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a/Interactive_scene/childrenroom/Interactive_childrenroom.usd b/Interactive_scene/childrenroom/Interactive_childrenroom.usd index 4c4a4f121cd2d1a8bd6e818a56a202b277bd116c..9d097bf9a58a257c17f1125868a9f3c7b3b8e538 100644 --- a/Interactive_scene/childrenroom/Interactive_childrenroom.usd +++ b/Interactive_scene/childrenroom/Interactive_childrenroom.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fe0b7957a43512efec95f70c73190134a2db5cb52ef0676b56bb7fe346ac48ce -size 100362 +oid sha256:3e076e20d28c8af0566a7d31ddee33d7e16b41353428ccc0a6042dd6a22fe837 +size 215454 diff --git a/Interactive_scene/diningroom/Interactive_diningroom.usd b/Interactive_scene/diningroom/Interactive_diningroom.usd index 81ddd5e4059b32d99c086bba40af992923609282..d72081202973cd6aac5b3f45ec6ca3f4166e093e 100644 --- a/Interactive_scene/diningroom/Interactive_diningroom.usd +++ b/Interactive_scene/diningroom/Interactive_diningroom.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 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b/Interactive_scene/kitchen/interactive_objects/script/.vscode/settings.json old mode 100755 new mode 100644 diff --git a/Interactive_scene/kitchen/interactive_objects/script/light_control.py b/Interactive_scene/kitchen/interactive_objects/script/light_control.py old mode 100755 new mode 100644 diff --git a/Interactive_scene/kitchen/interactive_objects/script/open_door_for_0.py b/Interactive_scene/kitchen/interactive_objects/script/open_door_for_0.py old mode 100755 new mode 100644 diff --git a/Interactive_scene/kitchen/interactive_objects/script/oven_control.py b/Interactive_scene/kitchen/interactive_objects/script/oven_control.py old mode 100755 new mode 100644 diff --git a/Interactive_scene/kitchen_with_parlor/Interactive_kitchen_with_parlor.usd b/Interactive_scene/kitchen_with_parlor/Interactive_kitchen_with_parlor.usd index 9e7150b3ba2621a3c7a79fb91141e5f5ff3abff1..81da0c521defe33f51680cd704d9afec3197a06b 100644 --- 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100755 new mode 100644 diff --git a/Interactive_scene/kitchen_with_parlor/oven/resource/script/oven_control.py b/Interactive_scene/kitchen_with_parlor/oven/resource/script/oven_control.py old mode 100755 new mode 100644 diff --git a/Interactive_scene/largelivingroom/Interactive_largelivingroom.usd b/Interactive_scene/largelivingroom/Interactive_largelivingroom.usd index e2b5b572b0c7ae468e39b917a0d2a2c832621e8e..b32800d4f5216d2ed2422d8a2f65399cc6e9f953 100644 --- a/Interactive_scene/largelivingroom/Interactive_largelivingroom.usd +++ b/Interactive_scene/largelivingroom/Interactive_largelivingroom.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:78a5aebfc264a4680a11f916b604f51a229302fe7b6def61cec6246a3d404875 -size 27047257 +oid sha256:8cca7d9c5153f62d1a68214ed495c987e56de4cef18e7d8511d8c7cb3b258e08 +size 27176218 diff --git a/Interactive_scene/smalllivingroom/Interactive_smalllivingroom.usd b/Interactive_scene/smalllivingroom/Interactive_smalllivingroom.usd index dd8adefe90255e3f58e8a82e55bf801be1dceb0f..400dc8218c228ae8e65e7e979a0a94a45b1e2850 100644 --- a/Interactive_scene/smalllivingroom/Interactive_smalllivingroom.usd +++ b/Interactive_scene/smalllivingroom/Interactive_smalllivingroom.