HeteroTask assets

Assets of the heterogeneous vision-language-action pick-and-place tasks of Isaac Lab (isaaclab_tasks.contrib.heterogeneous_tasks, registered as IsaacContrib-VLA-PickPlace<NNN>-Franka and IsaacContrib-VLA-Heterogeneous-Franka), as complete USD files. The robot is in the separate franka_robotiq dataset. The tasks load these assets from https://huggingface.co/datasets/LiFanxing/HeteroTask/resolve/main, or from the location in the VLA_BENCHMARKS_ASSETS_DIR environment variable.

Layout

Path	Content
objects/<name>/<name>.usd	An object or piece of furniture with its physics: rigid body, mass and inertia, and convex-hull colliders (objects) or box colliders (furniture).
objects/<name>/materials/	The textures and MDL materials of the object.
scene/franka_table/	Table that the robot stands on.
scene/home_office.exr	Dome light texture.

Sources

• Objects and furniture: the Omniverse SimReady and ArchVis libraries, and the RoboLab object library (YCB, HOPE, HOT3D, HANDAL, Objaverse and other objects). The ArchVis models, which have no physics, got rigid bodies, masses and colliders; colliders decomposed into convex hulls were baked into at most 32 hulls each (16 for ArchVis objects), and furniture collides with boxes of its boards and panels.
• Robot table and dome light texture: RoboLab.

The assets keep the licenses of their sources.