Initial upload of EgoVLA sim assets

.gitattributes

@@ -57,3 +57,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+*.usd filter=lfs diff=lfs merge=lfs -text
+*.tga filter=lfs diff=lfs merge=lfs -text

__init__.py

@@ -0,0 +1 @@
+from .h1 import *

bowl/001.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30d81fdd4eb912a482f2c016c8303e938fb7f4ce2247a9776989e66ec6cef07e
+size 3332392

bowl/002.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0379f452c6a15282b24edcb556921630fc54544ab3a80fd82d8e362eebc580b0
+size 1954725

bowl/003.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a2cd397860bb534cd392d91aaa3aa8be588e86b55933bcef4daafd88d525686
+size 3115706

bowl/__init__.py

@@ -0,0 +1 @@
+from .bowl import BOWL_CFG

bowl/bowl.py

@@ -0,0 +1,26 @@
+import os
+import random
+from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
+import omni.isaac.lab.sim as sim_utils
+
+current_file_path = os.path.abspath(__file__)
+parent_dir_path = os.path.dirname(current_file_path)
+
+BOWL_CFG = RigidObjectCfg(
+    prim_path="{ENV_REGEX_NS}/bowl",
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{parent_dir_path}/brass_bowl.usd",
+        activate_contact_sensors=False,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            solver_position_iteration_count=16,
+            solver_velocity_iteration_count=1,
+            max_angular_velocity=10.0,
+            max_linear_velocity=10.0,
+            max_depenetration_velocity=10.0,
+            kinematic_enabled=False,
+        ),
+        mass_props=sim_utils.MassPropertiesCfg(mass=1.5),
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+    ),
+    init_state=RigidObjectCfg.InitialStateCfg(pos=(1, 0.0, 0.0), rot=(1, 0, 0, 0)),
+)

bowl/brass_bowl.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f522e98006843713a658fd9f3484db3d9051e6a830c719989e605e96b26aaba9
+size 1642019

can/__init__.py

@@ -0,0 +1,2 @@
+from .can_sprite import CAN_SPRITE_CFG 
+from .can_fanta import CAN_FANTA_CFG 

can/can_fanta.py

@@ -0,0 +1,25 @@
+import os
+from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
+import omni.isaac.lab.sim as sim_utils
+
+current_file_path = os.path.abspath(__file__)
+parent_dir_path = os.path.dirname(current_file_path)
+
+CAN_FANTA_CFG = RigidObjectCfg(
+    prim_path="{ENV_REGEX_NS}/Can_Fanta",
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{parent_dir_path}/can_fanta.usd",
+        activate_contact_sensors=False,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            solver_position_iteration_count=16,
+            solver_velocity_iteration_count=1,
+            max_angular_velocity=1000.0,
+            max_linear_velocity=1000.0,
+            max_depenetration_velocity=10000.0,
+            kinematic_enabled=False,
+        ),
+        mass_props=sim_utils.MassPropertiesCfg(mass=0.35),
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+    ),
+    init_state=RigidObjectCfg.InitialStateCfg(pos=(1, 0.0, 0.0), rot=(1, 0, 0, 0)),
+)

can/can_fanta.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8e61c0393e332b3c35d8f352ff9b5d1df92a8d0bed07c3c31cc0e1850c73947
+size 2688120

can/can_sprite.py

@@ -0,0 +1,25 @@
+import os
+from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
+import omni.isaac.lab.sim as sim_utils
+
+current_file_path = os.path.abspath(__file__)
+parent_dir_path = os.path.dirname(current_file_path)
+
+CAN_SPRITE_CFG = RigidObjectCfg(
+    prim_path="{ENV_REGEX_NS}/Can_Sprite",
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{parent_dir_path}/can_sprite.usd",
+        activate_contact_sensors=False,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            solver_position_iteration_count=16,
+            solver_velocity_iteration_count=1,
+            max_angular_velocity=1000.0,
+            max_linear_velocity=1000.0,
+            max_depenetration_velocity=10000.0,
+            kinematic_enabled=False,
+        ),
+        mass_props=sim_utils.MassPropertiesCfg(mass=0.35),
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+    ),
+    init_state=RigidObjectCfg.InitialStateCfg(pos=(1, 0.0, 0.0), rot=(1, 0, 0, 0)),
+)

