assets(desk_lamp): IsaacSim USD render asset (EmbodiedGen export)
#2
by Everloom - opened
Adds the IsaacSim USD for the lamp_kettle_cup desk_lamp (same EmbodiedGen lamp as the shipped MJCF; parts/joints correspond 1:1).
- desk_lamp.usd: articulation with 4 revolute joints (joint_part_8__part_5 base spin, joint_part_5__part_6 / joint_part_7__part_1 elbows, joint_part_3__part_0 shade tilt).
- FIXED vs the raw export: ArticulationRootAPI moved from the bare /World Xform onto the base rigid-body prim (part_04_brass_finished_weighted_steel_base) - IsaacLab's fix_root_link fixed-joint creation requires RigidBodyAPI on the root prim and raises NotImplementedError on the raw export.
- textures/ (6 PBR maps, relative refs) + physics.json (EmbodiedGen per-part physics).
Consumed by hand_track.pour_kettle_cup via ArticulationObjCfg usd_path (RoboVerse side); the MJCF stays the replay-pinned asset, MuJoCo untouched. USD joint names are the generator's joint_part_* (not the curated MJCF's lamp_joint_*) - layout dof_pos keys miss on IsaacSim and the hinges stay at the authored zero pose, which equals the reset pose.
Verified: tianji_wuji pour_kettle_cup IsaacSim still renders with the lamp seated on the workcell table, brass PBR intact (RTX 5090, IsaacLab 2.2 / Isaac Sim 5.x).
Everloom changed pull request status to open
Everloom changed pull request status to merged