---
license: other
task_categories:
  - robotics
tags:
  - isaac-sim
  - blender
  - manipulation
  - droid
---

# droid2sim

The Alchera **PanClean** kitchen scene, ported to Isaac Sim for DROID manipulation.

## What's here

One scene under `scenes/panclean/`, in three stages from original to runnable:

```
panclean/
├── source/                  # 1. ORIGINAL — as delivered by Alchera (untouched)
│   ├── asset.glb            #      the kitchen (glTF, 465 MB)
│   └── render01.png         #      reference render — the look to match
│
├── asset.usd                # 2. PORTED — asset.glb converted to USD
├── textures/                #      PBR textures for asset.usd
├── assets/                  #      same scene split into per-object meshes (13 objects)
│
├── scene.usda               # 3. ASSEMBLED — asset.usd placed in the DROID robot frame
└── initial_conditions.json  #      robot/policy start state (from PolaRiS pan_clean)
```

- **source/** — the original Alchera deliverable, nothing changed.
- **asset.usd / textures / assets** — the port: only the format is converted
  (glb → USD, via NVIDIA `omni.kit.asset_converter`); meshes are unchanged.
- **scene.usda** — only *references* `asset.usd` and sets position/orientation.
  It never edits the meshes.

## Coordinate note

The source is Y-up, real scale (countertop ~1.1 m). The DROID policy expects Z-up
with the surface ~0.05 m in front of the base, so `scene.usda` rotates +90° about X
and lowers it into reach.

## Reproduce

Docker setup + render/GUI scripts are in the code repo **SNU-PI/droid2sim** —
clone it, download this scene into `data/panclean/`, and run `scripts/docker/launch.sh`.
See that repo's README.

## License

Held jointly by Seoul National University PI Lab, LG, and Alchera.