can/can_sprite.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7b0e0969c01d80aeabc574690dac7f7f70781e05a13b697d6734e43a5c0b06e
+size 2686155

container/__init__.py

@@ -0,0 +1,4 @@
+from .container_2x3 import CONTAINER_2X3_CFG
+from .container_3x4 import CONTAINER_3X4_CFG
+from .container_plastic import CONTAINER_PLASTIC_CFG
+from .glass_jar import GLASS_JAR_CFG

container/container_2x3.py

@@ -0,0 +1,16 @@
+import os
+from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
+import omni.isaac.lab.sim as sim_utils
+
+current_file_path = os.path.abspath(__file__)
+parent_dir_path = os.path.dirname(current_file_path)
+
+CONTAINER_2X3_CFG = RigidObjectCfg(
+    prim_path="{ENV_REGEX_NS}/Container_2x3",
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{parent_dir_path}/container_2x3.usd",
+        activate_contact_sensors=False,
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+    ),
+    init_state=RigidObjectCfg.InitialStateCfg(pos=(1, 0.0, 0.0), rot=(1, 0, 0, 0)),
+)

container/container_2x3.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d03ac8bf1d000c3556a00d4bd3e1db63a5037c693c99335b520dc504adf0974
+size 929698

container/container_3x4.py

@@ -0,0 +1,16 @@
+import os
+from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
+import omni.isaac.lab.sim as sim_utils
+
+current_file_path = os.path.abspath(__file__)
+parent_dir_path = os.path.dirname(current_file_path)
+
+CONTAINER_3X4_CFG = RigidObjectCfg(
+    prim_path="{ENV_REGEX_NS}/Container_3x4",
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{parent_dir_path}/container_3x4.usd",
+        activate_contact_sensors=False,
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+    ),
+    init_state=RigidObjectCfg.InitialStateCfg(pos=(1, 0.0, 0.0), rot=(1, 0, 0, 0)),
+)

container/container_3x4.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:368e5553239b3b083f7cafd6d33007fa586eb075a43e8db8ae0826c4fb6bf896
+size 34394

container/container_plastic.py

@@ -0,0 +1,16 @@
+import os
+from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
+import omni.isaac.lab.sim as sim_utils
+
+current_file_path = os.path.abspath(__file__)
+parent_dir_path = os.path.dirname(current_file_path)
+
+CONTAINER_PLASTIC_CFG = RigidObjectCfg(
+    prim_path="{ENV_REGEX_NS}/Container_plastic",
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{parent_dir_path}/container_plastic.usd",
+        activate_contact_sensors=False,
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+    ),
+    init_state=RigidObjectCfg.InitialStateCfg(pos=(1, 0.0, 0.0), rot=(1, 0, 0, 0)),
+)

container/container_plastic.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03c81aa9f4a0d9f308c242faf4e8341cd20b527e692bd796e775a59997c80080
+size 187911

container/glass_jar.py

@@ -0,0 +1,16 @@
+import os
+from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
+import omni.isaac.lab.sim as sim_utils
+
+current_file_path = os.path.abspath(__file__)
+parent_dir_path = os.path.dirname(current_file_path)
+
+GLASS_JAR_CFG = RigidObjectCfg(
+    prim_path="{ENV_REGEX_NS}/Glass_Jar",
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{parent_dir_path}/glass_jar.usd",
+        activate_contact_sensors=False,
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+    ),
+    init_state=RigidObjectCfg.InitialStateCfg(pos=(1, 0.0, 0.0), rot=(1, 0, 0, 0)),
+)

container/glass_jar.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:825b2499d3d54916689269bd950e3a16c04eae9bd9558daf59d3cfd204a54e0d
+size 148674

cube/__init__.py

@@ -0,0 +1 @@
+from .cube import CUBE_CFG

cube/cube.py

@@ -0,0 +1,29 @@
+import os
+import random
+from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
+import omni.isaac.lab.sim as sim_utils
+
+current_file_path = os.path.abspath(__file__)
+parent_dir_path = os.path.dirname(current_file_path)
+
+MESH_COUNT = 1
+
+CUBE_CFG = RigidObjectCfg(
+    prim_path="{ENV_REGEX_NS}/cube",
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{parent_dir_path}/cube.usd",
+        activate_contact_sensors=False,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            solver_position_iteration_count=16,
+            solver_velocity_iteration_count=1,
+            max_angular_velocity=10.0,
+            max_linear_velocity=50.0,
+            max_depenetration_velocity=50.0,
+            kinematic_enabled=False,
+        ),
+        mass_props=sim_utils.MassPropertiesCfg(mass=0.05),
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+    ),
+    init_state=RigidObjectCfg.InitialStateCfg(pos=(1, 0.0, 0.0), rot=(1, 0, 0, 0)),
+)
+

