.png" /* tag 2752, version 1947397307 */, ::tex::gamma_linear),
+    detail_bump_factor: 0.300000012f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));