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@@ -57,3 +57,4 @@ 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
+Collected_melon_v5/configuration/melon_v5_base.usd filter=lfs diff=lfs merge=lfs -text

Collected_melon_v5/.collect.mapping.json

@@ -0,0 +1,4 @@
+{
+    "version": "1.0",
+    "file_records": []
+}

Collected_melon_v5/configuration/melon_v5_base.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cd8a80caf156b01766a973346f1273d77c7c65dd1f050e391b1c46f1535465d
+size 28140696

Collected_melon_v5/omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Sensors/NVIDIA/Example_Rotary.usda

@@ -0,0 +1,45 @@
+#usda 1.0
+(
+    defaultPrim = "Example_Rotary"
+    doc = "Generated from Example_Rotary.json"
+)
+
+def OmniLidar "Example_Rotary" (
+    prepend apiSchemas = ["OmniSensorGenericLidarCoreAPI"]
+)
+{
+    float omni:sensor:Core:avgPowerW = 0.002
+    float omni:sensor:Core:azimuthErrorMean = 0
+    float omni:sensor:Core:azimuthErrorStd = 0.015
+    float omni:sensor:Core:elevationErrorMean = 0
+    float omni:sensor:Core:elevationErrorStd = 0
+    float[] omni:sensor:Core:emitterState:s001:azimuthDeg = [-3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+    uint[] omni:sensor:Core:emitterState:s001:channelId = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128]
+    float[] omni:sensor:Core:emitterState:s001:distanceCorrectionM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+    float[] omni:sensor:Core:emitterState:s001:elevationDeg = [-15, -14.19, -13.39, -12.58, -11.77, -10.97, -10.16, -9.35, -8.55, -7.74, -6.94, -6.13, -5.32, -4.52, -3.71, -2.9, -2.1, -1.29, -0.48, 0.32, 1.13, 1.94, 2.74, 3.55, 4.35, 5.16, 5.97, 6.77, 7.58, 8.39, 9.19, 10, -15, -14.19, -13.39, -12.58, -11.77, -10.97, -10.16, -9.35, -8.55, -7.74, -6.94, -6.13, -5.32, -4.52, -3.71, -2.9, -2.1, -1.29, -0.48, 0.32, 1.13, 1.94, 2.74, 3.55, 4.35, 5.16, 5.97, 6.77, 7.58, 8.39, 9.19, 10, -15, -14.19, -13.39, -12.58, -11.77, -10.97, -10.16, -9.35, -8.55, -7.74, -6.94, -6.13, -5.32, -4.52, -3.71, -2.9, -2.1, -1.29, -0.48, 0.32, 1.13, 1.94, 2.74, 3.55, 4.35, 5.16, 5.97, 6.77, 7.58, 8.39, 9.19, 10, -15, -14.19, -13.39, -12.58, -11.77, -10.97, -10.16, -9.35, -8.55, -7.74, -6.94, -6.13, -5.32, -4.52, -3.71, -2.9, -2.1, -1.29, -0.48, 0.32, 1.13, 1.94, 2.74, 3.55, 4.35, 5.16, 5.97, 6.77, 7.58, 8.39, 9.19, 10]
+    uint[] omni:sensor:Core:emitterState:s001:fireTimeNs = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500]
+    float[] omni:sensor:Core:emitterState:s001:focalDistM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+    float[] omni:sensor:Core:emitterState:s001:focalSlope = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+    float[] omni:sensor:Core:emitterState:s001:horOffsetM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+    float[] omni:sensor:Core:emitterState:s001:reportRateDiv = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+    float[] omni:sensor:Core:emitterState:s001:vertOffsetM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+    float omni:sensor:Core:farRangeM = 200
+    token omni:sensor:Core:intensityMappingType = "LINEAR"
+    token omni:sensor:Core:intensityProcessing = "NORMALIZATION"
+    uint omni:sensor:Core:maxReturns = 2
+    float omni:sensor:Core:minReflectance = 0.1
+    float omni:sensor:Core:nearRangeM = 1
+    uint omni:sensor:Core:numberOfChannels = 128
+    uint omni:sensor:Core:numberOfEmitters = 128
+    uint omni:sensor:Core:pulseTimeNs = 6
+    float omni:sensor:Core:rangeAccuracyM = 0.02
+    float omni:sensor:Core:rangeResolutionM = 0.004
+    token omni:sensor:Core:rayType = "IDEALIZED"
+    uint omni:sensor:Core:reportRateBaseHz = 36000
+    token omni:sensor:Core:rotationDirection = "CW"
+    uint omni:sensor:Core:scanRateBaseHz = 10
+    token omni:sensor:Core:scanType = "ROTARY"
+    float omni:sensor:Core:startAzimuthOffsetDeg = 0
+    string omni:sensor:modelName = "Example_Rotary"
+}
+

