Update 121 licensed Robot-Body packages to 3.0.2; remove 16 unknown-license assets (CL 1436009)
#8
by JWylie - opened
This view is limited to 50 files because it contains too many changes. See the raw diff here.
- addverb_syncro10/.metadata/{Syncro10_benchmark.json → addverb_syncro10_benchmark.json} +1 -1
- addverb_syncro10/.metadata/{Syncro10_validation.json → addverb_syncro10_validation.json} +5 -2
- addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +1 -1
- addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +1 -1
- addverb_syncro10/.metadata/com.nvidia.simready.packaging.bom.json +1 -1
- addverb_syncro10/com.nvidia.simready.packaging.json +8 -8
- addverb_syncro5/.metadata/{Syncro5_benchmark.json → addverb_syncro5_benchmark.json} +1 -1
- addverb_syncro5/.metadata/{Syncro5_validation.json → addverb_syncro5_validation.json} +5 -2
- addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +1 -1
- addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +1 -1
- addverb_syncro5/.metadata/com.nvidia.simready.packaging.bom.json +1 -1
- addverb_syncro5/com.nvidia.simready.packaging.json +8 -8
- comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +1 -1
- comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +1 -1
- comau_n_220_27/.metadata/com.nvidia.simready.packaging.bom.json +1 -1
- comau_n_220_27/.metadata/{n-220-27_benchmark.json → comau_n_220_27_benchmark.json} +1 -1
- comau_n_220_27/.metadata/{n-220-27_validation.json → comau_n_220_27_validation.json} +5 -2
- comau_n_220_27/com.nvidia.simready.packaging.json +10 -10
- denso_cobottapro1300_cobotta_pro_1300/.metadata/cobotta_pro_1300_benchmark.json +0 -0
- denso_cobottapro1300_cobotta_pro_1300/.metadata/cobotta_pro_1300_validation.json +0 -221
- denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +0 -34
- denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +0 -31
- denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.packaging.bom.json +0 -167
- denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.root_usds.json +0 -6
- denso_cobottapro1300_cobotta_pro_1300/.thumbs/256x256/cobotta_pro_1300.usda.png +0 -3
- denso_cobottapro1300_cobotta_pro_1300/cobotta_pro_1300.usda +0 -1423
- denso_cobottapro1300_cobotta_pro_1300/com.nvidia.simready.packaging.json +0 -43
- denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBR.mdl +0 -396
- denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBRBase.mdl +0 -470
- denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBR_ClearCoat.mdl +0 -711
- denso_cobottapro1300_cobotta_pro_1300/materials/mdl/aux_definitions.mdl +0 -0
- denso_cobottapro1300_cobotta_pro_1300/materials/mdl/core_definitions.mdl +0 -0
- denso_cobottapro1300_cobotta_pro_1300/materials/mdl/license.txt +0 -73
- denso_cobottapro1300_cobotta_pro_1300/materials/mdl/support_definitions.mdl +0 -0
- denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/mujoco.usda +0 -263
- denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/physics.usda +0 -636
- denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/physx.usda +0 -165
- denso_cobottapro1300_cobotta_pro_1300/payloads/base.usda +0 -459
- denso_cobottapro1300_cobotta_pro_1300/payloads/geometries.usd +0 -3
- denso_cobottapro1300_cobotta_pro_1300/payloads/instances.usda +0 -696
- denso_cobottapro1300_cobotta_pro_1300/payloads/materials.usda +0 -250
- denso_cobottapro1300_cobotta_pro_1300/payloads/robot.usda +0 -424
- denso_cobottapro1300_cobotta_pro_1300/runnables/physics/mujoco.usda +0 -410
- denso_cobottapro1300_cobotta_pro_1300/runnables/physics/newton.usda +0 -387
- denso_cobottapro1300_cobotta_pro_1300/runnables/physics/physx.usda +0 -368
- denso_cobottapro900_cobotta_pro_900/.metadata/cobotta_pro_900_benchmark.json +0 -0
- denso_cobottapro900_cobotta_pro_900/.metadata/cobotta_pro_900_validation.json +0 -221
- denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +0 -34
- denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +0 -31
- denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.packaging.bom.json +0 -167
addverb_syncro10/.metadata/{Syncro10_benchmark.json → addverb_syncro10_benchmark.json}
RENAMED
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{
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"schema_version": "1.0",
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"asset": "
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"run_timestamp": "2026-10-31T20:07:08.573916+00:00",
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"passed": false,
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"results": [
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{
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"schema_version": "1.0",
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"asset": "addverb_syncro10",
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"run_timestamp": "2026-10-31T20:07:08.573916+00:00",
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"passed": false,
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"results": [
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addverb_syncro10/.metadata/{Syncro10_validation.json → addverb_syncro10_validation.json}
RENAMED
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},
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"profile_id": "Robot-Body",
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"profile_version": "3.0.0",
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"simready_validate_version":
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"tier_versions": {
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"profile_id": "Robot-Body",
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"profile_version": "3.0.0",
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"simready_validate_version": "2026.10.0",
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"tier_versions": {
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"tier_core": "2026.10.0",
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"tier_newton": "2026.10.0"
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}
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}
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}
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addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json
CHANGED
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"format_version": "1.0",
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"profile": "Package-Candidate",
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"profile_version": "1.0.0",
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"timestamp": "2026-11-
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"assets": [
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{
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"asset": "Syncro10.usda",
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"format_version": "1.0",
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"profile": "Package-Candidate",
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"profile_version": "1.0.0",
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"timestamp": "2026-11-03T23:31:08",
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"assets": [
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{
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"asset": "Syncro10.usda",
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addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json
CHANGED
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"format_version": "1.0",
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"profile": "Package",
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"profile_version": "1.1.0",
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"timestamp": "2026-11-
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"assets": [
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{
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"asset": "com.nvidia.simready.packaging.json",
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"format_version": "1.0",
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"profile": "Package",
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"profile_version": "1.1.0",
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"timestamp": "2026-11-03T23:31:10",
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"assets": [
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{
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"asset": "com.nvidia.simready.packaging.json",
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addverb_syncro10/.metadata/com.nvidia.simready.packaging.bom.json
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{
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"format_version": "1.0",
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"content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.
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"items": [
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{
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"relative_path": ".thumbs/256x256/Syncro10.usda.png",
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"format_version": "1.0",
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"content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/addverb_syncro10/3.0.2",
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"items": [
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{
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"relative_path": ".thumbs/256x256/Syncro10.usda.png",
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addverb_syncro10/com.nvidia.simready.packaging.json
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{
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"format_version": "1.0",
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"package_id": "simready.hf.nvidia.isaacsim-assets.addverb_syncro10.3.0.
