Add the Franka with Robotiq 2F-85 robot

.gitattributes

@@ -58,3 +58,4 @@ 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
+franka_robotiq_2f_85_isaaclab_inertia.usd filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,25 @@
+---
+pretty_name: Franka with Robotiq 2F-85
+tags:
+- robotics
+- isaac-lab
+- usd
+---
+
+# Franka with Robotiq 2F-85
+
+A Franka arm with a Robotiq 2F-85 gripper as one complete USD file, with the arm inertia of Isaac Lab's Franka, as in
+the RoboLab DROID setup. The heterogeneous VLA tasks of Isaac Lab (`isaaclab_tasks.contrib.heterogeneous_tasks`) load
+it from `https://huggingface.co/datasets/LiFanxing/franka_robotiq/resolve/main`, or from the location in the
+`FRANKA_ROBOTIQ_ASSETS_DIR` environment variable.
+
+## Layout
+
+| Path | Content |
+|---|---|
+| `franka_robotiq_2f_85_isaaclab_inertia.usd` | The robot: links, joints, colliders and visual meshes. |
+| `materials/` | Its textures and MDL materials. |
+
+## Source
+
+RoboLab. The asset keeps the license of its source.

franka_robotiq_2f_85_isaaclab_inertia.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcacf81f40efbc1d7e898b83eb1dc6fb6acfb9650d1945de5a2e8e34d6e3a703
+size 14520045

materials/remote/omniverse-content-production.s3.us-west-2.amazonaws.com/Materials/2023_1/Base/Plastics/Rubber_Textured.mdl

@@ -0,0 +1,42 @@
+mdl 1.4;
+
+using ::OmniPBR import OmniPBR;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Rubber_Textured(*)
+ = OmniPBR(
+    diffuse_color_constant: color(0.500000, 0.500000, 0.500000),
+    diffuse_texture: texture_2d("./Rubber_Textured/Rubber_Textured_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("./Rubber_Textured/Rubber_Textured_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("./Rubber_Textured/Rubber_Textured_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));