Add SeattleLabTable + apply scene patches across 9 kitchens 本 PR 将 RegraspGen 项目对 9 个 kitchen 环境的本地修改一次性推到 dataset. 1. playing_cards_kitchen/scene.usda: 加入 SeattleLabTable reference (替代损坏的 board_0). 2. playing_cards_kitchen/assets/seattle_lab_table/{table_instanceable, table}.usd: 新增 SeattleLabTable 共享资产 (从 NVIDIA Nucleus 下载本地化, ~10.5MB). 3. 7 RoboTwin kitchens (drill/dumbbell/jamjar/milkbox/mug/oliveoil/shoe): scene.usda 加入 SeattleLabTable reference (跨任务 reference ../playing_cards_kitchen/assets/seattle_lab_table/), 关闭 board_0. 4. 新增 perfumekitchen 任务 (RoboTwin 115_perfume base0): scene.usda + assets/perfume_0/. 动机: 原 board_0 桌子 PhysX 凸分解 + 非均匀缩放导致碰撞面错误,物体下沉. 改用 Isaac Lab 标准 SeattleLabTable.

drillkitchen/scene.usda

@@ -56,9 +56,25 @@ def Xform "World"
         }
     }
 
-    # Board object (fixed/kinematic)
-    def "board_0" (
+    # SeattleLabTable: replaces board_0 (board_0 has broken collision due to
+    # convex-decomposition + non-uniform scaling in the original mesh).
+    # Transform mirrors PolarisPlacementEnvCfg.table:
+    #   pos = (0.5, 0, 0), rot wxyz = (0.707, 0, 0, 0.707)
+    # Reference shared assets from playing_cards_kitchen/ to avoid duplication.
+    def Xform "seattle_lab_table" (
         active = true
+        prepend references = @../playing_cards_kitchen/assets/seattle_lab_table/table_instanceable.usd@
+    )
+    {
+        quatf xformOp:orient = (0.707, 0.0, 0.0, 0.707)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.5, 0.0, 0.0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    # Board object - DISABLED (broken collision; replaced by SeattleLabTable above)
+    def "board_0" (
+        active = false
         prepend payload = @./assets/board_0/mesh.usd@
     )
     {

dumbbellkitchen/scene.usda

@@ -56,9 +56,25 @@ def Xform "World"
         }
     }
 
-    # Board object (fixed/kinematic)
-    def "board_0" (
+    # SeattleLabTable: replaces board_0 (board_0 has broken collision due to
+    # convex-decomposition + non-uniform scaling in the original mesh).
+    # Transform mirrors PolarisPlacementEnvCfg.table:
+    #   pos = (0.5, 0, 0), rot wxyz = (0.707, 0, 0, 0.707)
+    # Reference shared assets from playing_cards_kitchen/ to avoid duplication.
+    def Xform "seattle_lab_table" (
         active = true
+        prepend references = @../playing_cards_kitchen/assets/seattle_lab_table/table_instanceable.usd@
+    )
+    {
+        quatf xformOp:orient = (0.707, 0.0, 0.0, 0.707)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.5, 0.0, 0.0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    # Board object - DISABLED (broken collision; replaced by SeattleLabTable above)
+    def "board_0" (
+        active = false
         prepend payload = @./assets/board_0/mesh.usd@
     )
     {

jamjarkitchen/scene.usda

@@ -56,9 +56,25 @@ def Xform "World"
         }
     }
 
-    # Board object (fixed/kinematic)
-    def "board_0" (
+    # SeattleLabTable: replaces board_0 (board_0 has broken collision due to
+    # convex-decomposition + non-uniform scaling in the original mesh).
+    # Transform mirrors PolarisPlacementEnvCfg.table:
+    #   pos = (0.5, 0, 0), rot wxyz = (0.707, 0, 0, 0.707)
+    # Reference shared assets from playing_cards_kitchen/ to avoid duplication.
+    def Xform "seattle_lab_table" (
         active = true
+        prepend references = @../playing_cards_kitchen/assets/seattle_lab_table/table_instanceable.usd@
+    )
+    {
+        quatf xformOp:orient = (0.707, 0.0, 0.0, 0.707)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.5, 0.0, 0.0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    # Board object - DISABLED (broken collision; replaced by SeattleLabTable above)
+    def "board_0" (
+        active = false
         prepend payload = @./assets/board_0/mesh.usd@
     )
     {