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8a19034179b8223bc111794e7bd98a1026a6c82579a2928eba078436fbb04fbd -size 10500459 +oid sha256:0e69404598eb5f80bb1f5c0167988f2d244aedec0df52d6251cf8d6c8cb6b15d +size 10578473 diff --git a/README.md b/README.md index a6350273d47d40825c96591178dd1dee32c06812..9faab1ca16f73f98dabf5142f127be22567d96e2 100755 --- a/README.md +++ b/README.md @@ -26,7 +26,8 @@ Formats: -## Key Features +## Key Features + ✅ 206 high-quality digital-twin articulated objects. ![articulated objects](./assets/206_articulated_objects.gif) @@ -195,13 +196,15 @@ Formats: --- -### How to use +### How to use + + - This version is compatible with Isaac-Sim 5.0 -1. **Install Isaac Sim 4.5** +1. **Install Isaac Sim 5.0 ** - - Official Documentation: [https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html) + - Official Documentation: [https://docs.isaacsim.omniverse.nvidia.com/latest/installation/quick-install.html](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/quick-install.html) - - Linux Version Download: [https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone%404.5.0-rc.36%2Brelease.19112.f59b3005.gl.linux-x86_64.release.zip](https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone%404.5.0-rc.36%2Brelease.19112.f59b3005.gl.linux-x86_64.release.zip) + - Linux Version Download: [https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone-5.0.0-linux-x86_64.zip](https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone-5.0.0-linux-x86_64.zip) - Installation steps: @@ -211,14 +214,14 @@ Formats: # Unzip package (assuming downloaded to ~/Downloads) cd ~/Downloads - unzip "isaac-sim-standalone@4.5.0-rc.36+release.19112.f59b3005.gl.linux-x86_64.release.zip" -d ~/isaacsim + unzip "isaac-sim-standalone-5.0.0-linux-x86_64.zip" -d ~/isaacsim # Run post-installation setup cd ~/isaacsim ./post_install.sh # Launch Isaac Sim - ./isaac-sim.sh + ./isaac-sim.selector.sh ### Examples diff --git a/Scenes/children_room/bed/model_bed.usd b/Scenes/children_room/bed/model_bed.usd index b79d421c456b301577d393a5f43a60d62534e05a..1831d484d20d10d0770864394cd13d7f14e92de1 100644 --- a/Scenes/children_room/bed/model_bed.usd +++ b/Scenes/children_room/bed/model_bed.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bf3088e53cae5d8a9666627ea2479b1fe6c46f788371edd830de2f170fd4736a -size 2089 +oid sha256:47e6ab47bfdc61ce9144fccb0696417e5181efb32addc5a8de6596a62985332c +size 4114 diff --git a/Scenes/children_room/bedsidetable/model_bedsidetable.usd b/Scenes/children_room/bedsidetable/model_bedsidetable.usd index 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a/Scenes/kitchen/bakingchamber/model_bakingchamber.usd +++ b/Scenes/kitchen/bakingchamber/model_bakingchamber.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1a5267a14b6630762988d83fc255d24c06a87074466a927cc690e2f79469f815 -size 1033484 +oid sha256:dc3feb7ab7c1db118de51c56b8d86515bf92db27353721fb6194e66576cddd33 +size 1037888 diff --git a/Scenes/kitchen/chair/model_chair.usd b/Scenes/kitchen/chair/model_chair.usd index 4e76f62c78c9561335e81adf687f0a28e19fd706..42d4ecd012445b24a5e9afcc34fc7d5d66e784e8 100644 --- a/Scenes/kitchen/chair/model_chair.usd +++ b/Scenes/kitchen/chair/model_chair.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b8bd8f07aa0bde01c1f6d0985c437ade24b6a322670476a99f3f7e9a7730de03 -size 1788 +oid sha256:0d3bd5f4b50e832861fb69b9635d9ca189b7dfdddcdb6aa6335353bdcbde9779 +size 3370 diff --git a/Scenes/kitchen/chopping_board/model_chopping_board.usd b/Scenes/kitchen/chopping_board/model_chopping_board.usd index 47c604c83967a70ea20d3a40881293d37bd6b9dc..43599131ceb5b26c7a9f90f199c83ea01c84f2f7 100644 --- a/Scenes/kitchen/chopping_board/model_chopping_board.usd +++ b/Scenes/kitchen/chopping_board/model_chopping_board.