diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..250c3ea24170b8def2b12c8fb7ac01905df05de6 100644 --- a/.gitattributes +++ b/.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 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sha256:5a9e8702ce4bb19a48f30bdf630a7830724cbfbe82a906aebfb5acac7b5393ef +size 37910885 diff --git a/Props/Custom/CupCake/cupcake.usd b/Props/Custom/CupCake/cupcake.usd new file mode 100644 index 0000000000000000000000000000000000000000..5241789c0245d50d47da3262b681944cf731b41e --- /dev/null +++ b/Props/Custom/CupCake/cupcake.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dadb21751218420bdd19ee32a60b0436963dd3233736f1b779eebf46b0d015f +size 428810 diff --git a/Props/Custom/CupCake/metadata.yaml b/Props/Custom/CupCake/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f373dde445330a2590021df8c6fb650cc66a3b19 --- /dev/null +++ b/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] diff --git a/Props/Custom/InsertiveCube/insertive_cube.usd b/Props/Custom/InsertiveCube/insertive_cube.usd new file mode 100644 index 0000000000000000000000000000000000000000..ed3fcf9b4b3d32761917ed6dee8d30b54b25ed2b --- /dev/null +++ b/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 = + token outputs:surface.connect = + + 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 = ( + 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 = ( + 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 = + 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 = + custom bool overrideClipRange = 0 + uniform int2 resolution = (1280, 720) + } + } + } + + def RenderSettings "OmniverseGlobalRenderSettings" ( + prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"] + no_delete = true + ) + { + rel products = + } + + def "Vars" + { + def RenderVar "LdrColor" ( + hide_in_stage_window = true + no_delete = true + ) + { + uniform string sourceName = "LdrColor" + } + } +} + diff --git a/Props/Custom/InsertiveCube/metadata.yaml b/Props/Custom/InsertiveCube/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..480463735eb164363b34aaf64f8731a28db5368d --- /dev/null +++ b/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] diff --git a/Props/Custom/Peg/metadata.yaml b/Props/Custom/Peg/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7f7815d5abc4d2045751185411b00e5b5ec4665e --- /dev/null +++ b/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] diff --git a/Props/Custom/Peg/peg.usd b/Props/Custom/Peg/peg.usd new file mode 100644 index 0000000000000000000000000000000000000000..c09bdd17b5e25fa2fe8fe93995587abe558a156e --- /dev/null +++ b/Props/Custom/Peg/peg.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9231285661d7425a995a8ce21aa16309312c8f314432aac6436a16637390933e +size 173324 diff --git a/Props/Custom/PegHole/metadata.yaml b/Props/Custom/PegHole/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..62597364e77594bb172072ffcc7dc8032010f79a --- /dev/null +++ b/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 \ No newline at end of file diff --git a/Props/Custom/PegHole/peg_hole.usd b/Props/Custom/PegHole/peg_hole.usd new file mode 100644 index 0000000000000000000000000000000000000000..4c2c932c18a5fb59c9dda5b45f58410a69f21e7a --- /dev/null +++ b/Props/Custom/PegHole/peg_hole.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f7604ba72acdd9c8e3bf52527e2d2abcc0c1a94785ae724226a985c32bdfa6f +size 217847 diff --git a/Props/Custom/Plate/metadata.yaml b/Props/Custom/Plate/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..865ba9f31477d2c9ddde346ffbfc64e83644e6ca --- /dev/null +++ b/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 \ No newline at end of file diff --git a/Props/Custom/Plate/plate.usd b/Props/Custom/Plate/plate.usd new file mode 100644 index 0000000000000000000000000000000000000000..b5d1a17189f4ba3c230a8e5563679ef0be7e09fa --- /dev/null +++ b/Props/Custom/Plate/plate.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a40f4772ca6fd28e9549cf6ee7ee16d552d5b2dca7b3602fefecf6933bfa3e16 +size 201034 diff --git a/Props/Custom/ReceptiveCube/metadata.yaml b/Props/Custom/ReceptiveCube/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..459ede5a3af1bc8f19654afa38737f9e8ba9b8f3 --- /dev/null +++ b/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 \ No newline at end of file diff --git a/Props/Custom/ReceptiveCube/receptive_cube.usd b/Props/Custom/ReceptiveCube/receptive_cube.usd new file mode 100644 index 0000000000000000000000000000000000000000..73da8170422a535ebc094c495ed8a3405cf44dab --- /dev/null +++ b/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 = + token outputs:surface.connect = + + 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 = ( + 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 = ( + 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 = + 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 = + custom bool overrideClipRange = 0 + uniform int2 resolution = (1280, 720) + } + } + } + + def RenderSettings "OmniverseGlobalRenderSettings" ( + prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"] + no_delete = true + ) + { + rel products = + } + + def "Vars" + { + def RenderVar "LdrColor" ( + hide_in_stage_window = true + no_delete = true + ) + { + uniform string sourceName = "LdrColor" + } + } +} + diff --git a/Props/Custom/Rectangle/metadata.yaml b/Props/Custom/Rectangle/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3421fc68a1a45ca51a2d89066149d36257535528 --- /dev/null +++ b/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] diff --git a/Props/Custom/Rectangle/rectangle.usd b/Props/Custom/Rectangle/rectangle.usd new file mode 100644 index 0000000000000000000000000000000000000000..554817f99378bf3e0ae9d547136984df76f91fe8 --- /dev/null +++ b/Props/Custom/Rectangle/rectangle.