milkboxkitchen/scene.usda

@@ -56,9 +56,25 @@ def Xform "World"
         }
     }
 
-    # Board object (fixed/kinematic)
-    def "board_0" (
+    # SeattleLabTable: replaces board_0 (board_0 has broken collision due to
+    # convex-decomposition + non-uniform scaling in the original mesh).
+    # Transform mirrors PolarisPlacementEnvCfg.table:
+    #   pos = (0.5, 0, 0), rot wxyz = (0.707, 0, 0, 0.707)
+    # Reference shared assets from playing_cards_kitchen/ to avoid duplication.
+    def Xform "seattle_lab_table" (
         active = true
+        prepend references = @../playing_cards_kitchen/assets/seattle_lab_table/table_instanceable.usd@
+    )
+    {
+        quatf xformOp:orient = (0.707, 0.0, 0.0, 0.707)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.5, 0.0, 0.0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    # Board object - DISABLED (broken collision; replaced by SeattleLabTable above)
+    def "board_0" (
+        active = false
         prepend payload = @./assets/board_0/mesh.usd@
     )
     {

mugkitchen/scene.usda

@@ -56,9 +56,25 @@ def Xform "World"
         }
     }
 
-    # Board object (fixed/kinematic)
-    def "board_0" (
+    # SeattleLabTable: replaces board_0 (board_0 has broken collision due to
+    # convex-decomposition + non-uniform scaling in the original mesh).
+    # Transform mirrors PolarisPlacementEnvCfg.table:
+    #   pos = (0.5, 0, 0), rot wxyz = (0.707, 0, 0, 0.707)
+    # Reference shared assets from playing_cards_kitchen/ to avoid duplication.
+    def Xform "seattle_lab_table" (
         active = true
+        prepend references = @../playing_cards_kitchen/assets/seattle_lab_table/table_instanceable.usd@
+    )
+    {
+        quatf xformOp:orient = (0.707, 0.0, 0.0, 0.707)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.5, 0.0, 0.0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    # Board object - DISABLED (broken collision; replaced by SeattleLabTable above)
+    def "board_0" (
+        active = false
         prepend payload = @./assets/board_0/mesh.usd@
     )
     {

oliveoilkitchen/scene.usda

@@ -56,9 +56,25 @@ def Xform "World"
         }
     }
 
-    # Board object (fixed/kinematic)
-    def "board_0" (
+    # SeattleLabTable: replaces board_0 (board_0 has broken collision due to
+    # convex-decomposition + non-uniform scaling in the original mesh).
+    # Transform mirrors PolarisPlacementEnvCfg.table:
+    #   pos = (0.5, 0, 0), rot wxyz = (0.707, 0, 0, 0.707)
+    # Reference shared assets from playing_cards_kitchen/ to avoid duplication.
+    def Xform "seattle_lab_table" (
         active = true
+        prepend references = @../playing_cards_kitchen/assets/seattle_lab_table/table_instanceable.usd@
+    )
+    {
+        quatf xformOp:orient = (0.707, 0.0, 0.0, 0.707)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.5, 0.0, 0.0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    # Board object - DISABLED (broken collision; replaced by SeattleLabTable above)
+    def "board_0" (
+        active = false
         prepend payload = @./assets/board_0/mesh.usd@
     )
     {

perfumekitchen/assets/perfume_0/config.yaml

@@ -0,0 +1,47 @@
+asset_path: /home/glt/proj/RegraspGen/my_regrasp/assets/robotwin_objects/objects/115_perfume/visual/base0.glb
+usd_dir: /home/glt/proj/RegraspGen/my_regrasp/envs/polaris/PolaRiS-Hub/perfumekitchen/assets/perfume_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 2026-04-29 at 20:51:58.
+##

perfumekitchen/assets/perfume_0/mesh.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06340310f0caafd200d26017238d1b52322b83bc8ec44bf975496c4f71c07d05
+size 8742111

perfumekitchen/scene.usda

@@ -0,0 +1,85 @@
+#usda 1.0
+(
+    defaultPrim = "World"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    def "perfume_0" (
+        active = true
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        prepend payload = @./assets/perfume_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 = (0.08, 0.08, 0.08)
+        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
+        )
+        {
+        }
+    }
+
+    # SeattleLabTable: 替代 board_0,共享 playing_cards_kitchen 的资产 (~10.5 MB)
+    # Transform 与 PolarisPlacementEnvCfg.table 一致: pos=(0.5,0,0), quat wxyz=(0.707,0,0,0.707)
+    def Xform "seattle_lab_table" (
+        active = true
+        prepend references = @../playing_cards_kitchen/assets/seattle_lab_table/table_instanceable.usd@
+    )
+    {
+        quatf xformOp:orient = (0.707, 0.0, 0.0, 0.707)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.5, 0.0, 0.0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    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 = (0.681814, 0.169845, 0.171992, 0.690435)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.7, 0.0, 0.33)
+        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"]
+    }
+}