cube/cube.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e8ae6f2da208a07c22e44d67a5427f1ccfe213e811108d812ccd0351ee632c3
+size 14681

drawer/001.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c40e92066f9a212c701b9901ad641e3644e14b77939c4f05f9253a1085f2b82c
+size 3460108

drawer/002.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6991557abcba1cc9a1d670b9cdb97e95f95d3c7c323f3f98bfe4cfb6acb793fd
+size 3541765

drawer/003.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:dbc59023b705966bfcb4b37bc076c5a915459d7dc2fa155d251c269f2b03c76b
+size 3357610

drawer/__init__.py

@@ -0,0 +1 @@
+from .drawer import DRAWER_CFG, DRAWER_JOINT_CFG

drawer/drawer.py

@@ -0,0 +1,49 @@
+import os
+import random
+from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
+from omni.isaac.lab.assets.articulation.articulation_cfg import ArticulationCfg
+from omni.isaac.lab.managers.scene_entity_cfg import SceneEntityCfg
+import omni.isaac.lab.sim as sim_utils
+
+current_file_path = os.path.abspath(__file__)
+parent_dir_path = os.path.dirname(current_file_path)
+
+MESH_COUNT = 1
+
+DRAWER_CFG = ArticulationCfg(
+    prim_path="{ENV_REGEX_NS}/drawer",
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{parent_dir_path}/003.usd",
+        activate_contact_sensors=False,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            solver_position_iteration_count=32,
+            solver_velocity_iteration_count=4,
+            max_angular_velocity=1.0,
+            max_linear_velocity=1.0,
+            max_depenetration_velocity=1.0,
+            kinematic_enabled=False,
+        ),
+        mass_props=sim_utils.MassPropertiesCfg(mass=1.5),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False, solver_position_iteration_count=32, solver_velocity_iteration_count=4
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(1, 0, 0),
+        joint_pos={
+            ".*bottom_joint": 0.0,
+            ".*top_joint": 0.0,
+        }
+    ),
+    soft_joint_pos_limit_factor=1.0,
+    actuators={},
+)
+
+DRAWER_JOINT_CFG = SceneEntityCfg(
+    "drawer",
+    joint_names=[
+        "top_joint",
+        "bottom_joint",
+    ],
+    preserve_order=True,
+)

glassware/__init__.py

@@ -0,0 +1 @@
+from .glassaware import GLASSWARE_CFG

glassware/glassaware.py

@@ -0,0 +1,27 @@
+import os
+import random
+from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
+import omni.isaac.lab.sim as sim_utils
+
+current_file_path = os.path.abspath(__file__)
+parent_dir_path = os.path.dirname(current_file_path)
+
+MESH_COUNT = 1
+
+GLASSWARE_CFG = RigidObjectCfg(
+    prim_path="{ENV_REGEX_NS}/glassware",
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{parent_dir_path}/glassware.usd",
+        activate_contact_sensors=False,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            solver_position_iteration_count=16,
+            solver_velocity_iteration_count=1,
+            max_angular_velocity=10.0,
+            max_linear_velocity=50.0,
+            max_depenetration_velocity=50.0,
+            kinematic_enabled=False,
+        ),
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+    ),
+    init_state=RigidObjectCfg.InitialStateCfg(pos=(1, 0.0, 0.0), rot=(1, 0, 0, 0)),
+)

glassware/glassware.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:418478eb4613d5280fcb5bceb3faf7f244e342084d1eb240449862229916eec1
+size 92542

h1/__init__.py

@@ -0,0 +1 @@
+from .h1_inspire import H1_INSPIRE_CFG, H1_INSPIRE_LEFT_ARM_CFG, H1_INSPIRE_RIGHT_ARM_CFG, H1_INSPIRE_LEFT_HAND_CFG, H1_INSPIRE_RIGHT_HAND_CFG

