Isaac Lab 3.0 line: metadata.yaml quaternions in (x, y, z, w); add Datasets/OmniReset_isaaclab3

Branch for assets consumed by UWLab on Isaac Lab 3.0, which stores quaternions as (x, y, z, w). main keeps the Isaac Lab 2.x (w, x, y, z) files unchanged.

- 20 metadata.yaml: every `quat` reordered (16 files change; the [0.5, 0.5, 0.5, 0.5] gripper offsets are order-invariant) and stamped `quat_convention: xyzw`. Converted with UWLab tools/convert_asset_metadata_to_isaaclab3.py.
- Datasets/OmniReset_isaaclab3: the OmniReset reset/grasp/partial-assembly datasets with quaternions reordered and stamped, converted with tools/convert_omnireset_datasets_to_isaaclab3.py.

Note: Robots/UniversalRobots/Ur5e2f85RobotiqGripper/metadata.yaml `offset.quat` was [0, 0, 0, 1] under the 2.x convention (a 180 deg yaw); it is converted mechanically to [0, 0, 1, 0]. If it was meant as identity, it should be [0, 0, 0, 1].

Datasets/OmniReset_isaaclab3/Grasps/CupCake/grasps.pt

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Datasets/OmniReset_isaaclab3/Grasps/DrawerBottom/grasps.pt

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Datasets/OmniReset_isaaclab3/Grasps/InsertiveCube/grasps.pt

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Datasets/OmniReset_isaaclab3/Grasps/Peg/grasps.pt

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Datasets/OmniReset_isaaclab3/Grasps/Rectangle/grasps.pt

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Datasets/OmniReset_isaaclab3/Grasps/SquareLeg/grasps.pt

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Datasets/OmniReset_isaaclab3/Resets/CupCake__Plate/partial_assemblies.pt

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Datasets/OmniReset_isaaclab3/Resets/CupCake__Plate/resets_ObjectAnywhereEEAnywhere.pt

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Datasets/OmniReset_isaaclab3/Resets/CupCake__Plate/resets_ObjectAnywhereEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/CupCake__Plate/resets_ObjectPartiallyAssembledEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/CupCake__Plate/resets_ObjectRestingEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/DrawerBottom__DrawerBox/partial_assemblies.pt

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Datasets/OmniReset_isaaclab3/Resets/DrawerBottom__DrawerBox/resets_ObjectAnywhereEEAnywhere.pt

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Datasets/OmniReset_isaaclab3/Resets/DrawerBottom__DrawerBox/resets_ObjectAnywhereEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/DrawerBottom__DrawerBox/resets_ObjectPartiallyAssembledEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/DrawerBottom__DrawerBox/resets_ObjectRestingEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/InsertiveCube__ReceptiveCube/partial_assemblies.pt

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Datasets/OmniReset_isaaclab3/Resets/InsertiveCube__ReceptiveCube/resets_ObjectAnywhereEEAnywhere.pt

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Datasets/OmniReset_isaaclab3/Resets/InsertiveCube__ReceptiveCube/resets_ObjectAnywhereEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/InsertiveCube__ReceptiveCube/resets_ObjectPartiallyAssembledEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/InsertiveCube__ReceptiveCube/resets_ObjectRestingEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/Peg__PegHole/partial_assemblies.pt

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Datasets/OmniReset_isaaclab3/Resets/Peg__PegHole/resets_ObjectAnywhereEEAnywhere.pt

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Datasets/OmniReset_isaaclab3/Resets/Peg__PegHole/resets_ObjectAnywhereEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/Peg__PegHole/resets_ObjectPartiallyAssembledEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/Peg__PegHole/resets_ObjectRestingEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/Rectangle__Wall/partial_assemblies.pt

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Datasets/OmniReset_isaaclab3/Resets/Rectangle__Wall/resets_ObjectAnywhereEEAnywhere.pt

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Datasets/OmniReset_isaaclab3/Resets/Rectangle__Wall/resets_ObjectAnywhereEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/Rectangle__Wall/resets_ObjectPartiallyAssembledEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/Rectangle__Wall/resets_ObjectRestingEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/SquareLeg__SquareTableTop/partial_assemblies.pt

