| --- |
| license: other |
| license_name: placeholder |
| pretty_name: HeteroTask assets |
| tags: |
| - robotics |
| - isaac-lab |
| - usd |
| --- |
| |
| # 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](https://huggingface.co/datasets/LiFanxing/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](https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/) |
| 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. |
|
|
| ## License |
|
|
| Placeholder until the licenses are reviewed: each asset keeps the license of its source listed above, and the |
| dataset may only be used as those licenses allow. |
|
|