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"license": "CC-BY-4.0",
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"metadata": [
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"name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
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"hash": {
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"name": "com.nvidia.simready.packaging.bom.json",
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"hash": {
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"sha256": "db4d8065113e2e22225388ceafb1608fec4d0b1ed11338b4b13adbfcac4e03ba"
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},
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"package_hash": {
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"sha256": "
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"package_id": "simready.hf.nvidia.isaacsim-assets.addverb_syncro10.3.0.2",
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"license": "CC-BY-4.0",
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"metadata": [
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"name": "addverb_syncro10_benchmark.json",
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"hash": {
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"sha256": "03a32480ed26e1cb773b3b2db90b66b6d55b16ebdb9a72ca90adeb6f60d7f3d1"
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"name": "addverb_syncro10_validation.json",
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"hash": {
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"sha256": "236c309d0b919a9f7dc281e1e647bc624af76554a8f1601a1cd97e825102d9b9"
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"name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
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"hash": {
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"sha256": "24792bdba8af3fdb6ff699dca161fb0b8b68db5b30c68d9a20b09d03334cf6dc"
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"name": "com.nvidia.simready.packaging.bom.json",
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"hash": {
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"sha256": "275192147d5e1fbf646a4f5cebe0fa6aab6a4e1f3c0301693fd75f2bf4fd0c48"
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{
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"sha256": "db4d8065113e2e22225388ceafb1608fec4d0b1ed11338b4b13adbfcac4e03ba"
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"package_hash": {
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"sha256": "6136d7ff7852635e258608a150fc4ecb6e5d6071dd991f7bf413af8897aff0f4"
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}
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addverb_syncro5/.metadata/{Syncro5_benchmark.json → addverb_syncro5_benchmark.json}
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"run_timestamp": "2026-10-31T20:07:08.573916+00:00",
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"results": [
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"schema_version": "1.0",
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"asset": "addverb_syncro5",
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"run_timestamp": "2026-10-31T20:07:08.573916+00:00",
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"passed": false,
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"results": [
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addverb_syncro5/.metadata/{Syncro5_validation.json → addverb_syncro5_validation.json}
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"profile_id": "Robot-Body",
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"profile_id": "Robot-Body",
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"simready_validate_version": "2026.10.0",
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"tier_versions": {
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"tier_core": "2026.10.0",
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"tier_newton": "2026.10.0"
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}
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}
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}
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addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json
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"format_version": "1.0",
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"profile": "Package-Candidate",
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"assets": [
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"asset": "Syncro5.usda",
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"timestamp": "2026-11-03T23:31:28",
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"assets": [
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"asset": "Syncro5.usda",
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addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json
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"format_version": "1.0",
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"profile": "Package",
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"asset": "com.nvidia.simready.packaging.json",
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"timestamp": "2026-11-03T23:31:30",
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"assets": [
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"asset": "com.nvidia.simready.packaging.json",
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addverb_syncro5/.metadata/com.nvidia.simready.packaging.bom.json
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"content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.
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"items": [
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"relative_path": ".thumbs/256x256/Syncro5.usda.png",
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"format_version": "1.0",
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"content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/addverb_syncro5/3.0.2",
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"items": [
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"relative_path": ".thumbs/256x256/Syncro5.usda.png",
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addverb_syncro5/com.nvidia.simready.packaging.json
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"package_id": "simready.hf.nvidia.isaacsim-assets.addverb_syncro5.3.0.
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"license": "CC-BY-4.0",
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"sha256": "1a43d907af5e0a1a9b957d26436ce55a29cc738d16647e1a0df77770d90bc059"
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"package_hash": {
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"package_id": "simready.hf.nvidia.isaacsim-assets.addverb_syncro5.3.0.2",
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"license": "CC-BY-4.0",
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"metadata": [
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"name": "addverb_syncro5_benchmark.json",
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"hash": {
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"sha256": "a41422718ba537ca15c7ac3da32255498d55c012e74f5f0ff9b9b5163f5290e5"
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"name": "addverb_syncro5_validation.json",
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"hash": {
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"sha256": "e9ab579a95ca3306dc8b6873e41c8ea79729c2f1a4b6295d846914fea66693e6"