playing_cards_kitchen/assets/seattle_lab_table/table.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb8988eb83dd1fd5ee63877b6a60b74d80952940568c005989de1afe20fa3e1d
+size 10536613

playing_cards_kitchen/assets/seattle_lab_table/table_instanceable.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:479ed8fd374d8eafdedf3ca3b9d0d5981ffc6d5c5016929347f748be93d5df17
+size 4584

playing_cards_kitchen/scene.usda

@@ -1,5 +1,28 @@
 #usda 1.0
 (
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, 0, 0)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (1.3347837750269578, 0.049335736480674755, 1.0634490468792681)
+                double3 target = (-3.554269148828407, -0.08835163411780082, -6.083452638167127)
+            }
+            dictionary Right = {
+                double3 position = (0, -5, 0)
+                double radius = 5
+            }
+            dictionary Top = {
+                double3 position = (0, 0, 5)
+                double radius = 5
+            }
+            string boundCamera = "/OmniverseKit_Persp"
+        }
+        dictionary renderSettings = {
+        }
+    }
     defaultPrim = "World"
     metersPerUnit = 1
     upAxis = "Z"
@@ -24,29 +47,6 @@ def "Looks"
 
 def Xform "World"
 {
-    def "g60_kitchen_table_zed" (
-        active = true
-        prepend payload = @./assets/g60_kitchen_table_zed/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 1
-        quatd xformOp:orient = (0.0069501640146002975, 0.0000020098868016692203, -0.0002891785243121244, -0.9999758055032691)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (-0.23996217709738163, -0.23876804994724557, 0)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxTriangleMeshSimplificationCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "meshSimplification"
-            }
-        }
-    }
-
-    # Playing cards variant 0 (left position)
     def "playing_cards_0" (
         active = true
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
@@ -55,9 +55,9 @@ def Xform "World"
     {
         bool physics:kinematicEnabled = 0
         bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (0.709300, 0.704660, -0.009604, 0.016003)
-        float3 xformOp:scale = (0.05, 0.05, 0.05)
-        double3 xformOp:translate = (0.5788313891708986, -0.13062146122771842, 0.1106905418753913)
+        quatf xformOp:orient = (0.7093, 0.70466, -0.009604, 0.016003)
+        float3 xformOp:scale = (0.04, 0.05, 0.04)
+        double3 xformOp:translate = (0.579195, -0.130681, 0.02)
         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
 
         over "geometry"
@@ -78,7 +78,6 @@ def Xform "World"
         }
     }
 
-    # Playing cards variant 1 (center position) - DISABLED
     def "playing_cards_1" (
         active = false
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
@@ -89,7 +88,7 @@ def Xform "World"
         bool physics:rigidBodyEnabled = 1
         quatf xformOp:orient = (0.706838, 0.706534, -0.028451, -0.019497)
         float3 xformOp:scale = (0.05, 0.05, 0.05)
-        double3 xformOp:translate = (0.38636767400675676, -0.0851580915038789, 0.1122224962632943)
+        double3 xformOp:translate = (0.386472, -0.085173, 0.102847)
         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
 
         over "geometry"
@@ -110,23 +109,17 @@ def Xform "World"
         }
     }
 
-    # Target marker (visual only - no collision, transparent green, fixed in place)
-    # Default: inactive. Enable via show_target_marker=True in environment
     def "target_marker" (
         active = false
         prepend apiSchemas = ["MaterialBindingAPI"]
         prepend payload = @./assets/playing_cards_0/mesh.usd@
     )
     {
-        # Bind transparent green material
         rel material:binding = </Looks/TransparentGreen>
-
-        # Fixed in place (kinematic) - won't fall or move
         bool physics:kinematicEnabled = 1
-
-        quatf xformOp:orient = (0.003043, 0.009320, -0.704666, 0.709472)
+        quatf xformOp:orient = (0.003043, 0.00932, -0.704666, 0.709472)
         float3 xformOp:scale = (0.05, 0.05, 0.05)
-        double3 xformOp:translate = (0.5790215609649505, 0.1128727930081005, 0.09069044228269063)
+        double3 xformOp:translate = (0.579195, 0.112946, 0.02)
         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
 
         over "geometry"
@@ -135,10 +128,8 @@ def Xform "World"
                 prepend apiSchemas = ["MaterialBindingAPI"]
             )
             {
-                # No collision - visual only
-                bool physics:collisionEnabled = 0
-                # Bind transparent material to mesh
                 rel material:binding = </Looks/TransparentGreen>
+                bool physics:collisionEnabled = 0
             }
         }
 