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8643cec7a246a661500fb1fdd9ddd92b818cf6b364b7e375d7ba8f43d2a21c0a -size 2082 +oid sha256:6e5c7f942dc8f816f3191c31ff6b8688b862b391b905ff14ebcf7d46d4b13b32 +size 4250 diff --git a/Scenes/kitchen/cupboard/model_cupboard.usd b/Scenes/kitchen/cupboard/model_cupboard.usd index 3d26f3286baab8fd1926ea694bdbb2eecd547f72..1fce28fb571a2962cbfa6258ae9b13fc45499dcd 100644 --- a/Scenes/kitchen/cupboard/model_cupboard.usd +++ b/Scenes/kitchen/cupboard/model_cupboard.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6d3b4f011d53185841ec026c169d65e809bccd36b6e84ce93002b82b8481ed53 -size 195529 +oid sha256:a1965e40c3528cb25e7f5810818c4376de09d07326bd9f7d249fdd8e66e0019a +size 197864 diff --git 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sha256:39e819b5bb872eaf470d6dc3aba749fe90bae44bdc9203174207c2056601c57c -size 5715694 +oid sha256:0dcee33dd4a28685dfa508104772ccbb2eaa0804142185af2260619639c45902 +size 5742627 diff --git a/Scenes/kitchen/item/potted_plant/model_potted_plant.usd b/Scenes/kitchen/item/potted_plant/model_potted_plant.usd index 6faa7736c59213c1e352ae86198f8fae7ac55cfa..c38d7bbf56d6b7e5546ffdb4d088d6f03c8dc2d2 100644 --- a/Scenes/kitchen/item/potted_plant/model_potted_plant.usd +++ b/Scenes/kitchen/item/potted_plant/model_potted_plant.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a331cb240839a5c82e21145498839ff9a0e58aef15860f3c61047f9604f4eb9d -size 1223407 +oid sha256:fdedd8041db917ebfcf262c03951a451cadc382e98368acdcb85b8a5b93e8be4 +size 1241268 diff --git a/Scenes/kitchen/juicer/model_juicer.usd b/Scenes/kitchen/juicer/model_juicer.usd index 65c91656c93c0067ef66b5265463d239ffff85aa..40c2cab56056b6fafa25985fc0951dd5a4ee0fed 100644 --- a/Scenes/kitchen/juicer/model_juicer.usd +++ b/Scenes/kitchen/juicer/model_juicer.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:eed4053d733ef323d9e9dbe3903c46584b307428e14e03f1f81baef3ce21b327 -size 1256011 +oid sha256:02b373f15124381348d8ebdf2bef6bc5b79ae30dda0826b9e517f7bcb6600cde +size 661189 diff --git a/Scenes/kitchen/juicer/resource/v_69323/link_0_0.usd b/Scenes/kitchen/juicer/resource/v_69323/link_0_0.usd index bcb7ee74fb2fd7496bab2d90ccbec2256942d7fd..0ddc98e48de2a3e35dbaad230df5d74faf82c6de 100644 --- a/Scenes/kitchen/juicer/resource/v_69323/link_0_0.usd +++ b/Scenes/kitchen/juicer/resource/v_69323/link_0_0.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:96bc34e96bc8b47511aaa7d0c1f3be2cd31ab694fd5dd86c27efcb3fd35a3902 -size 246370 +oid sha256:db63257ad2e9597b4715b3fad24509119140daf29407548933d8f3afe2b42b50 +size 242427 diff --git a/Scenes/kitchen/kitchen.usd b/Scenes/kitchen/kitchen.usd index aef1991851830a51e11a6e113359e07a3728cb98..9298214b4e6909d5374d78a930488133bd672c96 100644 --- a/Scenes/kitchen/kitchen.usd +++ b/Scenes/kitchen/kitchen.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c6b83f97ba0aca680c6c15f5735e8a06d4ef47fe0dc01b0bd39f93eb65215052 -size 76692810 +oid sha256:345fc9f45504a504121f38cd91515a168dd7f341e57b0c8cdb18611bb6f27d0e +size 76863303 diff --git a/Scenes/kitchen/kitchen/model_05kitchen.usd b/Scenes/kitchen/kitchen/model_05kitchen.usd index 5e3ea455b42bc60af934f83873dbf4e6e1b5ca3f..11eb783ce26290393a2f1c012e7a21d55e07c8b3 100644 --- a/Scenes/kitchen/kitchen/model_05kitchen.usd +++ b/Scenes/kitchen/kitchen/model_05kitchen.