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:198f2976bfc903ecab44aca817c74ad0a43d3e4bfe1c2f32f3afa2bd06382f1b +size 4047687 diff --git a/Props/Custom/Wall/metadata.yaml b/Props/Custom/Wall/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..431fa208337d05070981058de59cda66a5847883 --- /dev/null +++ b/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 \ No newline at end of file diff --git a/Props/Custom/Wall/wall.usd b/Props/Custom/Wall/wall.usd new file mode 100644 index 0000000000000000000000000000000000000000..d12014e6dfabcb683c12c04584ba4568b00de0ef --- /dev/null +++ b/Props/Custom/Wall/wall.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9aee3512541c2c3f7b47978d24d1237f9b24b30121013b98494ee3d4ffe32e0 +size 4040369 diff --git a/Props/FurnitureBench/DrawerBottom/drawer_bottom.usd b/Props/FurnitureBench/DrawerBottom/drawer_bottom.usd new file mode 100644 index 0000000000000000000000000000000000000000..d8bc4dc0cd98e946bea3ddcd36cb5439041412d0 --- /dev/null +++ b/Props/FurnitureBench/DrawerBottom/drawer_bottom.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9f78309d81fbfd8f661dd8b2ebb5c2cd69f2e39b3e283528ecf4cd063d86957 +size 1088042 diff --git a/Props/FurnitureBench/DrawerBottom/metadata.yaml b/Props/FurnitureBench/DrawerBottom/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c38cd92d462b8846cc312e4b3f683b7a24cc08e --- /dev/null +++ b/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] diff --git a/Props/FurnitureBench/DrawerBox/drawer_box.usd b/Props/FurnitureBench/DrawerBox/drawer_box.usd new file mode 100644 index 0000000000000000000000000000000000000000..fef048a1f6b5a74d7c5daaca2c830a7062a80c0b --- /dev/null +++ b/Props/FurnitureBench/DrawerBox/drawer_box.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72c6b25e8c7099bf7cc6c5de71487cd006aac308267723fbda6d6ac8b27d5ec7 +size 181491 diff --git a/Props/FurnitureBench/DrawerBox/metadata.yaml b/Props/FurnitureBench/DrawerBox/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..140df837f76ab1d752dc83cfd2385d69bc673b59 --- /dev/null +++ b/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 \ No newline at end of file diff --git a/Props/FurnitureBench/SquareLeg/metadata.yaml b/Props/FurnitureBench/SquareLeg/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..19931c5f50c32d8f841006a4d927053dff6fe097 --- /dev/null +++ b/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] 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new file mode 100644 index 0000000000000000000000000000000000000000..4b092f97caecc78d5b09423be59e1b77bb5dfca8 --- /dev/null +++ b/Robots/UniversalRobots/Ur5RobotiqGripper/ur5_robotiq_gripper_backup.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:654445252693c4369d755fc18328a787d57eddde4bb1ad59a024578b830ef6f3 +size 22322547 diff --git a/Robots/UniversalRobots/Ur5e2f85RobotiqGripperCalibrated/metadata.yaml b/Robots/UniversalRobots/Ur5e2f85RobotiqGripperCalibrated/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9931ea4908d0a96be2cf56f64c1b51cf40fc94f3 --- /dev/null +++ b/Robots/UniversalRobots/Ur5e2f85RobotiqGripperCalibrated/metadata.yaml @@ -0,0 +1,49 @@ +gripper_offset: + pos: [0.1345, 0.0, 0.0] + quat: [0.5, 0.5, 0.5, 0.5] +finger_offset: 0.1345 +finger_clearance: 0.06 +maximum_aperture: 0.09 +gripper_approach_direction: [1, 0, 0] +grasp_align_axis: [1, 0, 0] +orientation_sample_axis: [1, 0, 0] +finger_open_joint_angle: 0.0 + +sysid: + armature: [3.0026, 1.2213, 1.3881, 0.1773, 0.0825, 0.3825] + static_friction: [11.0245, 9.346, 13.0557, 2.9885, 2.7909, 3.4482] + dynamic_ratio: [0.8231, 0.858, 0.8167, 0.5906, 0.5904, 0.398] + viscous_friction: [32.3425, 17.7669, 21.8401, 3.4105, 2.9387, 3.5182] + +calibrated_joints: + xyz: + - [0.0, 0.0, 0.1625269213099744] + - [0.0001655127603476787, 0.0, 0.0] + - [-0.42543123286729523, 0.0, 0.0] + - [-0.3926255442838572, -0.00018118202218157404, 0.13378567426143276] + - [7.719320843298656e-05, -0.0997722260056821, 6.2471135291889e-05] + - [9.607876543233622e-05, 0.09944214059801317, 0.00012685702594143576] + rpy: + - [0.0, 0.0, -2.9298064682709875e-08] + - [1.569956524571092, 0.0, -6.769377576441778e-10] + - [3.1401294729209073, 3.1401513871885234, 3.1415926282859967] + - [0.001354269897852176, -0.0010953222406931517, 2.9544587825348556e-06] + - [1.570170189345338, 0.0, -3.311599503007332e-08] + - [1.5720720129010473, 3.141592653589793, 3.141592595496277] + 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