geniesim2.1

G1_120s/G1_120s.usda

@@ -8,7 +8,7 @@
             }
             dictionary Perspective = {
                 double3 position = (1.7469874280968074, -2.6438968018194466, 1.4773606397657355)
-                double3 target = (1.0935525886303759, -2.0207966844728618, 1.2215024044976608)
+                double3 target = (1.0935525886303759, -2.0207966844728613, 1.2215024044976606)
             }
             dictionary Right = {
                 double3 position = (0.21279171717907028, -5, 1.167997293724006)
@@ -520,9 +520,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -563,9 +566,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -586,9 +592,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -609,9 +618,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexDecomposition"
             bool physics:collisionEnabled = 1
         }
@@ -676,9 +688,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -699,9 +714,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -722,9 +740,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -745,9 +766,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexDecomposition"
             bool physics:collisionEnabled = 1
         }
@@ -812,9 +836,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -1018,9 +1045,12 @@ def Xform "G1" (
         bool physxRigidBody:disableGravity = 1
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -1258,9 +1288,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -1282,9 +1315,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -1306,9 +1342,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexDecomposition"
             bool physics:collisionEnabled = 1
         }
@@ -1375,9 +1414,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -1399,9 +1441,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -1423,9 +1468,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -1447,9 +1495,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexDecomposition"
             bool physics:collisionEnabled = 1
         }
@@ -1518,9 +1569,12 @@ def Xform "G1" (
         }
 
         over "collisions" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "MaterialBindingAPI"]
         )
         {
+            rel material:binding:physics = </G1/PhysicsMaterial_01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
             uniform token physics:approximation = "convexHull"
             bool physics:collisionEnabled = 1
         }
@@ -2238,6 +2292,7 @@ def Xform "G1" (
     )
     {
         float physics:dynamicFriction = 1
+        float physics:restitution = 0.1
         float physics:staticFriction = 1
         uniform token physxMaterial:frictionCombineMode = "max"
     }
@@ -2357,6 +2412,13 @@ def Xform "G1" (
             float physxJoint:maxJointVelocity = 1000000
         }
     }
+
+    def Material "PhysicsMaterial_01" (
+        prepend apiSchemas = ["PhysicsMaterialAPI"]
+    )
+    {
+        float physics:restitution = 0.1
+    }
     variantSet "Physics" = {
         "None" (
             prepend references = @./configuration/G1_120s_base.usd@

G1_omnipicker/G1_omnipicker.usda

@@ -7,8 +7,8 @@
                 double radius = 0.5820317268371582
             }
             dictionary Perspective = {
-                double3 position = (2.631522028278647, -0.5599665317912056, 4.366665793868162)
-                double3 target = (2.6287274418977584, -0.5596791074739289, 4.362502534049342)
+                double3 position = (0.10037280277694209, 1.1475395939183257, 1.089754152735402)
+                double3 target = (0.10008539664568462, 1.145969035139312, 1.0884105251240632)
             }
             dictionary Right = {
                 double3 position = (0.11860614224119401, -5, 0.9578217649499935)
@@ -20,17 +20,8 @@
             }
             string boundCamera = "/OmniverseKit_Persp"
         }
-        dictionary metricsAssembler = {
-            dictionary "/G01/Cam" = {
-            }
-            int version = 1
-        }
         dictionary omni_layer = {
             string authoring_layer = "./G1_omnipicker.usda"
-            dictionary locked = {
-            }
-            dictionary muteness = {
-            }
         }
         dictionary renderSettings = {
         }
@@ -291,6 +282,15 @@ def Xform "G1" (
                 }
             }
         }
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+        }
     }
 
     over "gripper_l_inner_link1" (
@@ -300,6 +300,15 @@ def Xform "G1" (
         vector3f physics:angularVelocity = (0, 0, 0)
         float physics:mass = 0.025
         bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+        }
     }
 
     over "gripper_l_inner_link3" (
@@ -307,27 +316,43 @@ def Xform "G1" (
     )
     {
         bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+        }
     }
 
     over "gripper_l_inner_link4" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI"]
+        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
     )
     {
+        rel material:binding = </G1/GripperMaterial> (
+            bindMaterialAs = "weakerThanDescendants"
+        )
         float physics:mass = 0.035
         float physxContactReport:threshold = 0
         bool physxRigidBody:disableGravity = 1
         float physxRigidBody:sleepThreshold = 0
 
