Initial sync from B2

.gitattributes

@@ -58,3 +58,25 @@ 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
+Props/Custom/CupCake/cupcake.usd filter=lfs diff=lfs merge=lfs -text
+Props/Custom/Peg/peg.usd filter=lfs diff=lfs merge=lfs -text
+Props/Custom/PegHole/peg_hole.usd filter=lfs diff=lfs merge=lfs -text
+Props/Custom/Plate/plate.usd filter=lfs diff=lfs merge=lfs -text
+Props/Custom/Rectangle/rectangle.usd filter=lfs diff=lfs merge=lfs -text
+Props/Custom/Wall/wall.usd filter=lfs diff=lfs merge=lfs -text
+Props/FurnitureBench/DrawerBottom/drawer_bottom.usd filter=lfs diff=lfs merge=lfs -text
+Props/FurnitureBench/DrawerBox/drawer_box.usd filter=lfs diff=lfs merge=lfs -text
+Props/FurnitureBench/SquareLeg/square_leg.usd filter=lfs diff=lfs merge=lfs -text
+Props/FurnitureBench/SquareTableTop/square_table_top.usd filter=lfs diff=lfs merge=lfs -text
+Props/Mounts/UWPatVention2/Ur5MetalSupport/ur5plate.usd filter=lfs diff=lfs merge=lfs -text
+Props/NIST/Taskboard/nistboard.usd filter=lfs diff=lfs merge=lfs -text
+Robots/BostonDynamic/Spot/spot.usd filter=lfs diff=lfs merge=lfs -text
+Robots/BostonDynamic/SpotWithArm/spot_with_arm.usd filter=lfs diff=lfs merge=lfs -text
+Robots/HebiRobotic/Tycho/tycho.usd filter=lfs diff=lfs merge=lfs -text
+Robots/LeapHand/leap_transparent.usd filter=lfs diff=lfs merge=lfs -text
+Robots/UFactory/Xarm5LeapHand/leap_xarm_ikpoints.usd filter=lfs diff=lfs merge=lfs -text
+Robots/UFactory/Xarm5LeapHand/leap_xarm_visual.usd filter=lfs diff=lfs merge=lfs -text
+Robots/UFactory/Xarm5UfGripper/xarm_gripper.usd filter=lfs diff=lfs merge=lfs -text
+Robots/UniversalRobots/2f85RobotiqGripperCalibrated/robotiq_2f85_gripper_calibrated.usd filter=lfs diff=lfs merge=lfs -text
+Robots/UniversalRobots/Ur5RobotiqGripper/ur5_robotiq_gripper_backup.usd filter=lfs diff=lfs merge=lfs -text
+Robots/UniversalRobots/Ur5e2f85RobotiqGripperCalibrated/ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd filter=lfs diff=lfs merge=lfs -text

Datasets/PartialAssemblies/ObjectPairs/5ad9b597e1ff10d21a1144b055d88d1e.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b9e51349e1305531ea4d928dfcc24d0d38537ae625e2c2a4e9d7c1aaeea657c
+size 225452

Datasets/PartialAssemblies/ObjectPairs/7c8c7207a809b016273efb3496a47640.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b0f90bedb19c0274707dd9fddc43e6f1755c1bc8cf182a82edd45d0b77da3df
+size 34796

Datasets/PartialAssemblies/ObjectPairs/7ff85274e806fe2f0b53ab1e84da161d.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93a5f50a7f2e67a6a81799b5113d539479c6a75f5eb7d0747d92c7cb6ba9efb6
+size 38572

Datasets/PartialAssemblies/ObjectPairs/886283e2b66dfb135fe9090cf9736bb1.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44ac52b181149181399d5197a2eb2e8e9a8a925abf3e6e46cfc1eb8984380b1d
+size 36588

Datasets/PartialAssemblies/ObjectPairs/df68c1a2b023589ab39fbcd3f240c172.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d9a182980088d4a0e87bfb733e1525b39616952ccbeda4ba9629b6018eda8a5
+size 18668

Datasets/PartialAssemblies/ObjectPairs/f866a29fee5d3f05d0272cddaea0a202.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f124a7d721b3991f286a18b7532133a87f5cb0708087df88daef01e1994f4483
+size 44012