@@ -149,16 +140,26 @@ def Xform "World"
         }
     }
 
-    # Board object (fixed/kinematic)
-    def "board_0" (
+    def Xform "seattle_lab_table" (
         active = true
+        prepend references = @./assets/seattle_lab_table/table_instanceable.usd@
+    )
+    {
+        quatf xformOp:orient = (0.707, 0, 0, 0.707)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.5, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    def "board_0" (
+        active = false
         prepend payload = @./assets/board_0/mesh.usd@
     )
     {
         bool physics:kinematicEnabled = 1
-        quatf xformOp:orient = (0.706676, 0.706676, -0.024678, -0.024678)
+        quatf xformOp:orient = (0.7071, 0.7071, 0, 0)
         float3 xformOp:scale = (0.4, 0.2, 0.8)
-        double3 xformOp:translate = (0.4677175313040571, 0.16281611364354703, 0.07285051438319012)
+        double3 xformOp:translate = (0.4677, 0, -0.025)
         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
 
         over "geometry"
@@ -189,11 +190,22 @@ def Xform "World"
         float focusDistance = 400
         float horizontalAperture = 2.5452
         float verticalAperture = 1.4721
-        quatd xformOp:orient = (-0.18638744234988988, -0.08227126821690181, 0.39534108352818365, 0.8956542789687387)
+        quatd xformOp:orient = (0.681814, 0.169845, 0.171992, 0.690435)
         double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.103138036136151, 0.44065167674638817, 0.49744863088661717)
+        double3 xformOp:translate = (0.7, 0.0, 0.33)
         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
     }
+
+    def Camera "_preview_cam"
+    {
+        float2 clippingRange = (0.01, 10000)
+        float focalLength = 1.0476
+        float horizontalAperture = 2.5452
+        float verticalAperture = 1.4721
+        quatf xformOp:orient = (0.66593355, 0.20605068, 0.21193525, 0.68495184)
+        double3 xformOp:translate = (1.3347837750269578, 0.049335736480674755, 1.0634490468792681)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+    }
 }
 
 def Xform "Environment"
@@ -211,3 +223,109 @@ def Xform "Environment"
         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
     }
 }
+
+def "Render" (
+    hide_in_stage_window = true
+    no_delete = true
+)
+{
+    def "OmniverseKit"
+    {
+        def "HydraTextures" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </OmniverseKit_Persp>
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
+                bool omni:rtx:material:db:syncLoads = 1
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                int omni:rtx:pt:clampSpp = 64
+                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
+                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                int omni:rtx:pt:maxVolumeBounces = 4
+                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                int omni:rtx:pt:samplesPerIteration = 64
+                int omni:rtx:pt:samplesPerPixel = 64
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:ecoMode:enabled
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                uint omni:rtx:viewTile:limit = 4294967295
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (1280, 720)
+            }
+
+            def RenderProduct "Replicator" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </World/_preview_cam>
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
+                bool omni:rtx:material:db:syncLoads = 1
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                int omni:rtx:pt:clampSpp = 64
+                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
+                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                int omni:rtx:pt:maxVolumeBounces = 4
+                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                int omni:rtx:pt:samplesPerIteration = 64
+                int omni:rtx:pt:samplesPerPixel = 64
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:ecoMode:enabled
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                uint omni:rtx:viewTile:limit = 4294967295
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (320, 180)
+            }
+        }
+    }
+
+    def RenderSettings "OmniverseGlobalRenderSettings" (
+        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
+        no_delete = true
+    )
+    {
+        rel products = [
+            </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>,
+            </Render/OmniverseKit/HydraTextures/Replicator>,
+        ]
+    }
+
+    def "Vars"
+    {
+        def RenderVar "LdrColor" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            uniform string sourceName = "LdrColor"
+        }
+    }
+}
+

shoekitchen/scene.usda

@@ -56,9 +56,25 @@ def Xform "World"
         }
     }
 
-    # Board object (fixed/kinematic)
-    def "board_0" (
+    # SeattleLabTable: replaces board_0 (board_0 has broken collision due to
+    # convex-decomposition + non-uniform scaling in the original mesh).
+    # Transform mirrors PolarisPlacementEnvCfg.table:
+    #   pos = (0.5, 0, 0), rot wxyz = (0.707, 0, 0, 0.707)
+    # Reference shared assets from playing_cards_kitchen/ to avoid duplication.
+    def Xform "seattle_lab_table" (
         active = true
+        prepend references = @../playing_cards_kitchen/assets/seattle_lab_table/table_instanceable.usd@
+    )
+    {
+        quatf xformOp:orient = (0.707, 0.0, 0.0, 0.707)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.5, 0.0, 0.0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    # Board object - DISABLED (broken collision; replaced by SeattleLabTable above)
+    def "board_0" (
+        active = false
         prepend payload = @./assets/board_0/mesh.usd@
     )
     {