h1/h1_inspire.py

@@ -0,0 +1,204 @@
+import os
+from omni.isaac.lab.managers.scene_entity_cfg import SceneEntityCfg
+import omni.isaac.lab.sim as sim_utils
+from omni.isaac.lab.assets.articulation.articulation_cfg import ArticulationCfg
+from omni.isaac.lab.actuators import ImplicitActuatorCfg
+
+current_file_path = os.path.abspath(__file__)
+parent_dir_path = os.path.dirname(current_file_path)
+
+stiffness = 2000
+damping = 75
+
+H1_INSPIRE_CFG = ArticulationCfg(
+    prim_path="{ENV_REGEX_NS}/Robot",
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{parent_dir_path}/h1_inspire_convex_decomp.usd",
+        activate_contact_sensors=True,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            max_depenetration_velocity=100.0,
+            solver_position_iteration_count=64,
+            solver_velocity_iteration_count=4,
+            max_contact_impulse=10,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False, solver_position_iteration_count=32, solver_velocity_iteration_count=4
+        ),
+        semantic_tags=[('focus', 'true'), ('category', 'robot')],
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 1.05),
+        joint_pos={
+            ".*_hip_yaw_joint": 0.0,
+            ".*_hip_roll_joint": 0.0,
+            ".*_hip_pitch_joint": -0.0,
+            ".*_knee_joint": 0.0,
+            ".*_ankle_pitch_joint": 0.0,
+            ".*_ankle_roll_joint": 0.0,
+            # "torso_joint": 0.0,
+            ".*_shoulder_pitch_joint": 0.5,
+            ".*_shoulder_roll_joint": 0.0,
+            ".*_shoulder_yaw_joint": 0.0,
+            ".*_elbow_pitch_joint": -1,
+            ".*_elbow_roll_joint": 0.0,
+            ".*_wrist_pitch_joint": 0.0,
+            ".*_wrist_yaw_joint": 0.0,
+            ".*_index_proximal_joint": 0.0,
+            ".*_ring_proximal_joint": 0.0,
+            ".*_index_intermediate_joint": 0.0,
+            ".*_middle_intermediate_joint": 0.0,
+            ".*_pinky_intermediate_joint": 0.0,
+            ".*_ring_intermediate_joint": 0.0,
+            ".*_thumb_intermediate_joint": 0.0,
+            ".*_thumb_proximal_yaw_joint": 0.0,
+            ".*_thumb_proximal_pitch_joint": 0.0,
+            ".*_thumb_distal_joint": 0.0,
+        },
+        joint_vel={".*": 0.0},
+    ),
+    soft_joint_pos_limit_factor=1.0,
+    actuators={
+        "arms": ImplicitActuatorCfg(
+            joint_names_expr=[".*_shoulder_pitch_joint", ".*_shoulder_roll_joint", ".*_shoulder_yaw_joint", ".*_elbow_pitch_joint", ".*_elbow_roll_joint", ".*_wrist_pitch_joint", ".*_wrist_yaw_joint"],
+            effort_limit=100,
+            velocity_limit=1.0,
+            stiffness={
+                ".*_shoulder_pitch_joint": stiffness,
+                ".*_shoulder_roll_joint": stiffness,
+                ".*_shoulder_yaw_joint": stiffness,
+                ".*_elbow_pitch_joint": stiffness,
+                ".*_elbow_roll_joint": stiffness,
+                ".*_wrist_pitch_joint": stiffness,
+                ".*_wrist_yaw_joint": stiffness,
+            },
+            damping={
+                ".*_shoulder_pitch_joint": damping,
+                ".*_shoulder_roll_joint": damping,
+                ".*_shoulder_yaw_joint": damping,
+                ".*_elbow_pitch_joint": damping,
+                ".*_elbow_roll_joint": damping,
+                ".*_wrist_pitch_joint": damping,
+                ".*_wrist_yaw_joint": damping,
+            },
+        ),
+        "hands": ImplicitActuatorCfg(
+            joint_names_expr=[".*_index_proximal_joint", ".*_middle_proximal_joint", ".*_pinky_proximal_joint",
+                              ".*_ring_proximal_joint", ".*_index_intermediate_joint", ".*_middle_intermediate_joint",
+                              ".*_pinky_intermediate_joint", ".*_ring_intermediate_joint", ".*_thumb_intermediate_joint",
+                              ".*_thumb_proximal_yaw_joint", ".*_thumb_proximal_pitch_joint"  , ".*_thumb_distal_joint"],