Datasets/Resets/ObjectPairsCalibrated/ObjectAnywhereEEAnywhere/7ff85274e806fe2f0b53ab1e84da161d.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e700f47b44fbe9980f4c2c10e912d7cab854802173723ae824f062269c7eae
+size 42938925

Datasets/Resets/ObjectPairsCalibrated/ObjectAnywhereEEAnywhere/886283e2b66dfb135fe9090cf9736bb1.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da40e8152c1af9e78db29c755c5556be88b38a72be0a76c4e4115d16124abd21
+size 44067245

Datasets/Resets/ObjectPairsCalibrated/ObjectAnywhereEEAnywhere/f866a29fee5d3f05d0272cddaea0a202.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95e523170845902c0808698de1561e9c40476af196e3d152c549e14846061760
+size 37918485

Datasets/Resets/ObjectPairsCalibrated/ObjectAnywhereEEGrasped/7ff85274e806fe2f0b53ab1e84da161d.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ee37ab208c641654c5b5157145b4447e86ce16a841017a76c9716b48421cf1c
+size 37903221

Datasets/Resets/ObjectPairsCalibrated/ObjectAnywhereEEGrasped/886283e2b66dfb135fe9090cf9736bb1.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1f44b235531ec84be99db3a5d20bb120099086a2f2c8933fc3431f4736047c9
+size 37910885

Datasets/Resets/ObjectPairsCalibrated/ObjectAnywhereEEGrasped/f866a29fee5d3f05d0272cddaea0a202.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9db0c939b1c279776262edf18c890270de828c8fb0287ebf39b8cf49c1ccf786
+size 37941349

Datasets/Resets/ObjectPairsCalibrated/ObjectPartiallyAssembledEEGraspedNew/7ff85274e806fe2f0b53ab1e84da161d.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab917cc2e1960915d2c1648cf6f675c57af00a9cf1c639083378fa073abf3250
+size 37907053

Datasets/Resets/ObjectPairsCalibrated/ObjectPartiallyAssembledEEGraspedNew/886283e2b66dfb135fe9090cf9736bb1.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79a7f33f8dcd99e0a01fd2f97793784a085f5bbe843481e73072693a56f5ecf4
+size 37910885

Datasets/Resets/ObjectPairsCalibrated/ObjectPartiallyAssembledEEGraspedNew/f866a29fee5d3f05d0272cddaea0a202.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de0f43fd9eb15da9a3fc8f0d7fcf45de3b7a7404a5a85db4a93a4f0d6d64c1a
+size 39161189

Datasets/Resets/ObjectPairsCalibrated/ObjectRestingEEGrasped/7ff85274e806fe2f0b53ab1e84da161d.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd647882512a08e3938388783473810b3c3d16b70b1c8d9fe2c2224db406d1ed
+size 38204413

Datasets/Resets/ObjectPairsCalibrated/ObjectRestingEEGrasped/886283e2b66dfb135fe9090cf9736bb1.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:890f26a41e2608e3a3627883fba2866e3f622511f69fc3637b4df42ce8a895fb
+size 37899389

Datasets/Resets/ObjectPairsCalibrated/ObjectRestingEEGrasped/f866a29fee5d3f05d0272cddaea0a202.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a9e8702ce4bb19a48f30bdf630a7830724cbfbe82a906aebfb5acac7b5393ef
+size 37910885

Props/Custom/CupCake/cupcake.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dadb21751218420bdd19ee32a60b0436963dd3233736f1b779eebf46b0d015f
+size 428810

Props/Custom/CupCake/metadata.yaml

@@ -0,0 +1,6 @@
+assembled_offset:
+  pos: [0.0, 0.0, -0.003]
+  quat: [1.0, 0.0, 0.0, 0.0]
+bottom_offset:
+  pos: [0.0, 0.0, 0.0]
+  quat: [1.0, 0.0, 0.0, 0.0]