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"name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
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"sha256": "b6315bc2dfa443ec9a18beaceb0c04187bc7878b8d052239569be95086741e08"
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"name": "com.nvidia.simready.packaging.bom.json",
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comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json
CHANGED
|
@@ -2,7 +2,7 @@
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| 8 |
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comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json
CHANGED
|
@@ -2,7 +2,7 @@
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| 3 |
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{
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| 8 |
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comau_n_220_27/.metadata/com.nvidia.simready.packaging.bom.json
CHANGED
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@@ -1,6 +1,6 @@
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comau_n_220_27/.metadata/{n-220-27_benchmark.json → comau_n_220_27_benchmark.json}
RENAMED
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@@ -1,6 +1,6 @@
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comau_n_220_27/.metadata/{n-220-27_validation.json → comau_n_220_27_validation.json}
RENAMED
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@@ -215,7 +215,10 @@
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| 215 |
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| 220 |
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comau_n_220_27/com.nvidia.simready.packaging.json
CHANGED
|
@@ -1,18 +1,18 @@
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| 14 |
"hash": {
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| 16 |
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| 17 |
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| 18 |
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|
@@ -22,21 +22,21 @@
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denso_cobottapro1300_cobotta_pro_1300/.metadata/cobotta_pro_1300_benchmark.json
DELETED
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The diff for this file is too large to render.
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denso_cobottapro1300_cobotta_pro_1300/.metadata/cobotta_pro_1300_validation.json
DELETED
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| 198 |
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denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json
DELETED
|
@@ -1,34 +0,0 @@
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denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json
DELETED
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denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.packaging.bom.json
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| 119 |
-
"relative_path": "payloads/instances.usda",
|
| 120 |
-
"size": 23215,
|
| 121 |
-
"hash": {
|
| 122 |
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"sha256-flat-1mb": "47c06678aaa2b7dd4435f579fe02a7f38f5606edf799362820681920dbdc783e",
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| 123 |
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"sha256": "31382f1eaa9d29f7e9824338fc332718e067482d05fbd9045782ccb02bddb4ea"
|
| 124 |
-
}
|
| 125 |
-
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|
| 126 |
-
{
|
| 127 |
-
"relative_path": "payloads/materials.usda",
|
| 128 |
-
"size": 9372,
|
| 129 |
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"hash": {
|
| 130 |
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"sha256-flat-1mb": "b6c6664eb6b9c6f56fbb5c9ef0ca260a54bb5c28dfaae9ebaeca26e793463456",
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| 131 |
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"sha256": "3d350e9bc89e907c357d9ee3280780c412e9a863639e10c9e7d7420ac60bbad5"
|
| 132 |
-
}
|
| 133 |
-
},
|
| 134 |
-
{
|
| 135 |
-
"relative_path": "payloads/robot.usda",
|
| 136 |
-
"size": 14233,
|
| 137 |
-
"hash": {
|
| 138 |
-
"sha256-flat-1mb": "8e84e3c444013c5ac46116e6fc1f5a4ebba7e08744ea500bf755c9f943f3e0e5",
|
| 139 |
-
"sha256": "6870533dbe2cda45e0d7b133bee5b2f82df66a37a28cf129602e226c7c4467b3"
|
| 140 |
-
}
|
| 141 |
-
},
|
| 142 |
-
{
|
| 143 |
-
"relative_path": "runnables/physics/mujoco.usda",
|
| 144 |
-
"size": 14099,
|
| 145 |
-
"hash": {
|
| 146 |
-
"sha256-flat-1mb": "286a4c0b64429ce5259efde471af2bf66f78772028f7945ee802cbe4c19d4f36",
|
| 147 |
-
"sha256": "471b016869294605b403abd282cfd35bc953dacb0ac90967f6d22c576afa291d"
|
| 148 |
-
}
|
| 149 |
-
},
|
| 150 |
-
{
|
| 151 |
-
"relative_path": "runnables/physics/newton.usda",
|
| 152 |
-
"size": 11816,
|
| 153 |
-
"hash": {
|
| 154 |
-
"sha256-flat-1mb": "54464cc3baffa2c7de907edb71f75c148cba419421c3ec65f5155b1dbf6b5f6f",
|
| 155 |
-
"sha256": "20ff4a75e01169610df9b0417d5b070a175b263715dbe6cd4748a47a7893aca4"
|
| 156 |
-
}
|
| 157 |
-
},
|
| 158 |
-
{
|
| 159 |
-
"relative_path": "runnables/physics/physx.usda",
|
| 160 |
-
"size": 11390,
|
| 161 |
-
"hash": {
|
| 162 |
-
"sha256-flat-1mb": "2f63b83fba5564c116d942868683c96bae09159801ba173b6d507376f4b8b140",
|
| 163 |
-
"sha256": "b4ab8c62941f17cee535b59a4c10d548f819763cdd66602bbb047350758d81a6"
|
| 164 |
-
}
|
| 165 |
-
}
|
| 166 |
-
]
|
| 167 |
-
}
|
|
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|
denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.root_usds.json
DELETED
|
@@ -1,6 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"format_version": "1.0",
|
| 3 |
-
"entries": [
|
| 4 |
-
"cobotta_pro_1300.usda"
|
| 5 |
-
]
|
| 6 |
-
}
|
|
|
|
|
|
|
|
|
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|
|
denso_cobottapro1300_cobotta_pro_1300/.thumbs/256x256/cobotta_pro_1300.usda.png
DELETED
Git LFS Details
|
denso_cobottapro1300_cobotta_pro_1300/cobotta_pro_1300.usda
DELETED
|
@@ -1,1423 +0,0 @@
|
|
| 1 |
-
#usda 1.0
|
| 2 |
-
(
|
| 3 |
-
customLayerData = {
|
| 4 |
-
dictionary SimReady_Metadata = {
|
| 5 |
-
dictionary Variants = {
|
| 6 |
-
dictionary Physics = {
|
| 7 |
-
dictionary MuJoCo = {
|
| 8 |
-
string activateOption = "Enabled"
|
| 9 |
-
string prim = "/cobotta_pro_1300"
|
| 10 |
-
string variantSetName = "MuJoCo"
|
| 11 |
-
}
|
| 12 |
-
dictionary Newton = {
|
| 13 |
-
string activateOption = "Enabled"
|
| 14 |
-
string prim = "/cobotta_pro_1300"
|
| 15 |
-
string variantSetName = "Newton"
|
| 16 |
-
}
|
| 17 |
-
dictionary PhysX = {
|
| 18 |
-
string activateOption = "Enabled"
|
| 19 |
-
string prim = "/cobotta_pro_1300"
|
| 20 |
-
string variantSetName = "PhysX"
|
| 21 |
-
}
|
| 22 |
-
}
|
| 23 |
-
}
|
| 24 |
-
dictionary runtime_testing = {
|
| 25 |
-
dictionary tested_features = {
|
| 26 |
-
dictionary "2026-10-31T20:07:08.573916+00:00" = {
|
| 27 |
-
dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = {
|
| 28 |
-
string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1"
|
| 29 |
-
string display_name = "Minimal Placeable Visual"
|
| 30 |
-
dictionary engines = {
|
| 31 |
-
dictionary isaac_sim = {
|
| 32 |
-
bool passed = 1
|
| 33 |
-
string status = "pass"
|
| 34 |
-
dictionary tests = {
|
| 35 |
-
dictionary culling_xz = {
|
| 36 |
-
string name = "culling_xz"
|
| 37 |
-
bool passed = 1
|
| 38 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 39 |
-
string status = "pass"
|
| 40 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py"
|
| 41 |
-
string version = "2.0.2"