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6bfffee76fd514dbf50d5d4af7066ff8db66eeb7dbbca5ee57960d200bdfbdd3 -size 44794 +oid sha256:f249705c6cf2c836fbbc098b19df3d6976076bf013124f03e6c4143de17405c1 +size 124376 diff --git a/Scenes/kitchen/largecabinet/model_largecabinet.usd b/Scenes/kitchen/largecabinet/model_largecabinet.usd index 6c9e525101fe31219f9d2c9b8a4b70a9c1c1af39..ee4d566c7e71bb31b0cee04a29c2bab80ec9623b 100644 --- a/Scenes/kitchen/largecabinet/model_largecabinet.usd +++ b/Scenes/kitchen/largecabinet/model_largecabinet.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e2359a8581610e6233b21645ea17f6f714684ed65d051eec1c7ecb715b983c24 -size 20874142 +oid sha256:986d407e6bdac6dd2ff902c20a2a51ba5bfdbc0c7aa27a5e933965efe6c3fca6 +size 51301850 diff --git a/Scenes/kitchen/oven/c/Isaac Sim 4.5/isaac-sim-assets/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl b/Scenes/kitchen/oven/c/Isaac Sim 4.5/isaac-sim-assets/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d6c08a66ec3d6465474bf1e93968a42c369059a1 --- /dev/null +++ b/Scenes/kitchen/oven/c/Isaac Sim 4.5/isaac-sim-assets/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl @@ -0,0 +1,43 @@ +mdl 1.3; + +import ::OmniGlass::OmniGlass; +import ::tex::gamma_mode; +import ::state::normal; + +export material Clear_Glass(*) + = OmniGlass::OmniGlass( + absorption_coeff: color(1.f, 1.f, 1.f), + glass_color: color(1.f, 1.f, 1.f), + use_glass_color_texture: false, + glass_color_texture: texture_2d(), + frosting_roughness: 0.f, + glass_ior: 1.52f, + thin_walled: true, + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f)); + +/* +mdl 1.5; + +import ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume; +import ::tex::gamma_mode; +import ::state::normal; + +export material Clear_Glass(*) + = ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume( + thin_walled: true, + transmission_color: color(1.f, 1.f, 1.f), + roughness_texture: texture_2d(), + ior: 1.52f, + transmission_color_texture: texture_2d(), + roughness_texture_influence: 0.f, + roughness: 0.f, + reflection_color_texture: texture_2d(), + reflection_color: color(1.f, 1.f, 1.f), + depth: 0.0001f, + normal_map_texture: texture_2d()); +*/ diff --git a/Scenes/kitchen/oven/model_oven.usd b/Scenes/kitchen/oven/model_oven.usd index 266b0a3db44a8c9b9201054bb83c3175ea8307f3..f2f4ab4970d567e847b44577b0296dd4437fa226 100644 --- a/Scenes/kitchen/oven/model_oven.usd +++ b/Scenes/kitchen/oven/model_oven.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:de5bc03800ec394bd4596984b5cb249c94be0eb3de38878848d79bd46850a489 -size 1863 +oid sha256:c4967b5f70753e7cca5b78302985ba07c92b3a2e08ac862a6eb0cf0092080663 +size 14886478 diff --git a/Scenes/kitchen/oven/resource/material.usd b/Scenes/kitchen/oven/resource/material.usd index 595dcb607083d844c0395314a90b6eac8d514c96..a610b235c59fe3f0b8f5ed6e11bad85bf3d0c7b9 100644 --- a/Scenes/kitchen/oven/resource/material.usd +++ b/Scenes/kitchen/oven/resource/material.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e21f1d8a4b58e1fa7978e916df97b4827bf0b10e9a5ab6c5a0100ac5dc02a93b -size 3104 +oid sha256:71fe418d6f510748a5c129ee91dd86dc7cbfaf0d087385224f976e83d179baa0 +size 3799 diff --git a/Scenes/kitchen/oven/resource/v_69323/link_0_0.usd b/Scenes/kitchen/oven/resource/v_69323/link_0_0.usd index da4ee2665a65071f1bf99d3f7d7584a57347ccf0..87ce86f4246f4ed56f056c58f84f4b607bc40ed4 100644 --- a/Scenes/kitchen/oven/resource/v_69323/link_0_0.usd +++ b/Scenes/kitchen/oven/resource/v_69323/link_0_0.