Props/Custom/InsertiveCube/insertive_cube.usd

@@ -0,0 +1,215 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (0, 0, 5)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (0.10619345982794473, 0.07566053258687087, 0.23431330211668694)
+                double3 target = (-3.5692175825996486e-8, 7.759456098488382e-8, -4.173581402699966e-8)
+            }
+            dictionary Right = {
+                double3 position = (-5, 0, 0)
+                double radius = 5
+            }
+            dictionary Top = {
+                double3 position = (0, 5, 0)
+                double radius = 5
+            }
+            string boundCamera = "/OmniverseKit_Persp"
+        }
+        dictionary omni_layer = {
+            string authoring_layer = "./insertive_cube.usd"
+        }
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "cube"
+    doc = "A simple 4cm cube asset for IsaacLab / Omniverse"
+    metersPerUnit = 1
+)
+
+def Xform "cube" (
+    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+)
+{
+    bool physics:kinematicEnabled = 0
+    bool physics:rigidBodyEnabled = 1
+
+    def Xform "visuals"
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Scope "Looks"
+        {
+            def Material "PreviewSurface"
+            {
+                token outputs:displacement.connect = </cube/visuals/Looks/PreviewSurface/Shader.outputs:displacement>
+                token outputs:surface.connect = </cube/visuals/Looks/PreviewSurface/Shader.outputs:surface>
+
+                def Shader "Shader"
+                {
+                    uniform token info:id = "UsdPreviewSurface"
+                    float inputs:clearcoat
+                    float inputs:clearcoatRoughness = 0.01
+                    color3f inputs:diffuseColor = (0, 1, 0.19999999)
+                    float inputs:displacement
+                    color3f inputs:emissiveColor = (0, 0, 0)
+                    float inputs:ior = 1.5
+                    float inputs:metallic
+                    normal3f inputs:normal = (0, 0, 1)
+                    float inputs:occlusion = 1
+                    float inputs:opacity = 1
+                    float inputs:opacityThreshold (
+                        connectability = "interfaceOnly"
+                    )
+                    float inputs:roughness = 0.5
+                    color3f inputs:specularColor = (0, 0, 0)
+                    int inputs:useSpecularWorkflow (
+                        connectability = "interfaceOnly"
+                    )
+                    token outputs:displacement (
+                        renderType = "material"
+                    )
+                    token outputs:surface (
+                        renderType = "material"
+                    )
+                }
+            }
+        }
+
+        def Mesh "cube" (
+            active = true
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            float3[] extent = [(-0.02, -0.02, -0.02), (0.02, 0.02, 0.02)]
+            int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
+            int[] faceVertexIndices = [0, 3, 2, 1, 4, 5, 6, 7, 3, 7, 6, 2, 0, 1, 5, 4, 1, 2, 6, 5, 0, 4, 7, 3]
+            rel material:binding = </cube/visuals/Looks/PreviewSurface> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            normal3f[] normals = [(0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0)] (
+                interpolation = "faceVarying"
+            )
+            point3f[] points = [(-0.02, -0.02, -0.02), (0.02, -0.02, -0.02), (0.02, 0.02, -0.02), (-0.02, 0.02, -0.02), (-0.02, -0.02, 0.02), (0.02, -0.02, 0.02), (0.02, 0.02, 0.02), (-0.02, 0.02, 0.02)]
+            uniform token subdivisionScheme = "none"
+            custom string userProperties:blender:data_name = "cube"
+            float3 xformOp:rotateZYX = (0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
+        }
+    }
+
+    def Xform "collisions"
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Mesh "cube" (
+            active = true
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
+        )
+        {
+            float3[] extent = [(-0.02, -0.02, -0.02), (0.02, 0.02, 0.02)]
+            int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
+            int[] faceVertexIndices = [0, 3, 2, 1, 4, 5, 6, 7, 3, 7, 6, 2, 0, 1, 5, 4, 1, 2, 6, 5, 0, 4, 7, 3]
+            rel material:binding = </cube/PhysicsMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            normal3f[] normals = [(0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0)] (
+                interpolation = "faceVarying"
+            )
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+            point3f[] points = [(-0.02, -0.02, -0.02), (0.02, -0.02, -0.02), (0.02, 0.02, -0.02), (-0.02, 0.02, -0.02), (-0.02, -0.02, 0.02), (0.02, -0.02, 0.02), (0.02, 0.02, 0.02), (-0.02, 0.02, 0.02)]
+            uniform token subdivisionScheme = "none"
+            custom string userProperties:blender:data_name = "cube"
+            token visibility = "invisible"
+            float3 xformOp:rotateZYX = (0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
+        }
+    }
+
+    def Material "PhysicsMaterial" (
+        prepend apiSchemas = ["PhysicsMaterialAPI"]
+    )
+    {
+        float physics:dynamicFriction = 0.5
+        float physics:staticFriction = 0.5
+    }
+}
+
+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
+                int omni:rtx:realtime:mgpu:tileCount = 2
+                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"
+        }
+    }
+}
+