|
| 42 |
-
}
|
| 43 |
-
dictionary light_response = {
|
| 44 |
-
string name = "light_response"
|
| 45 |
-
bool passed = 1
|
| 46 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 47 |
-
string status = "pass"
|
| 48 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py"
|
| 49 |
-
string version = "2.0.3"
|
| 50 |
-
}
|
| 51 |
-
dictionary normals_xz = {
|
| 52 |
-
string name = "normals_xz"
|
| 53 |
-
bool passed = 1
|
| 54 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 55 |
-
string status = "pass"
|
| 56 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py"
|
| 57 |
-
string version = "2.0.3"
|
| 58 |
-
}
|
| 59 |
-
dictionary pivot = {
|
| 60 |
-
string name = "pivot"
|
| 61 |
-
bool passed = 1
|
| 62 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 63 |
-
string status = "pass"
|
| 64 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py"
|
| 65 |
-
string version = "2.0.3"
|
| 66 |
-
}
|
| 67 |
-
dictionary presence = {
|
| 68 |
-
string name = "presence"
|
| 69 |
-
bool passed = 1
|
| 70 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 71 |
-
string status = "pass"
|
| 72 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py"
|
| 73 |
-
string version = "2.0.1"
|
| 74 |
-
}
|
| 75 |
-
}
|
| 76 |
-
}
|
| 77 |
-
dictionary isaac_sim_newton = {
|
| 78 |
-
bool passed = 1
|
| 79 |
-
string status = "pass"
|
| 80 |
-
dictionary tests = {
|
| 81 |
-
dictionary culling_xz = {
|
| 82 |
-
string name = "culling_xz"
|
| 83 |
-
bool passed = 1
|
| 84 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 85 |
-
string status = "pass"
|
| 86 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py"
|
| 87 |
-
string version = "2.0.2"
|
| 88 |
-
}
|
| 89 |
-
dictionary light_response = {
|
| 90 |
-
string name = "light_response"
|
| 91 |
-
bool passed = 1
|
| 92 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 93 |
-
string status = "pass"
|
| 94 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py"
|
| 95 |
-
string version = "2.0.3"
|
| 96 |
-
}
|
| 97 |
-
dictionary normals_xz = {
|
| 98 |
-
string name = "normals_xz"
|
| 99 |
-
bool passed = 1
|
| 100 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 101 |
-
string status = "pass"
|
| 102 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py"
|
| 103 |
-
string version = "2.0.3"
|
| 104 |
-
}
|
| 105 |
-
dictionary pivot = {
|
| 106 |
-
string name = "pivot"
|
| 107 |
-
bool passed = 1
|
| 108 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 109 |
-
string status = "pass"
|
| 110 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py"
|
| 111 |
-
string version = "2.0.3"
|
| 112 |
-
}
|
| 113 |
-
dictionary presence = {
|
| 114 |
-
string name = "presence"
|
| 115 |
-
bool passed = 1
|
| 116 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 117 |
-
string status = "pass"
|
| 118 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py"
|
| 119 |
-
string version = "2.0.1"
|
| 120 |
-
}
|
| 121 |
-
}
|
| 122 |
-
}
|
| 123 |
-
}
|
| 124 |
-
string family = "FET001"
|
| 125 |
-
int foundations_contract = 2
|
| 126 |
-
bool passed = 1
|
| 127 |
-
dictionary profile = {
|
| 128 |
-
string id = "Robot-Body"
|
| 129 |
-
string version = "3.0.0"
|
| 130 |
-
}
|
| 131 |
-
dictionary profiles = {
|
| 132 |
-
dictionary profile_0 = {
|
| 133 |
-
string id = "Robot-Body"
|
| 134 |
-
string version = "3.0.0"
|
| 135 |
-
}
|
| 136 |
-
}
|
| 137 |
-
string runtime = "OpenUSD"
|
| 138 |
-
bool source = 1
|
| 139 |
-
string status = "pass"
|
| 140 |
-
string version = "1.0.1"
|
| 141 |
-
}
|
| 142 |
-
dictionary "FET003_RigidBody.Newton.0-1-0" = {
|
| 143 |
-
string contract_id = "FET003_RigidBody.Newton.0-1-0"
|
| 144 |
-
string display_name = "Rigid Body Physics (Newton)"
|
| 145 |
-
dictionary engines = {
|
| 146 |
-
dictionary isaac_sim_newton = {
|
| 147 |
-
bool passed = 0
|
| 148 |
-
string status = "skipped"
|
| 149 |
-
dictionary tests = {
|
| 150 |
-
dictionary ground_drop_newton = {
|
| 151 |
-
string name = "ground_drop_newton"
|
| 152 |
-
bool passed = 0
|
| 153 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 154 |
-
string status = "skipped"
|
| 155 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py"
|
| 156 |
-
string version = "4.0.1"
|
| 157 |
-
}
|
| 158 |
-
dictionary ground_stability_newton = {
|
| 159 |
-
string name = "ground_stability_newton"
|
| 160 |
-
bool passed = 0
|
| 161 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 162 |
-
string status = "skipped"
|
| 163 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py"
|
| 164 |
-
string version = "3.0.1"
|
| 165 |
-
}
|
| 166 |
-
dictionary slope_drop_newton = {
|
| 167 |
-
string name = "slope_drop_newton"
|
| 168 |
-
bool passed = 0
|
| 169 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 170 |
-
string status = "skipped"
|
| 171 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py"
|
| 172 |
-
string version = "3.3.5"
|
| 173 |
-
}
|
| 174 |
-
}
|
| 175 |
-
}
|
| 176 |
-
}
|
| 177 |
-
string family = "FET003"
|
| 178 |
-
int foundations_contract = 2
|
| 179 |
-
bool passed = 0
|
| 180 |
-
dictionary profile = {
|
| 181 |
-
string id = "Robot-Body"
|
| 182 |
-
string version = "3.0.0"
|
| 183 |
-
}
|
| 184 |
-
dictionary profiles = {
|
| 185 |
-
dictionary profile_0 = {
|
| 186 |
-
string id = "Robot-Body"
|
| 187 |
-
string version = "3.0.0"
|
| 188 |
-
}
|
| 189 |
-
}
|
| 190 |
-
string runtime = "Newton"
|
| 191 |
-
bool source = 0
|
| 192 |
-
string status = "skipped"
|
| 193 |
-
string version = "0.1.0"
|
| 194 |
-
}
|
| 195 |
-
dictionary "FET003_RigidBody.OpenUSD.0-2-0" = {
|
| 196 |
-
string contract_id = "FET003_RigidBody.OpenUSD.0-2-0"
|
| 197 |
-
string display_name = "Rigid Body Physics"
|
| 198 |
-
dictionary engines = {
|
| 199 |
-
dictionary isaac_sim = {
|
| 200 |
-
bool passed = 0
|
| 201 |
-
string status = "skipped"
|
| 202 |
-
dictionary tests = {
|
| 203 |
-
dictionary ground_drop = {
|
| 204 |
-
string name = "ground_drop"
|
| 205 |
-
bool passed = 0
|
| 206 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 207 |
-
string status = "skipped"
|
| 208 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py"
|
| 209 |
-
string version = "4.0.1"
|
| 210 |
-
}
|
| 211 |
-
dictionary ground_stability = {
|
| 212 |
-
string name = "ground_stability"
|
| 213 |
-
bool passed = 0
|
| 214 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 215 |
-
string status = "skipped"
|
| 216 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py"
|
| 217 |
-
string version = "3.0.1"
|
| 218 |
-
}
|
| 219 |
-
dictionary slope_drop = {
|
| 220 |
-
string name = "slope_drop"
|
| 221 |
-
bool passed = 0
|
| 222 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 223 |
-
string status = "skipped"
|
| 224 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py"
|
| 225 |
-
string version = "3.3.5"
|
| 226 |
-
}
|
| 227 |
-
}
|
| 228 |
-
}
|
| 229 |
-
}
|
| 230 |
-
string family = "FET003"
|
| 231 |
-
int foundations_contract = 2
|
| 232 |
-
bool passed = 0
|
| 233 |
-
dictionary profile = {
|
| 234 |
-
string id = "Robot-Body"
|
| 235 |
-
string version = "3.0.0"
|
| 236 |
-
}
|
| 237 |
-
dictionary profiles = {
|
| 238 |
-
dictionary profile_0 = {
|
| 239 |
-
string id = "Robot-Body"
|
| 240 |
-
string version = "3.0.0"
|
| 241 |
-
}
|
| 242 |
-
}
|
| 243 |
-
string runtime = "OpenUSD"
|
| 244 |
-
bool source = 1
|
| 245 |
-
string status = "skipped"
|
| 246 |
-
string version = "0.2.0"
|
| 247 |
-
}
|
| 248 |
-
dictionary "FET003_RigidBody.PhysX.0-4-0" = {
|
| 249 |
-
string contract_id = "FET003_RigidBody.PhysX.0-4-0"