Collected_melon_v5/omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Sensors/NVIDIA/Example_Rotary_2D.usda

@@ -0,0 +1,133 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (0, 0, 500)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (5, 5, 5)
+                double3 target = (-3.978038343177559e-8, 7.956076863990802e-8, -3.978038254359717e-8)
+            }
+            dictionary Right = {
+                double3 position = (-500, 0, 0)
+                double radius = 5
+            }
+            dictionary Top = {
+                double3 position = (0, 500, 0)
+                double radius = 5
+            }
+            string boundCamera = "/OmniverseKit_Persp"
+        }
+        dictionary omni_layer = {
+            string authoring_layer = "./Example_Rotary_2D.usda"
+        }
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "Example_Rotary"
+    doc = "Generated from Example_Rotary_2D.json"
+)
+
+def OmniLidar "Example_Rotary" (
+    prepend apiSchemas = ["OmniSensorGenericLidarCoreAPI"]
+)
+{
+    float omni:sensor:Core:avgPowerW = 0.002
+    float omni:sensor:Core:azimuthErrorMean = 0
+    float omni:sensor:Core:azimuthErrorStd = 0.015
+    float omni:sensor:Core:elevationErrorMean = 0
+    float omni:sensor:Core:elevationErrorStd = 0
+    float[] omni:sensor:Core:emitterState:s001:azimuthDeg = [1]
+    uint[] omni:sensor:Core:emitterState:s001:channelId = [1]
+    float[] omni:sensor:Core:emitterState:s001:distanceCorrectionM = [0]
+    float[] omni:sensor:Core:emitterState:s001:elevationDeg = [0]
+    uint[] omni:sensor:Core:emitterState:s001:fireTimeNs = [0]
+    float[] omni:sensor:Core:emitterState:s001:focalDistM = [0]
+    float[] omni:sensor:Core:emitterState:s001:focalSlope = [0]
+    float[] omni:sensor:Core:emitterState:s001:horOffsetM = [0]
+    float[] omni:sensor:Core:emitterState:s001:reportRateDiv = [0]
+    float[] omni:sensor:Core:emitterState:s001:vertOffsetM = [0]
+    float omni:sensor:Core:farRangeM = 200
+    token omni:sensor:Core:intensityMappingType = "LINEAR"
+    token omni:sensor:Core:intensityProcessing = "NORMALIZATION"
+    uint omni:sensor:Core:maxReturns = 1
+    float omni:sensor:Core:minReflectance = 0.1
+    float omni:sensor:Core:nearRangeM = 1
+    uint omni:sensor:Core:numberOfChannels = 1
+    uint omni:sensor:Core:numberOfEmitters = 1
+    uint omni:sensor:Core:pulseTimeNs = 6
+    float omni:sensor:Core:rangeAccuracyM = 0.02
+    float omni:sensor:Core:rangeResolutionM = 0.004
+    token omni:sensor:Core:rayType = "IDEALIZED"
+    uint omni:sensor:Core:reportRateBaseHz = 32000
+    token omni:sensor:Core:rotationDirection = "CW"
+    uint omni:sensor:Core:scanRateBaseHz = 30
+    token omni:sensor:Core:scanType = "ROTARY"
+    float omni:sensor:Core:startAzimuthOffsetDeg = 0
+    string omni:sensor:modelName = "Example_Rotary"
+}
+
+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
+                string omni:rtx:material:db:rtSensorNameToIdMap = "DefaultMaterial:0;AsphaltStandardMaterial:1;AsphaltWeatheredMaterial:2;VegetationGrassMaterial:3;WaterStandardMaterial:4;GlassStandardMaterial:5;FiberGlassMaterial:6;MetalAlloyMaterial:7;MetalAluminumMaterial:8;MetalAluminumOxidizedMaterial:9;PlasticStandardMaterial:10;RetroMarkingsMaterial:11;RetroSignMaterial:12;RubberStandardMaterial:13;SoilClayMaterial:14;ConcreteRoughMaterial:15;ConcreteSmoothMaterial:16;OakTreeBarkMaterial:17;FabricStandardMaterial:18;PlexiGlassStandardMaterial:19;MetalSilverMaterial:20"
+                bool omni:rtx:material:db:syncLoads = 1
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
+                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                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 RenderSettings "OmniverseGlobalRenderSettings" (
+        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
+        no_delete = true
+    )
+    {
+        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
+    }
+
+    def "Vars"
+    {
+        def RenderVar "LdrColor" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            uniform string sourceName = "LdrColor"
+        }
+    }
+}
+