Props/Custom/InsertiveCube/metadata.yaml

@@ -0,0 +1,6 @@
+assembled_offset:
+  pos: [0.0, 0.0, -0.02]
+  quat: [1.0, 0.0, 0.0, 0.0]
+bottom_offset:
+  pos: [0.0, 0.0, -0.02]
+  quat: [1.0, 0.0, 0.0, 0.0]

Props/Custom/Peg/metadata.yaml

@@ -0,0 +1,6 @@
+assembled_offset:
+  pos: [0.0, 0.0, 0.0]
+  quat: [1.0, 0.0, 0.0, 0.0]
+bottom_offset:
+  pos: [0.0, 0.0, -0.03]
+  quat: [1.0, 0.0, 0.0, 0.0]

Props/Custom/Peg/peg.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9231285661d7425a995a8ce21aa16309312c8f314432aac6436a16637390933e
+size 173324

Props/Custom/PegHole/metadata.yaml

@@ -0,0 +1,9 @@
+assembled_offset:
+  pos: [0.0, 0.0, 0.014837]
+  quat: [1.0, 0.0, 0.0, 0.0]
+bottom_offset:
+  pos: [0.0, 0.0, -0.015163]
+  quat: [1.0, 0.0, 0.0, 0.0]
+success_thresholds:
+  position: 0.0025
+  orientation: 0.025

Props/Custom/PegHole/peg_hole.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f7604ba72acdd9c8e3bf52527e2d2abcc0c1a94785ae724226a985c32bdfa6f
+size 217847

Props/Custom/Plate/metadata.yaml

@@ -0,0 +1,9 @@
+assembled_offset:
+  pos: [0.0, 0.0, 0.0]
+  quat: [1.0, 0.0, 0.0, 0.0]
+bottom_offset:
+  pos: [0.0, 0.0, 0.0]
+  quat: [1.0, 0.0, 0.0, 0.0]
+success_thresholds:
+  position: 0.005
+  orientation: 0.025

Props/Custom/Plate/plate.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a40f4772ca6fd28e9549cf6ee7ee16d552d5b2dca7b3602fefecf6933bfa3e16
+size 201034

Props/Custom/ReceptiveCube/metadata.yaml

@@ -0,0 +1,9 @@
+assembled_offset:
+  pos: [0.0, 0.0, 0.02]
+  quat: [1.0, 0.0, 0.0, 0.0]
+bottom_offset:
+  pos: [0.0, 0.0, -0.02]
+  quat: [1.0, 0.0, 0.0, 0.0]
+success_thresholds:
+  position: 0.005
+  orientation: 0.025