|
| 250 |
-
string display_name = "Rigid Body Physics (PhysX)"
|
| 251 |
-
dictionary engines = {
|
| 252 |
-
dictionary isaac_sim = {
|
| 253 |
-
bool passed = 0
|
| 254 |
-
string status = "skipped"
|
| 255 |
-
dictionary tests = {
|
| 256 |
-
dictionary ground_drop = {
|
| 257 |
-
string name = "ground_drop"
|
| 258 |
-
bool passed = 0
|
| 259 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 260 |
-
string status = "skipped"
|
| 261 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py"
|
| 262 |
-
string version = "4.0.1"
|
| 263 |
-
}
|
| 264 |
-
dictionary ground_stability = {
|
| 265 |
-
string name = "ground_stability"
|
| 266 |
-
bool passed = 0
|
| 267 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 268 |
-
string status = "skipped"
|
| 269 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py"
|
| 270 |
-
string version = "3.0.1"
|
| 271 |
-
}
|
| 272 |
-
dictionary slope_drop = {
|
| 273 |
-
string name = "slope_drop"
|
| 274 |
-
bool passed = 0
|
| 275 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 276 |
-
string status = "skipped"
|
| 277 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py"
|
| 278 |
-
string version = "3.3.5"
|
| 279 |
-
}
|
| 280 |
-
}
|
| 281 |
-
}
|
| 282 |
-
}
|
| 283 |
-
string family = "FET003"
|
| 284 |
-
int foundations_contract = 2
|
| 285 |
-
bool passed = 0
|
| 286 |
-
dictionary profile = {
|
| 287 |
-
string id = "Robot-Body"
|
| 288 |
-
string version = "3.0.0"
|
| 289 |
-
}
|
| 290 |
-
dictionary profiles = {
|
| 291 |
-
dictionary profile_0 = {
|
| 292 |
-
string id = "Robot-Body"
|
| 293 |
-
string version = "3.0.0"
|
| 294 |
-
}
|
| 295 |
-
}
|
| 296 |
-
string runtime = "PhysX"
|
| 297 |
-
bool source = 0
|
| 298 |
-
string status = "skipped"
|
| 299 |
-
string version = "0.4.0"
|
| 300 |
-
}
|
| 301 |
-
dictionary "FET004_Multibody.Newton.0-1-0" = {
|
| 302 |
-
string contract_id = "FET004_Multibody.Newton.0-1-0"
|
| 303 |
-
string display_name = "Simulate Multi-Body Physics (Newton)"
|
| 304 |
-
dictionary engines = {
|
| 305 |
-
dictionary isaac_sim_newton = {
|
| 306 |
-
bool passed = 1
|
| 307 |
-
string status = "pass"
|
| 308 |
-
dictionary tests = {
|
| 309 |
-
dictionary joint_movement_newton = {
|
| 310 |
-
string name = "joint_movement_newton"
|
| 311 |
-
bool passed = 1
|
| 312 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 313 |
-
string status = "pass"
|
| 314 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py"
|
| 315 |
-
string version = "2.2.5"
|
| 316 |
-
}
|
| 317 |
-
}
|
| 318 |
-
}
|
| 319 |
-
}
|
| 320 |
-
string family = "FET004"
|
| 321 |
-
int foundations_contract = 2
|
| 322 |
-
bool passed = 1
|
| 323 |
-
dictionary profile = {
|
| 324 |
-
string id = "Robot-Body"
|
| 325 |
-
string version = "3.0.0"
|
| 326 |
-
}
|
| 327 |
-
dictionary profiles = {
|
| 328 |
-
dictionary profile_0 = {
|
| 329 |
-
string id = "Robot-Body"
|
| 330 |
-
string version = "3.0.0"
|
| 331 |
-
}
|
| 332 |
-
}
|
| 333 |
-
string runtime = "Newton"
|
| 334 |
-
bool source = 0
|
| 335 |
-
string status = "pass"
|
| 336 |
-
string version = "0.1.0"
|
| 337 |
-
}
|
| 338 |
-
dictionary "FET004_Multibody.OpenUSD.0-2-0" = {
|
| 339 |
-
string contract_id = "FET004_Multibody.OpenUSD.0-2-0"
|
| 340 |
-
string display_name = "Simulate Multi-Body Physics"
|
| 341 |
-
dictionary engines = {
|
| 342 |
-
dictionary isaac_sim = {
|
| 343 |
-
bool passed = 1
|
| 344 |
-
string status = "pass"
|
| 345 |
-
dictionary tests = {
|
| 346 |
-
dictionary joint_movement = {
|
| 347 |
-
string name = "joint_movement"
|
| 348 |
-
bool passed = 1
|
| 349 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 350 |
-
string status = "pass"
|
| 351 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py"
|
| 352 |
-
string version = "2.2.4"
|
| 353 |
-
}
|
| 354 |
-
}
|
| 355 |
-
}
|
| 356 |
-
}
|
| 357 |
-
string family = "FET004"
|
| 358 |
-
int foundations_contract = 2
|
| 359 |
-
bool passed = 1
|
| 360 |
-
dictionary profile = {
|
| 361 |
-
string id = "Robot-Body"
|
| 362 |
-
string version = "3.0.0"
|
| 363 |
-
}
|
| 364 |
-
dictionary profiles = {
|
| 365 |
-
dictionary profile_0 = {
|
| 366 |
-
string id = "Robot-Body"
|
| 367 |
-
string version = "3.0.0"
|
| 368 |
-
}
|
| 369 |
-
}
|
| 370 |
-
string runtime = "OpenUSD"
|
| 371 |
-
bool source = 1
|
| 372 |
-
string status = "pass"
|
| 373 |
-
string version = "0.2.0"
|
| 374 |
-
}
|
| 375 |
-
dictionary "FET004_Multibody.PhysX.0-4-0" = {
|
| 376 |
-
string contract_id = "FET004_Multibody.PhysX.0-4-0"
|
| 377 |
-
string display_name = "Simulate Multi-Body Physics (PhysX)"
|
| 378 |
-
dictionary engines = {
|
| 379 |
-
dictionary isaac_sim = {
|
| 380 |
-
bool passed = 1
|
| 381 |
-
string status = "pass"
|
| 382 |
-
dictionary tests = {
|
| 383 |
-
dictionary joint_movement = {
|
| 384 |
-
string name = "joint_movement"
|
| 385 |
-
bool passed = 1
|
| 386 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 387 |
-
string status = "pass"
|
| 388 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py"
|
| 389 |
-
string version = "2.2.4"
|
| 390 |
-
}
|
| 391 |
-
}
|
| 392 |
-
}
|
| 393 |
-
}
|
| 394 |
-
string family = "FET004"
|
| 395 |
-
int foundations_contract = 2
|
| 396 |
-
bool passed = 1
|
| 397 |
-
dictionary profile = {
|
| 398 |
-
string id = "Robot-Body"
|
| 399 |
-
string version = "3.0.0"
|
| 400 |
-
}
|
| 401 |
-
dictionary profiles = {
|
| 402 |
-
dictionary profile_0 = {
|
| 403 |
-
string id = "Robot-Body"
|
| 404 |
-
string version = "3.0.0"
|
| 405 |
-
}
|
| 406 |
-
}
|
| 407 |
-
string runtime = "PhysX"
|
| 408 |
-
bool source = 0
|
| 409 |
-
string status = "pass"
|
| 410 |
-
string version = "0.4.0"
|
| 411 |
-
}
|
| 412 |
-
dictionary "FET004_Multibody.RobotNewton.0-1-0" = {
|
| 413 |
-
string contract_id = "FET004_Multibody.RobotNewton.0-1-0"
|
| 414 |
-
string display_name = "Simulate Multi-Body Physics (Robot Newton)"
|
| 415 |
-
dictionary engines = {
|
| 416 |
-
dictionary isaac_sim_newton = {
|
| 417 |
-
bool passed = 1
|
| 418 |
-
string status = "pass"
|
| 419 |
-
dictionary tests = {
|
| 420 |
-
dictionary joint_movement_newton = {
|
| 421 |
-
string name = "joint_movement_newton"
|
| 422 |
-
bool passed = 1
|
| 423 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 424 |
-
string status = "pass"
|
| 425 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py"
|
| 426 |
-
string version = "2.2.5"
|
| 427 |
-
}
|
| 428 |
-
}
|
| 429 |
-
}
|
| 430 |
-
}
|
| 431 |
-
string family = "FET004"
|
| 432 |
-
int foundations_contract = 2
|
| 433 |
-
bool passed = 1
|
| 434 |
-
dictionary profile = {
|
| 435 |
-
string id = "Robot-Body"
|
| 436 |
-
string version = "3.0.0"
|
| 437 |
-
}
|
| 438 |
-
dictionary profiles = {
|
| 439 |
-
dictionary profile_0 = {
|
| 440 |
-
string id = "Robot-Body"
|
| 441 |
-
string version = "3.0.0"
|
| 442 |
-
}
|
| 443 |
-
}
|
| 444 |
-
string runtime = "RobotNewton"
|
| 445 |
-
bool source = 0
|
| 446 |
-
string status = "pass"
|
| 447 |
-
string version = "0.1.0"
|
| 448 |
-
}
|
| 449 |
-
dictionary "FET006_Materials.MDL.0-2-0" = {
|
| 450 |
-
string contract_id = "FET006_Materials.MDL.0-2-0"
|
| 451 |
-
string display_name = "Materials (MDL)"
|
| 452 |
-
dictionary engines = {
|
| 453 |
-
dictionary isaac_sim = {
|
| 454 |
-
bool passed = 1
|
| 455 |
-
string status = "pass"
|
| 456 |
-
dictionary tests = {
|
| 457 |
-
dictionary mdl_renders = {
|
| 458 |
-
string name = "mdl_renders"
|
| 459 |
-
bool passed = 1
|
| 460 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 461 |
-
string status = "pass"
|