+            effort_limit=10,
+            velocity_limit=1.0,
+            stiffness={
+                ".*_index_proximal_joint": stiffness,
+                ".*_middle_proximal_joint": stiffness,
+                ".*_pinky_proximal_joint": stiffness,
+                ".*_ring_proximal_joint": stiffness,
+                ".*_index_intermediate_joint": stiffness,
+                ".*_middle_intermediate_joint": stiffness,
+                ".*_pinky_intermediate_joint": stiffness,
+                ".*_ring_intermediate_joint": stiffness,
+                ".*_thumb_intermediate_joint": stiffness,
+                ".*_thumb_proximal_yaw_joint": stiffness,
+                ".*_thumb_proximal_pitch_joint": stiffness,
+                ".*_thumb_distal_joint": stiffness,
+            },
+            damping={
+                ".*_index_proximal_joint": damping,
+                ".*_middle_proximal_joint": damping,
+                ".*_pinky_proximal_joint": damping,
+                ".*_ring_proximal_joint": damping,
+                ".*_index_intermediate_joint": damping,
+                ".*_middle_intermediate_joint": damping,
+                ".*_pinky_intermediate_joint": damping,
+                ".*_ring_intermediate_joint": damping,
+                ".*_thumb_intermediate_joint": damping,
+                ".*_thumb_proximal_yaw_joint": damping,
+                ".*_thumb_proximal_pitch_joint": damping,
+                ".*_thumb_distal_joint": damping,
+            }
+        ),
+    }
+)
+
+H1_INSPIRE_LEFT_ARM_CFG: SceneEntityCfg = SceneEntityCfg(
+    "robot",
+    joint_names=[
+        "left_shoulder_pitch_joint",
+        "left_shoulder_roll_joint",
+        "left_shoulder_yaw_joint",
+        "left_elbow_pitch_joint",
+        "left_elbow_roll_joint",
+        "left_wrist_pitch_joint",
+        "left_wrist_yaw_joint",
+    ],
+    body_names=["L_hand_base_link"],
+    preserve_order=True
+)
+    
+H1_INSPIRE_RIGHT_ARM_CFG: SceneEntityCfg = SceneEntityCfg(
+    "robot",
+    joint_names=[
+        "right_shoulder_pitch_joint",
+        "right_shoulder_roll_joint",
+        "right_shoulder_yaw_joint",
+        "right_elbow_pitch_joint",
+        "right_elbow_roll_joint",
+        "right_wrist_pitch_joint",
+        "right_wrist_yaw_joint",
+    ],
+    body_names=["R_hand_base_link"],
+    preserve_order=True
+)
+
+H1_INSPIRE_LEFT_HAND_CFG = SceneEntityCfg(
+    "robot",
+    joint_names=[
+        "L_index_proximal_joint",
+        "L_index_intermediate_joint",
+        "L_middle_proximal_joint",
+        "L_middle_intermediate_joint",
+        "L_pinky_proximal_joint",
+        "L_pinky_intermediate_joint",
+        "L_ring_proximal_joint",
+        "L_ring_intermediate_joint",
+        "L_thumb_proximal_yaw_joint",
+        "L_thumb_proximal_pitch_joint",
+        "L_thumb_intermediate_joint",
+        "L_thumb_distal_joint"
+    ],
+    body_names=[
+        "L_thumb_tip",
+        "L_index_tip",
+        "L_middle_tip",
+        "L_ring_tip",
+        "L_pinky_tip",
+    ],
+    preserve_order=True,
+)
+
+H1_INSPIRE_RIGHT_HAND_CFG = SceneEntityCfg(
+    "robot",
+    joint_names=[
+        "R_index_proximal_joint",
+        "R_index_intermediate_joint",
+        "R_middle_proximal_joint",
+        "R_middle_intermediate_joint",
+        "R_pinky_proximal_joint",
+        "R_pinky_intermediate_joint",
+        "R_ring_proximal_joint",
+        "R_ring_intermediate_joint",
+        "R_thumb_proximal_yaw_joint",
+        "R_thumb_proximal_pitch_joint",
+        "R_thumb_intermediate_joint",
+        "R_thumb_distal_joint"
+    ],
+    body_names=[
+        "R_thumb_tip",
+        "R_index_tip",
+        "R_middle_tip",
+        "R_ring_tip",
+        "R_pinky_tip",
+    ],
+    preserve_order=True,
+)
+"""Configuration for the Unitree H1 Inspire Humanoid robot with hand."""