Props/Custom/ReceptiveCube/receptive_cube.usd

@@ -0,0 +1,220 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (0, 0, 5)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (0.19675159476361104, 0.04448911814120467, 0.1766743106715282)
+                double3 target = (-3.628690112278399e-8, 7.982136072254287e-8, -4.2860907711883556e-8)
+            }
+            dictionary Right = {
+                double3 position = (-5, 0, 0)
+                double radius = 5
+            }
+            dictionary Top = {
+                double3 position = (0, 5, 0)
+                double radius = 5
+            }
+            string boundCamera = "/OmniverseKit_Persp"
+        }
+        dictionary metricsAssembler = {
+            dictionary "/cube/cube" = {
+            }
+            int version = 1
+        }
+        dictionary omni_layer = {
+            string authoring_layer = "./receptive_cube.usd"
+        }
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "cube"
+    doc = "A simple 4cm cube asset for IsaacLab / Omniverse"
+    metersPerUnit = 1
+)
+
+def Xform "cube" (
+    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+)
+{
+    bool physics:kinematicEnabled = 0
+    bool physics:rigidBodyEnabled = 1
+
+    def Xform "visuals"
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Scope "Looks"
+        {
+            def Material "PreviewSurface"
+            {
+                token outputs:displacement.connect = </cube/visuals/Looks/PreviewSurface/Shader.outputs:displacement>
+                token outputs:surface.connect = </cube/visuals/Looks/PreviewSurface/Shader.outputs:surface>
+
+                def Shader "Shader"
+                {
+                    uniform token info:id = "UsdPreviewSurface"
+                    float inputs:clearcoat
+                    float inputs:clearcoatRoughness = 0.01
+                    color3f inputs:diffuseColor = (0.2, 0.6, 1)
+                    float inputs:displacement
+                    color3f inputs:emissiveColor = (0, 0, 0)
+                    float inputs:ior = 1.5
+                    float inputs:metallic
+                    normal3f inputs:normal = (0, 0, 1)
+                    float inputs:occlusion = 1
+                    float inputs:opacity = 1
+                    float inputs:opacityThreshold (
+                        connectability = "interfaceOnly"
+                    )
+                    float inputs:roughness = 0.5
+                    color3f inputs:specularColor = (0, 0, 0)
+                    int inputs:useSpecularWorkflow (
+                        connectability = "interfaceOnly"
+                    )
+                    token outputs:displacement (
+                        renderType = "material"
+                    )
+                    token outputs:surface (
+                        renderType = "material"
+                    )
+                }
+            }
+        }
+
+        def Mesh "cube" (
+            active = true
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            float3[] extent = [(-0.02, -0.02, -0.02), (0.02, 0.02, 0.02)]
+            int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
+            int[] faceVertexIndices = [0, 3, 2, 1, 4, 5, 6, 7, 3, 7, 6, 2, 0, 1, 5, 4, 1, 2, 6, 5, 0, 4, 7, 3]
+            rel material:binding = </cube/visuals/Looks/PreviewSurface> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            normal3f[] normals = [(0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0)] (
+                interpolation = "faceVarying"
+            )
+            point3f[] points = [(-0.02, -0.02, -0.02), (0.02, -0.02, -0.02), (0.02, 0.02, -0.02), (-0.02, 0.02, -0.02), (-0.02, -0.02, 0.02), (0.02, -0.02, 0.02), (0.02, 0.02, 0.02), (-0.02, 0.02, 0.02)]
+            uniform token subdivisionScheme = "none"
+            custom string userProperties:blender:data_name = "cube"
+            float3 xformOp:rotateZYX = (0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
+        }
+    }
+
+    def Xform "collisions"
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Mesh "cube" (
+            active = true
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
+        )
+        {
+            float3[] extent = [(-0.02, -0.02, -0.02), (0.02, 0.02, 0.02)]
+            int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
+            int[] faceVertexIndices = [0, 3, 2, 1, 4, 5, 6, 7, 3, 7, 6, 2, 0, 1, 5, 4, 1, 2, 6, 5, 0, 4, 7, 3]
+            rel material:binding = </cube/PhysicsMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            normal3f[] normals = [(0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0)] (
+                interpolation = "faceVarying"
+            )
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+            point3f[] points = [(-0.02, -0.02, -0.02), (0.02, -0.02, -0.02), (0.02, 0.02, -0.02), (-0.02, 0.02, -0.02), (-0.02, -0.02, 0.02), (0.02, -0.02, 0.02), (0.02, 0.02, 0.02), (-0.02, 0.02, 0.02)]
+            uniform token subdivisionScheme = "none"
+            custom string userProperties:blender:data_name = "cube"
+            token visibility = "invisible"
+            float3 xformOp:rotateZYX = (0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
+        }
+    }
+
+    def Material "PhysicsMaterial" (
+        prepend apiSchemas = ["PhysicsMaterialAPI"]
+    )
+    {
+        float physics:dynamicFriction = 0.5
+        float physics:staticFriction = 0.5
+    }
+}
+
+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
+                int omni:rtx:realtime:mgpu:tileCount = 2
+                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"
+        }
+    }
+}
+

Props/Custom/Rectangle/metadata.yaml

@@ -0,0 +1,6 @@
+assembled_offset:
+  pos: [0.0, 0.015, 0.06]
+  quat: [1.0, 0.0, 0.0, 0.0]
+bottom_offset:
+  pos: [0.0, 0.0, -0.04]
+  quat: [1.0, 0.0, 0.0, 0.0]

Props/Custom/Rectangle/rectangle.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:198f2976bfc903ecab44aca817c74ad0a43d3e4bfe1c2f32f3afa2bd06382f1b
+size 4047687