| 462 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py"
|
| 463 |
-
string version = "0.4.0"
|
| 464 |
-
}
|
| 465 |
-
}
|
| 466 |
-
}
|
| 467 |
-
dictionary isaac_sim_newton = {
|
| 468 |
-
bool passed = 1
|
| 469 |
-
string status = "pass"
|
| 470 |
-
dictionary tests = {
|
| 471 |
-
dictionary mdl_renders = {
|
| 472 |
-
string name = "mdl_renders"
|
| 473 |
-
bool passed = 1
|
| 474 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 475 |
-
string status = "pass"
|
| 476 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py"
|
| 477 |
-
string version = "0.4.0"
|
| 478 |
-
}
|
| 479 |
-
}
|
| 480 |
-
}
|
| 481 |
-
}
|
| 482 |
-
string family = "FET006"
|
| 483 |
-
int foundations_contract = 2
|
| 484 |
-
bool passed = 1
|
| 485 |
-
dictionary profile = {
|
| 486 |
-
string id = "Robot-Body"
|
| 487 |
-
string version = "3.0.0"
|
| 488 |
-
}
|
| 489 |
-
dictionary profiles = {
|
| 490 |
-
dictionary profile_0 = {
|
| 491 |
-
string id = "Robot-Body"
|
| 492 |
-
string version = "3.0.0"
|
| 493 |
-
}
|
| 494 |
-
}
|
| 495 |
-
string runtime = "MDL"
|
| 496 |
-
bool source = 0
|
| 497 |
-
string status = "pass"
|
| 498 |
-
string version = "0.2.0"
|
| 499 |
-
}
|
| 500 |
-
dictionary "FET006_Materials.OpenUSD.0-2-0" = {
|
| 501 |
-
string contract_id = "FET006_Materials.OpenUSD.0-2-0"
|
| 502 |
-
string display_name = "Materials (USDPreviewSurface)"
|
| 503 |
-
dictionary engines = {
|
| 504 |
-
dictionary isaac_sim = {
|
| 505 |
-
bool passed = 1
|
| 506 |
-
string status = "pass"
|
| 507 |
-
dictionary tests = {
|
| 508 |
-
dictionary preview_surface_renders = {
|
| 509 |
-
string name = "preview_surface_renders"
|
| 510 |
-
bool passed = 1
|
| 511 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 512 |
-
string status = "pass"
|
| 513 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py"
|
| 514 |
-
string version = "0.5.0"
|
| 515 |
-
}
|
| 516 |
-
}
|
| 517 |
-
}
|
| 518 |
-
dictionary isaac_sim_newton = {
|
| 519 |
-
bool passed = 1
|
| 520 |
-
string status = "pass"
|
| 521 |
-
dictionary tests = {
|
| 522 |
-
dictionary preview_surface_renders = {
|
| 523 |
-
string name = "preview_surface_renders"
|
| 524 |
-
bool passed = 1
|
| 525 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 526 |
-
string status = "pass"
|
| 527 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py"
|
| 528 |
-
string version = "0.5.0"
|
| 529 |
-
}
|
| 530 |
-
}
|
| 531 |
-
}
|
| 532 |
-
}
|
| 533 |
-
string family = "FET006"
|
| 534 |
-
int foundations_contract = 2
|
| 535 |
-
bool passed = 1
|
| 536 |
-
dictionary profile = {
|
| 537 |
-
string id = "Robot-Body"
|
| 538 |
-
string version = "3.0.0"
|
| 539 |
-
}
|
| 540 |
-
dictionary profiles = {
|
| 541 |
-
dictionary profile_0 = {
|
| 542 |
-
string id = "Robot-Body"
|
| 543 |
-
string version = "3.0.0"
|
| 544 |
-
}
|
| 545 |
-
}
|
| 546 |
-
string runtime = "OpenUSD"
|
| 547 |
-
bool source = 1
|
| 548 |
-
string status = "pass"
|
| 549 |
-
string version = "0.2.0"
|
| 550 |
-
}
|
| 551 |
-
dictionary "FET006_Materials.Openpbr.0-1-0" = {
|
| 552 |
-
string contract_id = "FET006_Materials.Openpbr.0-1-0"
|
| 553 |
-
string display_name = "Materials (OpenPBR)"
|
| 554 |
-
dictionary engines = {
|
| 555 |
-
dictionary isaac_sim = {
|
| 556 |
-
bool passed = 1
|
| 557 |
-
string status = "pass"
|
| 558 |
-
dictionary tests = {
|
| 559 |
-
dictionary openpbr_renders = {
|
| 560 |
-
string name = "openpbr_renders"
|
| 561 |
-
bool passed = 1
|
| 562 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 563 |
-
string status = "pass"
|
| 564 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py"
|
| 565 |
-
string version = "0.5.0"
|
| 566 |
-
}
|
| 567 |
-
}
|
| 568 |
-
}
|
| 569 |
-
dictionary isaac_sim_newton = {
|
| 570 |
-
bool passed = 1
|
| 571 |
-
string status = "pass"
|
| 572 |
-
dictionary tests = {
|
| 573 |
-
dictionary openpbr_renders = {
|
| 574 |
-
string name = "openpbr_renders"
|
| 575 |
-
bool passed = 1
|
| 576 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 577 |
-
string status = "pass"
|
| 578 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py"
|
| 579 |
-
string version = "0.5.0"
|
| 580 |
-
}
|
| 581 |
-
}
|
| 582 |
-
}
|
| 583 |
-
}
|
| 584 |
-
string family = "FET006"
|
| 585 |
-
int foundations_contract = 2
|
| 586 |
-
bool passed = 1
|
| 587 |
-
dictionary profile = {
|
| 588 |
-
string id = "Robot-Body"
|
| 589 |
-
string version = "3.0.0"
|
| 590 |
-
}
|
| 591 |
-
dictionary profiles = {
|
| 592 |
-
dictionary profile_0 = {
|
| 593 |
-
string id = "Robot-Body"
|
| 594 |
-
string version = "3.0.0"
|
| 595 |
-
}
|
| 596 |
-
}
|
| 597 |
-
string runtime = "Openpbr"
|
| 598 |
-
bool source = 0
|
| 599 |
-
string status = "pass"
|
| 600 |
-
string version = "0.1.0"
|
| 601 |
-
}
|
| 602 |
-
dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = {
|
| 603 |
-
string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0"
|
| 604 |
-
string display_name = "Display Color"
|
| 605 |
-
dictionary engines = {
|
| 606 |
-
dictionary isaac_sim = {
|
| 607 |
-
bool passed = 1
|
| 608 |
-
string status = "pass"
|
| 609 |
-
dictionary tests = {
|
| 610 |
-
dictionary display_color_response = {
|
| 611 |
-
string name = "display_color_response"
|
| 612 |
-
bool passed = 1
|
| 613 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 614 |
-
string status = "pass"
|
| 615 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py"
|
| 616 |
-
string version = "0.4.5"
|
| 617 |
-
}
|
| 618 |
-
}
|
| 619 |
-
}
|
| 620 |
-
dictionary isaac_sim_newton = {
|
| 621 |
-
bool passed = 1
|
| 622 |
-
string status = "pass"
|
| 623 |
-
dictionary tests = {
|
| 624 |
-
dictionary display_color_response = {
|
| 625 |
-
string name = "display_color_response"
|
| 626 |
-
bool passed = 1
|
| 627 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 628 |
-
string status = "pass"
|
| 629 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py"
|
| 630 |
-
string version = "0.4.5"
|
| 631 |
-
}
|
| 632 |
-
}
|
| 633 |
-
}
|
| 634 |
-
}
|
| 635 |
-
string family = "FET010"
|
| 636 |
-
int foundations_contract = 2
|
| 637 |
-
bool passed = 1
|
| 638 |
-
dictionary profile = {
|
| 639 |
-
string id = "Robot-Body"
|
| 640 |
-
string version = "3.0.0"
|
| 641 |
-
}
|
| 642 |
-
dictionary profiles = {
|
| 643 |
-
dictionary profile_0 = {
|
| 644 |
-
string id = "Robot-Body"
|
| 645 |
-
string version = "3.0.0"
|
| 646 |
-
}
|
| 647 |
-
}
|
| 648 |
-
string runtime = "OpenUSD"
|
| 649 |
-
bool source = 1
|
| 650 |
-
string status = "pass"
|
| 651 |
-
string version = "0.1.0"
|
| 652 |
-
}
|
| 653 |
-
dictionary "FET022_DrivenJoints.Isaac.0-2-0" = {
|
| 654 |
-
string contract_id = "FET022_DrivenJoints.Isaac.0-2-0"
|
| 655 |
-
string display_name = "Driven Joints (Isaac)"
|
| 656 |
-
dictionary engines = {
|
| 657 |
-
dictionary isaac_sim = {
|
| 658 |
-
bool passed = 0
|
| 659 |
-
string status = "incomplete"
|
| 660 |
-
dictionary tests = {
|
| 661 |
-
dictionary drive_gain_validation = {
|
| 662 |
-
string name = "drive_gain_validation"
|
| 663 |
-
bool passed = 1
|
| 664 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 665 |
-
string status = "pass"
|
| 666 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py"
|
| 667 |
-
string version = "1.1.9"
|
| 668 |
-
}
|
| 669 |
-
dictionary effort_limit = {
|
| 670 |
-
string name = "effort_limit"
|
| 671 |
-
bool passed = 1
|
| 672 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 673 |
-
string status = "pass"
|
| 674 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py"
|
| 675 |
-
string version = "1.2.0"
|
| 676 |
-
}
|