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Datasets/OmniReset_isaaclab3/Resets/SquareLeg__SquareTableTop/resets_ObjectAnywhereEEAnywhere.pt

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Datasets/OmniReset_isaaclab3/Resets/SquareLeg__SquareTableTop/resets_ObjectAnywhereEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/SquareLeg__SquareTableTop/resets_ObjectPartiallyAssembledEEGrasped.pt

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Datasets/OmniReset_isaaclab3/Resets/SquareLeg__SquareTableTop/resets_ObjectRestingEEGrasped.pt

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Props/Custom/CupCake/metadata.yaml

@@ -1,6 +1,9 @@
 assembled_offset:
   pos: [0.0, 0.0, -0.003]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, 0.0]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
+
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw

Props/Custom/GearBase/metadata.yaml

@@ -1,9 +1,10 @@
 assembled_offset:
   pos: [0.02025, 0.0, 0.0050]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, -0.015163]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 target_mesh_path: null
 
-
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw

Props/Custom/GearLarge/metadata.yaml

@@ -1,7 +1,10 @@
 assembled_offset:
   pos: [-0.0303, 0.0, 0.0050]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, -0.015163]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 target_mesh_path: null
+
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw

Props/Custom/GearMedium/metadata.yaml

@@ -1,7 +1,10 @@
 assembled_offset:
   pos: [0.0, 0.0000, 0.0050]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, -0.015163]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 target_mesh_path: null
+
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw

Props/Custom/InsertiveCube/metadata.yaml

@@ -1,6 +1,9 @@
 assembled_offset:
   pos: [0.0, 0.0, -0.02]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, -0.02]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
+
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw

Props/Custom/Peg/metadata.yaml

@@ -1,6 +1,9 @@
 assembled_offset:
   pos: [0.0, 0.0, 0.0]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, -0.03]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
+
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw

Props/Custom/PegHole/metadata.yaml

@@ -1,9 +1,12 @@
 assembled_offset:
   pos: [0.0, 0.0, 0.014837]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, -0.015163]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 success_thresholds:
   position: 0.0025
-  orientation: 0.025
+  orientation: 0.025
+
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw

Props/Custom/Plate/metadata.yaml

@@ -1,9 +1,12 @@
 assembled_offset:
   pos: [0.0, 0.0, 0.0]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, 0.0]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 success_thresholds:
   position: 0.005
-  orientation: 0.025
+  orientation: 0.025
+
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw

Props/Custom/ReceptiveCube/metadata.yaml

@@ -1,9 +1,12 @@
 assembled_offset:
   pos: [0.0, 0.0, 0.02]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, -0.02]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 success_thresholds:
   position: 0.005
-  orientation: 0.025
+  orientation: 0.025
+
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw

Props/Custom/Rectangle/metadata.yaml

@@ -1,6 +1,9 @@
 assembled_offset:
   pos: [0.0, 0.015, 0.06]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, -0.04]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
+
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw

Props/Custom/Wall/metadata.yaml

@@ -1,9 +1,12 @@
 assembled_offset:
   pos: [0.0, 0.0, 0.0]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, -0.1]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 success_thresholds:
   position: 0.005
-  orientation: 0.025
+  orientation: 0.025
+
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw

Props/FurnitureBench/DrawerBottom/metadata.yaml

@@ -1,6 +1,9 @@
 assembled_offset:
   pos: [0.0, 0.0, 0.0]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, -0.016231]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
+
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw

Props/FurnitureBench/DrawerBox/metadata.yaml

@@ -1,9 +1,12 @@
 assembled_offset:
   pos: [0.0, 0.017437, -0.037283]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, -0.058871]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 success_thresholds:
   position: 0.005
-  orientation: 0.025
+  orientation: 0.025
+
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw

Props/FurnitureBench/SquareLeg/metadata.yaml

@@ -1,6 +1,9 @@
 assembled_offset:
   pos: [0.0, 0.0, -0.056658]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
 bottom_offset:
   pos: [0.0, 0.0, -0.056658]
-  quat: [1.0, 0.0, 0.0, 0.0]
+  quat: [0.0, 0.0, 0.0, 1.0]
+
+# Quaternions above are (x, y, z, w) -- the Isaac Lab 3.0 convention.
+quat_convention: xyzw