Add mugkitchen environment (RoboTwin 039_mug base4, scale 0.067)

mugkitchen/assets/board_0/.asset_hash

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+7b2fb3ec30a7e3924ae2fbb169735855

mugkitchen/assets/board_0/config.yaml

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+asset_path: /home/mingxuanyan/workspace/datasets/robotwin/objects/104_board/visual/base3.glb
+usd_dir: /home/mingxuanyan/workspace/RegraspGen/my_regrasp/envs/polaris/PolaRiS-Hub/playing_cards_kitchen/assets/board_0
+usd_file_name: mesh.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
+  mass: 0.2
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props: null
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2026-01-19 at 22:55:33.
+##

mugkitchen/assets/board_0/mesh.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ef83b094c32e090f87f745072611c4b2b79aa9323ede309ef18d1ec74f9d90ad
+size 2878294

mugkitchen/assets/mug_0/.asset_hash

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+baba44280619557ab39e436cfca20dff

mugkitchen/assets/mug_0/config.yaml

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+asset_path: /home/glt/proj/RegraspGen/my_regrasp/assets/robotwin_objects/objects/039_mug/visual/base4.glb
+usd_dir: /home/glt/proj/RegraspGen/my_regrasp/envs/polaris/PolaRiS-Hub/mugkitchen/assets/mug_0
+usd_file_name: mesh.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
+  mass: 0.1
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props: null
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2026-04-10 at 17:12:23.
+##

mugkitchen/assets/mug_0/mesh.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3d54e3090a64bff926a45ef81da959924cbb98bc6849c7b2d296e4797f5135d0
+size 1321710

mugkitchen/initial_conditions.json

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+{
+  "instruction": "Pick and regrasp the mug",
+  "poses": [
+    {
+      "mug_0": [
+        0.45,
+        0.0,
+        0.05,
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "board_0": [
+        0.4677,
+        0.0,
+        -0.025,
+        0.7071,
+        0.7071,
+        0.0,
+        0.0
+      ]
+    }
+  ]
+}

mugkitchen/scene.usda

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+#usda 1.0
+(
+    defaultPrim = "World"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "Looks"
+{
+    def Material "TransparentGreen"
+    {
+        token outputs:surface.connect = </Looks/TransparentGreen/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.2, 0.8, 0.3)
+            float inputs:opacity = 0.4
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+    }
+}
+
+def Xform "World"
+{
+    # Mug (~14x9x15cm, needs scale 0.067)
+    def "mug_0" (
+        active = true
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        prepend payload = @./assets/mug_0/mesh.usd@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1.0, 0.0, 0.0, 0.0)
+        float3 xformOp:scale = (0.067, 0.067, 0.067)
+        double3 xformOp:translate = (0.45, 0.0, 0.05)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    # Board object (fixed/kinematic)
+    def "board_0" (
+        active = true
+        prepend payload = @./assets/board_0/mesh.usd@
+    )
+    {
+        bool physics:kinematicEnabled = 1
+        quatf xformOp:orient = (0.7071, 0.7071, 0.0, 0.0)
+        float3 xformOp:scale = (0.4, 0.2, 0.8)
+        double3 xformOp:translate = (0.4677, 0.0, -0.025)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def Camera "external_cam" (
+        active = true
+        kind = "model"
+    )
+    {
+        float2 clippingRange = (0.01, 10000000)
+        float focalLength = 1.0476
+        float focusDistance = 400
+        float horizontalAperture = 2.5452
+        float verticalAperture = 1.4721
+        quatd xformOp:orient = (0.6372, 0.3016, 0.3034, 0.6411)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (1.7974, 0.0043, 1.1154)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+}
+
+def Xform "Environment"
+{
+    def DistantLight "defaultLight" (
+        prepend apiSchemas = ["ShapingAPI"]
+    )
+    {
+        float inputs:angle = 1
+        float inputs:intensity = 3000
+        float inputs:shaping:cone:angle = 180
+        quatd xformOp:orient = (0.6532814824381883, 0.2705980500730985, 0.27059805007309845, 0.6532814824381882)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+}