Props/Custom/Wall/metadata.yaml

@@ -0,0 +1,9 @@
+assembled_offset:
+  pos: [0.0, 0.0, 0.0]
+  quat: [1.0, 0.0, 0.0, 0.0]
+bottom_offset:
+  pos: [0.0, 0.0, -0.1]
+  quat: [1.0, 0.0, 0.0, 0.0]
+success_thresholds:
+  position: 0.005
+  orientation: 0.025

Props/Custom/Wall/wall.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9aee3512541c2c3f7b47978d24d1237f9b24b30121013b98494ee3d4ffe32e0
+size 4040369

Props/FurnitureBench/DrawerBottom/drawer_bottom.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f78309d81fbfd8f661dd8b2ebb5c2cd69f2e39b3e283528ecf4cd063d86957
+size 1088042

Props/FurnitureBench/DrawerBottom/metadata.yaml

@@ -0,0 +1,6 @@
+assembled_offset:
+  pos: [0.0, 0.0, 0.0]
+  quat: [1.0, 0.0, 0.0, 0.0]
+bottom_offset:
+  pos: [0.0, 0.0, -0.016231]
+  quat: [1.0, 0.0, 0.0, 0.0]

Props/FurnitureBench/DrawerBox/drawer_box.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72c6b25e8c7099bf7cc6c5de71487cd006aac308267723fbda6d6ac8b27d5ec7
+size 181491

Props/FurnitureBench/DrawerBox/metadata.yaml

@@ -0,0 +1,9 @@
+assembled_offset:
+  pos: [0.0, 0.017437, -0.037283]
+  quat: [1.0, 0.0, 0.0, 0.0]
+bottom_offset:
+  pos: [0.0, 0.0, -0.058871]
+  quat: [1.0, 0.0, 0.0, 0.0]
+success_thresholds:
+  position: 0.005
+  orientation: 0.025

Props/FurnitureBench/SquareLeg/metadata.yaml

@@ -0,0 +1,6 @@
+assembled_offset:
+  pos: [0.0, 0.0, -0.056658]
+  quat: [1.0, 0.0, 0.0, 0.0]
+bottom_offset:
+  pos: [0.0, 0.0, -0.056658]
+  quat: [1.0, 0.0, 0.0, 0.0]

Props/FurnitureBench/SquareLeg/square_leg.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:834300267564f96b001c58a8a59947ca0dde031788417709a42859536c27649c
+size 1288794

Props/FurnitureBench/SquareTableTop/metadata.yaml

@@ -0,0 +1,9 @@
+assembled_offset:
+  pos: [0.05625, 0.05625, -0.009435]
+  quat: [1.0, 0.0, 0.0, 0.0]
+bottom_offset:
+  pos: [0.0, 0.0, -0.015586]
+  quat: [1.0, 0.0, 0.0, 0.0]
+success_thresholds:
+  position: 0.0025
+  orientation: 0.025

Props/FurnitureBench/SquareTableTop/square_table_top.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b265c071757ec63f0ce1adc5589b97a80329dd403f676cca32f2978cd9284f8
+size 1036415

Props/Mounts/UWPatVention2/Ur5MetalSupport/ur5plate.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ffd435ef6aede54b9e209490f5a8bd6c94ef024ebdde308049a8e18601e851
+size 771139

Props/NIST/Taskboard/nistboard.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41938419e573a5d76db16c5fe40bce26f6dbc1a207f8a2b77cce7d16e8f1b3c6
+size 309590

Robots/BostonDynamic/Spot/spot.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9701e03ef1eb5e88bb4a8c8a9e7283659673b3f5efcb61ed96c3157474ad0180
+size 3832897

Robots/BostonDynamic/SpotWithArm/spot_with_arm.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8db1b8c4485586bc8e995b6105ad15ca2e212cd69d8646f66b2d8ae61f1e502e
+size 3831828

Robots/HebiRobotic/Tycho/tycho.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dca69f7db5885b49d368a8fb9210e11284f67f34a3f0c3fa065e53024fa4559
+size 22563764

Robots/LeapHand/leap_transparent.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1890b8c628a252f75131429bde249609042801640cd0ecc620082eb04f508134
+size 13484177