h1/h1_inspire_convex_decomp.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c66589fffb2520cf51403ff5fd62569a18f4994b323ba53414d49acc7f8ec75d
+size 41584945

laptop/001.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c708cd97482397354942812f1af7499154fce2a053331671d2e73f51dec27b38
+size 2434258

laptop/002.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:986a7f6ac1117c1063e4e818ce32d7c98f2d932da45a27da24cf77462af61fe0
+size 2133085

laptop/003.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:44be2a5a6d285c024ebe1a867acdfb3a598a5e498f33e0a07db5ef2425269b9a
+size 2454412

laptop/__init__.py

@@ -0,0 +1 @@
+from .laptop import LAPTOP_CFG

laptop/laptop.py

@@ -0,0 +1,57 @@
+import os
+import random
+from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
+from omni.isaac.lab.assets.articulation.articulation_cfg import ArticulationCfg
+import omni.isaac.lab.sim as sim_utils
+from omni.isaac.lab.actuators import ImplicitActuatorCfg
+
+current_file_path = os.path.abspath(__file__)
+parent_dir_path = os.path.dirname(current_file_path)
+
+MESH_COUNT = 1
+
+LAPTOP_CFG = ArticulationCfg(
+    prim_path="{ENV_REGEX_NS}/laptop",
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{parent_dir_path}/notebook.usd",
+        activate_contact_sensors=False,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            solver_position_iteration_count=16,
+            solver_velocity_iteration_count=1,
+            max_angular_velocity=10.0,
+            max_linear_velocity=50.0,
+            max_depenetration_velocity=50.0,
+            kinematic_enabled=False,
+        ),
+        mass_props=sim_utils.MassPropertiesCfg(mass=1.5),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(1, 0, 0),
+        joint_pos={
+            ".*joint": 0.088
+        }
+    ),
+    soft_joint_pos_limit_factor=1.0,
+    actuators={},
+)
+
+def randomize_mesh():
+    mesh_idx = random.randint(1, MESH_COUNT)
+    file_name = (3 - len(str(mesh_idx))) * "0" + str(mesh_idx)
+    return sim_utils.UsdFileCfg(
+        usd_path=f"{parent_dir_path}/{file_name}.usd",
+        activate_contact_sensors=False,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            solver_position_iteration_count=16,
+            solver_velocity_iteration_count=1,
+            max_angular_velocity=10.0,
+            max_linear_velocity=50.0,
+            max_depenetration_velocity=50.0,
+            kinematic_enabled=False,
+        ),
+        mass_props=sim_utils.MassPropertiesCfg(mass=0.05),
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+    )

laptop/notebook.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2af69cea9df758d50a66e236f5354140e77bb0f669058b6d34a52d6c844f25ab
+size 34192

marker/__init__.py

@@ -0,0 +1 @@
+from .marker import MARKER_CFG

marker/marker.py

@@ -0,0 +1,17 @@
+import os
+from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
+from omni.isaac.lab.markers.visualization_markers import VisualizationMarkersCfg
+import omni.isaac.lab.sim as sim_utils
+
+current_file_path = os.path.abspath(__file__)
+parent_dir_path = os.path.dirname(current_file_path)
+
+MARKER_CFG = VisualizationMarkersCfg(
+    markers={
+        "cross": sim_utils.UsdFileCfg(
+            usd_path=f"{parent_dir_path}/marker.usd",
+            scale=(1.0, 1.0, 1.0),
+            # visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
+        )
+    }
+)

marker/marker.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a167191e872b3c41526b02753c22f4dadcac67c3158cf600cb067f63893b9a93
+size 2588

mug/001.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e78873fe34f694bbe29cf8d1ff6d0c397192da3e57ad0bc19bc128c7245dbd2c
+size 4259789

mug/002.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:038a8ab8b1cd5b37ac271294d09bfdcffab11a45b7d296b7f780b86a2fcfc440
+size 3600304