| 677 |
-
dictionary full_range_sweep = {
|
| 678 |
-
string name = "full_range_sweep"
|
| 679 |
-
bool passed = 1
|
| 680 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 681 |
-
string status = "pass"
|
| 682 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py"
|
| 683 |
-
string version = "1.5.6"
|
| 684 |
-
}
|
| 685 |
-
dictionary ik_target_reach = {
|
| 686 |
-
string execution_status = "error"
|
| 687 |
-
string failure_category = "test_or_runtime_error"
|
| 688 |
-
string name = "ik_target_reach"
|
| 689 |
-
bool passed = 0
|
| 690 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 691 |
-
string status = "incomplete"
|
| 692 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py"
|
| 693 |
-
string version = "1.2.8"
|
| 694 |
-
}
|
| 695 |
-
dictionary jacobian_ik = {
|
| 696 |
-
string name = "jacobian_ik"
|
| 697 |
-
bool passed = 1
|
| 698 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 699 |
-
string status = "pass"
|
| 700 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py"
|
| 701 |
-
string version = "1.4.12"
|
| 702 |
-
}
|
| 703 |
-
dictionary mimic_joint = {
|
| 704 |
-
string name = "mimic_joint"
|
| 705 |
-
bool passed = 1
|
| 706 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 707 |
-
string status = "pass"
|
| 708 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py"
|
| 709 |
-
string version = "1.1.11"
|
| 710 |
-
}
|
| 711 |
-
dictionary multi_joint_coordination = {
|
| 712 |
-
string name = "multi_joint_coordination"
|
| 713 |
-
bool passed = 1
|
| 714 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 715 |
-
string status = "pass"
|
| 716 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py"
|
| 717 |
-
string version = "1.2.6"
|
| 718 |
-
}
|
| 719 |
-
dictionary state_accuracy = {
|
| 720 |
-
string name = "state_accuracy"
|
| 721 |
-
bool passed = 1
|
| 722 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 723 |
-
string status = "pass"
|
| 724 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py"
|
| 725 |
-
string version = "1.2.9"
|
| 726 |
-
}
|
| 727 |
-
dictionary velocity_limit = {
|
| 728 |
-
string name = "velocity_limit"
|
| 729 |
-
bool passed = 1
|
| 730 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 731 |
-
string status = "pass"
|
| 732 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py"
|
| 733 |
-
string version = "1.1.11"
|
| 734 |
-
}
|
| 735 |
-
}
|
| 736 |
-
}
|
| 737 |
-
}
|
| 738 |
-
dictionary failure_categories = {
|
| 739 |
-
string "0" = "test_or_runtime_error"
|
| 740 |
-
}
|
| 741 |
-
string family = "FET022"
|
| 742 |
-
int foundations_contract = 2
|
| 743 |
-
bool passed = 0
|
| 744 |
-
dictionary profile = {
|
| 745 |
-
string id = "Robot-Body"
|
| 746 |
-
string version = "3.0.0"
|
| 747 |
-
}
|
| 748 |
-
dictionary profiles = {
|
| 749 |
-
dictionary profile_0 = {
|
| 750 |
-
string id = "Robot-Body"
|
| 751 |
-
string version = "3.0.0"
|
| 752 |
-
}
|
| 753 |
-
}
|
| 754 |
-
string runtime = "Isaac"
|
| 755 |
-
bool source = 0
|
| 756 |
-
string status = "incomplete"
|
| 757 |
-
string version = "0.2.0"
|
| 758 |
-
}
|
| 759 |
-
dictionary "FET022_DrivenJoints.Newton.0-1-0" = {
|
| 760 |
-
string contract_id = "FET022_DrivenJoints.Newton.0-1-0"
|
| 761 |
-
string display_name = "Driven Joints (Newton)"
|
| 762 |
-
dictionary engines = {
|
| 763 |
-
dictionary isaac_sim_newton = {
|
| 764 |
-
bool passed = 0
|
| 765 |
-
string status = "incomplete"
|
| 766 |
-
dictionary tests = {
|
| 767 |
-
dictionary drive_gain_validation_newton = {
|
| 768 |
-
string name = "drive_gain_validation_newton"
|
| 769 |
-
bool passed = 1
|
| 770 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 771 |
-
string status = "pass"
|
| 772 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py"
|
| 773 |
-
string version = "1.1.10"
|
| 774 |
-
}
|
| 775 |
-
dictionary effort_limit_newton = {
|
| 776 |
-
string name = "effort_limit_newton"
|
| 777 |
-
bool passed = 1
|
| 778 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 779 |
-
string status = "pass"
|
| 780 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py"
|
| 781 |
-
string version = "1.1.10"
|
| 782 |
-
}
|
| 783 |
-
dictionary full_range_sweep_newton = {
|
| 784 |
-
string name = "full_range_sweep_newton"
|
| 785 |
-
bool passed = 1
|
| 786 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 787 |
-
string status = "pass"
|
| 788 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py"
|
| 789 |
-
string version = "1.5.7"
|
| 790 |
-
}
|
| 791 |
-
dictionary ik_target_reach_newton = {
|
| 792 |
-
string execution_status = "error"
|
| 793 |
-
string failure_category = "test_or_runtime_error"
|
| 794 |
-
string name = "ik_target_reach_newton"
|
| 795 |
-
bool passed = 0
|
| 796 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 797 |
-
string status = "incomplete"
|
| 798 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py"
|
| 799 |
-
string version = "1.2.9"
|
| 800 |
-
}
|
| 801 |
-
dictionary jacobian_ik_newton = {
|
| 802 |
-
string name = "jacobian_ik_newton"
|
| 803 |
-
bool passed = 1
|
| 804 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 805 |
-
string status = "pass"
|
| 806 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py"
|
| 807 |
-
string version = "1.4.12"
|
| 808 |
-
}
|
| 809 |
-
dictionary mimic_joint_newton = {
|
| 810 |
-
string name = "mimic_joint_newton"
|
| 811 |
-
bool passed = 1
|
| 812 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 813 |
-
string status = "pass"
|
| 814 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py"
|
| 815 |
-
string version = "1.1.12"
|
| 816 |
-
}
|
| 817 |
-
dictionary multi_joint_coordination_newton = {
|
| 818 |
-
string name = "multi_joint_coordination_newton"
|
| 819 |
-
bool passed = 1
|
| 820 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 821 |
-
string status = "pass"
|
| 822 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py"
|
| 823 |
-
string version = "1.2.6"
|
| 824 |
-
}
|
| 825 |
-
dictionary state_accuracy_newton = {
|
| 826 |
-
string name = "state_accuracy_newton"
|
| 827 |
-
bool passed = 1
|
| 828 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 829 |
-
string status = "pass"
|
| 830 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py"
|
| 831 |
-
string version = "1.2.10"
|
| 832 |
-
}
|
| 833 |
-
dictionary velocity_limit_newton = {
|
| 834 |
-
string name = "velocity_limit_newton"
|
| 835 |
-
bool passed = 1
|
| 836 |
-
string provider = "simready.foundation.tier_newton.runtime_tests"
|
| 837 |
-
string status = "pass"
|
| 838 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py"
|
| 839 |
-
string version = "1.1.12"
|
| 840 |
-
}
|
| 841 |
-
}
|
| 842 |
-
}
|
| 843 |
-
}
|
| 844 |
-
dictionary failure_categories = {
|
| 845 |
-
string "0" = "test_or_runtime_error"
|
| 846 |
-
}
|
| 847 |
-
string family = "FET022"
|
| 848 |
-
int foundations_contract = 2
|
| 849 |
-
bool passed = 0
|
| 850 |
-
dictionary profile = {
|
| 851 |
-
string id = "Robot-Body"
|
| 852 |
-
string version = "3.0.0"
|
| 853 |
-
}
|
| 854 |
-
dictionary profiles = {
|
| 855 |
-
dictionary profile_0 = {
|
| 856 |
-
string id = "Robot-Body"
|
| 857 |
-
string version = "3.0.0"
|
| 858 |
-
}
|
| 859 |
-
}
|
| 860 |
-
string runtime = "Newton"
|
| 861 |
-
bool source = 0
|
| 862 |
-
string status = "incomplete"
|
| 863 |
-
string version = "0.1.0"
|
| 864 |
-
}
|
| 865 |
-
dictionary "FET022_DrivenJoints.PhysX.0-2-0" = {
|
| 866 |
-
string contract_id = "FET022_DrivenJoints.PhysX.0-2-0"
|
| 867 |
-
string display_name = "Driven Joints (PhysX)"
|
| 868 |