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3964101b8c602c9f10a76babb714b9c840128b379e1689a501932729953bb5fa -size 8086575 +oid sha256:8bfeae376f874054cb6b37af9bb6e246107834cbae8bb77c5c32fb30c2b77432 +size 8077463 diff --git a/Scenes/kitchen/platerack/platerack.usd b/Scenes/kitchen/platerack/platerack.usd index ef31553df032457e79b62de5cbbf7dea7a95630e..a84aa588076c78b7843a768b6fe26a578b1adb04 100644 --- a/Scenes/kitchen/platerack/platerack.usd +++ b/Scenes/kitchen/platerack/platerack.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dda121620eb690f0799e331cb5c29601fb49c597600d4c6829c4c38f7b6368e8 -size 870859 +oid sha256:6dbdd1a365044f8c55be56cf44abf51e738c3638e1b143c494449101a66c1a52 +size 872005 diff --git a/Scenes/kitchen/platter/model_platter.usd b/Scenes/kitchen/platter/model_platter.usd index 2f8aae75e38fb110e37c22f923ae72edf1838230..41a42b52c1584ceaf144562425b9d37e6281bef2 100644 --- a/Scenes/kitchen/platter/model_platter.usd +++ b/Scenes/kitchen/platter/model_platter.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:084e08c1948cc36cd7eeb450dc93672a29965772e1c7ca77a0e447b4e1f69283 -size 1993 +oid sha256:16521bbe53ff47058128e30cfe91ddcb08057c32f3e8991363f5af728b126e52 +size 4692 diff --git a/Scenes/kitchen/pot/model_pot.usd b/Scenes/kitchen/pot/model_pot.usd index 1e5a9f1b75ac04536d572dfbf9e019db5073d645..5ed0bd3977b8d321a4c988197f26512fdcf22b0e 100644 --- a/Scenes/kitchen/pot/model_pot.usd +++ b/Scenes/kitchen/pot/model_pot.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:32294a33599d0ab51a9e5826d16e7a030032103e7afacd11089fce6102546c24 -size 2016 +oid sha256:934d75193154093cc44be10e9f35f811ff045335a99d61430361f686894eb96c +size 209707 diff --git a/Scenes/kitchen/pot2/model_pot2.usd b/Scenes/kitchen/pot2/model_pot2.usd index f0fb9ac4d8062bf5c21af5bee1d8a45c5f7e207d..055987d0ceebfd95efe51f3dacbf60b3ac8b41cb 100644 --- a/Scenes/kitchen/pot2/model_pot2.usd +++ b/Scenes/kitchen/pot2/model_pot2.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8ad7c76a4d8293481d9e27c2fb02b6e737ca05978ec9f93eff24a6d854563ee5 -size 1865 +oid sha256:cff4e68684c971e914a79c5bcf2124a838303a106f7a46fdc54bb8931e8c5db9 +size 3720 diff --git a/Scenes/kitchen/ricecooker/model_ricecooker.usd b/Scenes/kitchen/ricecooker/model_ricecooker.usd index 7dcb77ab708523ee4a5699fee55ab439059f9093..81ccee1768b00149fe548c4b1daa3cf65b6f4182 100644 --- a/Scenes/kitchen/ricecooker/model_ricecooker.usd +++ b/Scenes/kitchen/ricecooker/model_ricecooker.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b457ff8dc6311beb5e6709d16cb891625390e57fb1bef52e0eebcadad2073f3e -size 5611252 +oid sha256:de7a4427896c684c7b50e25adbeeeb6d9b3af2ac51f5baeca5910ff16d1d5bfa +size 5814134 diff --git a/Scenes/kitchen_with_parlor/01kitchenparlor/model_01kitchenparlor.usd b/Scenes/kitchen_with_parlor/01kitchenparlor/model_01kitchenparlor.usd index be3d7e1e3ac4d44450fb45e998368b89d25441b5..49c2fbba6e9eddaeb1f40f0d328f4800150a0d03 100644 --- a/Scenes/kitchen_with_parlor/01kitchenparlor/model_01kitchenparlor.usd +++ b/Scenes/kitchen_with_parlor/01kitchenparlor/model_01kitchenparlor.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:02b3776bb3dc5c0a937800beb4bab6af3f5b47275ed4fd30df58ca26aca5104a -size 315288 +oid 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