         over "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI"]
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
             instanceable = false
         )
         {
             rel material:binding = </G1/PhysicsMaterial> (
                 bindMaterialAs = "weakerThanDescendants"
             )
-            uniform token physics:approximation = "convexDecomposition"
+            uniform token physics:approximation = "none"
             float physxContactReport:threshold = 0
+            int physxConvexDecompositionCollision:hullVertexLimit = 64
+            int physxConvexDecompositionCollision:maxConvexHulls = 32
+            int physxConvexDecompositionCollision:voxelResolution = 500000
+            uniform int physxSDFMeshCollision:sdfResolution = 256
 
             def IsaacContactSensor "Contact_Sensor"
             {
@@ -350,6 +375,16 @@ def Xform "G1" (
     {
         float physics:mass = 0.025
         bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            uniform token physics:approximation = "convexDecomposition"
+        }
     }
 
     over "gripper_l_outer_link1" (
@@ -358,6 +393,15 @@ def Xform "G1" (
     {
         float physics:mass = 0.025
         bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+        }
     }
 
     over "gripper_l_outer_link3" (
@@ -365,27 +409,43 @@ def Xform "G1" (
     )
     {
         bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+        }
     }
 
     over "gripper_l_outer_link4" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI"]
+        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
     )
     {
+        rel material:binding = </G1/GripperMaterial> (
+            bindMaterialAs = "weakerThanDescendants"
+        )
         float physics:mass = 0.035
         float physxContactReport:threshold = 0
         bool physxRigidBody:disableGravity = 1
         float physxRigidBody:sleepThreshold = 0
 
         over "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxContactReportAPI"]
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
             instanceable = false
         )
         {
             rel material:binding = </G1/PhysicsMaterial> (
                 bindMaterialAs = "weakerThanDescendants"
             )
-            uniform token physics:approximation = "convexDecomposition"
+            uniform token physics:approximation = "none"
             float physxContactReport:threshold = 0
+            int physxConvexDecompositionCollision:hullVertexLimit = 64
+            int physxConvexDecompositionCollision:maxConvexHulls = 32
+            int physxConvexDecompositionCollision:voxelResolution = 500000
+            uniform int physxSDFMeshCollision:sdfResolution = 256
 
             def IsaacContactSensor "Contact_Sensor"
             {
@@ -408,6 +468,16 @@ def Xform "G1" (
     {
         float physics:mass = 0.025
         bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            uniform token physics:approximation = "convexDecomposition"
+        }
     }
 
     over "gripper_l_center_link" (
@@ -558,6 +628,15 @@ def Xform "G1" (
                 }
             }
         }
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+        }
     }
 
     over "gripper_r_inner_link1" (
@@ -565,6 +644,15 @@ def Xform "G1" (
     )
     {
         bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+        }
     }
 
     over "gripper_r_inner_link3" (
@@ -572,26 +660,38 @@ def Xform "G1" (
     )
     {
         bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+        }
     }
 
     over "gripper_r_inner_link4" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI"]
+        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
     )
     {
+        rel material:binding = </G1/GripperMaterial> (
+            bindMaterialAs = "weakerThanDescendants"
+        )
         float physics:mass = 0.035
         float physxContactReport:threshold = 0
         bool physxRigidBody:disableGravity = 1
         float physxRigidBody:sleepThreshold = 0
 
         over "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI"]
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI"]
             instanceable = false
         )
         {
             rel material:binding = </G1/PhysicsMaterial> (
                 bindMaterialAs = "weakerThanDescendants"
             )
-            uniform token physics:approximation = "convexDecomposition"
+            uniform token physics:approximation = "none"
             float physxContactReport:threshold = 0
 
             def IsaacContactSensor "Contact_Sensor"
@@ -615,6 +715,16 @@ def Xform "G1" (
     {
         float physics:mass = 0.025
         bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            uniform token physics:approximation = "convexDecomposition"
+        }
     }
 
     over "gripper_r_outer_link1" (
@@ -622,6 +732,15 @@ def Xform "G1" (
     )
     {
         bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+        }
     }
 
     over "gripper_r_outer_link3" (
@@ -629,12 +748,24 @@ def Xform "G1" (
     )
     {
         bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+        }
     }
 
     over "gripper_r_outer_link4" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI"]
+        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
     )
     {
+        rel material:binding = </G1/GripperMaterial> (
+            bindMaterialAs = "weakerThanDescendants"
+        )
         float physics:mass = 0.035
         float physxContactReport:threshold = 0
         bool physxRigidBody:disableGravity = 1
@@ -648,7 +779,7 @@ def Xform "G1" (
             rel material:binding = </G1/PhysicsMaterial> (
                 bindMaterialAs = "weakerThanDescendants"
             )
-            uniform token physics:approximation = "convexDecomposition"
+            uniform token physics:approximation = "none"
             float physxContactReport:threshold = 0
 
             def IsaacContactSensor "Contact_Sensor"
@@ -672,6 +803,16 @@ def Xform "G1" (
     {
         float physics:mass = 0.025
         bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
+        )
+        {
+            rel material:binding:physics = </G1/GripperMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            uniform token physics:approximation = "convexDecomposition"
+        }
     }
 
     over "gripper_r_center_link" (
@@ -1324,6 +1465,7 @@ def Xform "G1" (
     )
     {
         float physics:dynamicFriction = 1
+        float physics:restitution = 0.1
         float physics:staticFriction = 1
         uniform token physxMaterial:frictionCombineMode = "max"
     }
@@ -1404,6 +1546,16 @@ def Xform "G1" (
             float state:angular:physics:velocity = 0
         }
     }
+
+    def Material "GripperMaterial" (
+        prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"]
+    )
+    {
+        float physics:dynamicFriction = 1
+        float physics:restitution = 0.1
+        float physics:staticFriction = 1
+        uniform token physxMaterial:frictionCombineMode = "max"
+    }
     variantSet "Physics" = {
         "None" (
             prepend references = @./configuration/G1_omnipicker_base.usd@

cleanup.sh

@@ -1,30 +0,0 @@
-#!/bin/bash
-
-find . -name "._*" -delete
-find . -name ".thumbs" -exec rm -v -rf {} \;
-find . -name "maps" -exec rm -v -rf {} \;
-find . -name "*.DS_Store" -delete
-find . -name "*.Spotlight-V100" -delete
-find . -name "*.Trash" -delete
-
-find . -iname "*.mtl" -type f -delete
-find . -iname "*.obj" -type f ! -path "./objects/benchmark/beverage_bottle/benchmark_beverage_bottle_004/Aligned.obj" -delete
-find . -iname "*.fbx" -type f -delete
-find . -iname "*.fbm" -type f -delete
-find . -iname "*.fbm" -type f -delete
-find . -iname "*.glb" -type f -delete
-
-find . -iname "*.tx" -type f -delete
-find . -iname "*.psd" -type f -delete
-
-find . -iname "*.npy" -type f -delete
-find . -iname "*.npz" -type f -delete
-
-find . -iname "*.zip" -type f -delete
-find . -iname "*.rar" -type f -delete
-find . -iname "*.tar" -type f -delete
-find . -iname "*.tgz" -type f -delete
-find . -iname "*.tar.gz" -type f -delete
-find . -iname "*.tmp" -delete
-find . -iname "~$*" -delete
-find . -iname "Thumbs.db" -delete

objects/iros/freezer/iros_freezer_000/Aligned.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:18a0ac750ed217f4dd2aed215950633195a52e2b6135311f97f1173048e38a3f
-size 26055400
+oid sha256:f3a1a5c00074c761d145935e58cf596988475048a680bade2c31ece175ed8115
+size 26066324

objects/iros/plate/iros_plate_003/Aligned.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c183e2d356450f7ba6cbf618578154d4c43d6c4c1925a7df6c914f02e29ce4b7
-size 5360444
+oid sha256:4d8ff30a567bffab5e103799fc2dfea68d0d1ce3d71daf7773e6554d67d04567
+size 5361342

scenes/iros/sandwich.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9040466fcbee30a3e565996e08d857efcaa59545c0f18850fc08aeb1aa4680be
-size 36215445
+oid sha256:2535122ab69e7f0fb75b08825440c2a5661c3f1db43b0394bade410d8f98a8b8
+size 36180812