-
dictionary engines = {
|
| 869 |
-
dictionary isaac_sim = {
|
| 870 |
-
bool passed = 0
|
| 871 |
-
string status = "incomplete"
|
| 872 |
-
dictionary tests = {
|
| 873 |
-
dictionary drive_gain_validation = {
|
| 874 |
-
string name = "drive_gain_validation"
|
| 875 |
-
bool passed = 1
|
| 876 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 877 |
-
string status = "pass"
|
| 878 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py"
|
| 879 |
-
string version = "1.1.9"
|
| 880 |
-
}
|
| 881 |
-
dictionary effort_limit = {
|
| 882 |
-
string name = "effort_limit"
|
| 883 |
-
bool passed = 1
|
| 884 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 885 |
-
string status = "pass"
|
| 886 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py"
|
| 887 |
-
string version = "1.2.0"
|
| 888 |
-
}
|
| 889 |
-
dictionary full_range_sweep = {
|
| 890 |
-
string name = "full_range_sweep"
|
| 891 |
-
bool passed = 1
|
| 892 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 893 |
-
string status = "pass"
|
| 894 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py"
|
| 895 |
-
string version = "1.5.6"
|
| 896 |
-
}
|
| 897 |
-
dictionary ik_target_reach = {
|
| 898 |
-
string execution_status = "error"
|
| 899 |
-
string failure_category = "test_or_runtime_error"
|
| 900 |
-
string name = "ik_target_reach"
|
| 901 |
-
bool passed = 0
|
| 902 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 903 |
-
string status = "incomplete"
|
| 904 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py"
|
| 905 |
-
string version = "1.2.8"
|
| 906 |
-
}
|
| 907 |
-
dictionary jacobian_ik = {
|
| 908 |
-
string name = "jacobian_ik"
|
| 909 |
-
bool passed = 1
|
| 910 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 911 |
-
string status = "pass"
|
| 912 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py"
|
| 913 |
-
string version = "1.4.12"
|
| 914 |
-
}
|
| 915 |
-
dictionary mimic_joint = {
|
| 916 |
-
string name = "mimic_joint"
|
| 917 |
-
bool passed = 1
|
| 918 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 919 |
-
string status = "pass"
|
| 920 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py"
|
| 921 |
-
string version = "1.1.11"
|
| 922 |
-
}
|
| 923 |
-
dictionary multi_joint_coordination = {
|
| 924 |
-
string name = "multi_joint_coordination"
|
| 925 |
-
bool passed = 1
|
| 926 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 927 |
-
string status = "pass"
|
| 928 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py"
|
| 929 |
-
string version = "1.2.6"
|
| 930 |
-
}
|
| 931 |
-
dictionary state_accuracy = {
|
| 932 |
-
string name = "state_accuracy"
|
| 933 |
-
bool passed = 1
|
| 934 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 935 |
-
string status = "pass"
|
| 936 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py"
|
| 937 |
-
string version = "1.2.9"
|
| 938 |
-
}
|
| 939 |
-
dictionary velocity_limit = {
|
| 940 |
-
string name = "velocity_limit"
|
| 941 |
-
bool passed = 1
|
| 942 |
-
string provider = "simready.foundation.tier_core.runtime_tests"
|
| 943 |
-
string status = "pass"
|
| 944 |
-
string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py"
|
| 945 |
-
string version = "1.1.11"
|
| 946 |
-
}
|
| 947 |
-
}
|
| 948 |
-
}
|
| 949 |
-
}
|
| 950 |
-
dictionary failure_categories = {
|
| 951 |
-
string "0" = "test_or_runtime_error"
|
| 952 |
-
}
|
| 953 |
-
string family = "FET022"
|
| 954 |
-
int foundations_contract = 2
|
| 955 |
-
bool passed = 0
|
| 956 |
-
dictionary profile = {
|
| 957 |
-
string id = "Robot-Body"
|
| 958 |
-
string version = "3.0.0"
|
| 959 |
-
}
|
| 960 |
-
dictionary profiles = {
|
| 961 |
-
dictionary profile_0 = {
|
| 962 |
-
string id = "Robot-Body"
|
| 963 |
-
string version = "3.0.0"
|
| 964 |
-
}
|
| 965 |
-
}
|
| 966 |
-
string runtime = "PhysX"
|
| 967 |
-
bool source = 0
|
| 968 |
-
string status = "incomplete"
|
| 969 |
-
string version = "0.2.0"
|
| 970 |
-
}
|
| 971 |
-
}
|
| 972 |
-
}
|
| 973 |
-
}
|
| 974 |
-
dictionary validation = {
|
| 975 |
-
string profile = "Robot-Body"
|
| 976 |
-
string profile_version = "3.0.0"
|
| 977 |
-
dictionary validated_features = {
|
| 978 |
-
dictionary "2026-10-30" = {
|
| 979 |
-
dictionary "CAP000_Core.Isaac.0-1-0" = {
|
| 980 |
-
bool blocking_failure = 0
|
| 981 |
-
string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
|
| 982 |
-
bool passed = 1
|
| 983 |
-
string version = "0-1-0"
|
| 984 |
-
}
|
| 985 |
-
dictionary "CAP000_Core.MuJoCo.0-1-0" = {
|
| 986 |
-
bool blocking_failure = 0
|
| 987 |
-
string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
|
| 988 |
-
bool passed = 1
|
| 989 |
-
string version = "0-1-0"
|
| 990 |
-
}
|
| 991 |
-
dictionary "CAP000_Core.Newton.0-1-0" = {
|
| 992 |
-
bool blocking_failure = 0
|
| 993 |
-
string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
|
| 994 |
-
bool passed = 1
|
| 995 |
-
string version = "0-1-0"
|
| 996 |
-
}
|
| 997 |
-
dictionary "CAP000_Core.OpenUSD.0-1-0" = {
|
| 998 |
-
bool blocking_failure = 0
|
| 999 |
-
string dependencies = "[]"
|
| 1000 |
-
bool passed = 1
|
| 1001 |
-
string version = "0-1-0"
|
| 1002 |
-
}
|
| 1003 |
-
dictionary "CAP000_Core.PhysX.0-1-0" = {
|
| 1004 |
-
bool blocking_failure = 0
|
| 1005 |
-
string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
|
| 1006 |
-
bool passed = 1
|
| 1007 |
-
string version = "0-1-0"
|
| 1008 |
-
}
|
| 1009 |
-
dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = {
|
| 1010 |
-
bool blocking_failure = 0
|
| 1011 |
-
string dependencies = "[]"
|
| 1012 |
-
bool passed = 1
|
| 1013 |
-
string version = "0-1-0"
|
| 1014 |
-
}
|
| 1015 |
-
dictionary "CAP004_Multibody.MuJoCo.0-1-0" = {
|
| 1016 |
-
bool blocking_failure = 0
|
| 1017 |
-
string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']"
|
| 1018 |
-
bool passed = 1
|
| 1019 |
-
string version = "0-1-0"
|
| 1020 |
-
}
|
| 1021 |
-
dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = {
|
| 1022 |
-
bool blocking_failure = 0
|
| 1023 |
-
string dependencies = "[]"
|
| 1024 |
-
bool passed = 1
|
| 1025 |
-
string version = "0-1-0"
|
| 1026 |
-
}
|
| 1027 |
-
dictionary "CAP021_RobotCore.Isaac.0-3-0" = {
|
| 1028 |
-
bool blocking_failure = 0
|
| 1029 |
-
string dependencies = "[]"
|
| 1030 |
-
bool passed = 1
|
| 1031 |
-
string version = "0-3-0"
|
| 1032 |
-
}
|
| 1033 |
-
dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = {
|
| 1034 |
-
bool blocking_failure = 0
|
| 1035 |
-
string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']"
|
| 1036 |
-
bool passed = 1
|
| 1037 |
-
string version = "0-1-0"
|
| 1038 |
-
}
|
| 1039 |
-
dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = {
|
| 1040 |
-
bool blocking_failure = 0
|
| 1041 |
-
string dependencies = "[]"
|
| 1042 |
-
bool passed = 1
|
| 1043 |
-
string version = "0-1-0"
|
| 1044 |
-
}
|
| 1045 |
-
dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = {
|
| 1046 |
-
bool blocking_failure = 0
|
| 1047 |
-
string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
|
| 1048 |
-
bool passed = 1
|
| 1049 |
-
string version = "0-1-0"
|
| 1050 |
-
}
|
| 1051 |
-
dictionary "CAP024_BaseArticulation.Newton.0-1-0" = {
|
| 1052 |
-
bool blocking_failure = 0
|
| 1053 |
-
string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
|
| 1054 |
-
bool passed = 1
|
| 1055 |
-
string version = "0-1-0"
|
| 1056 |
-
}
|
| 1057 |
-
dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = {
|
| 1058 |
-
bool blocking_failure = 0
|
| 1059 |
-
string dependencies = "[]"
|
| 1060 |
-
bool passed = 1
|
| 1061 |
-
string version = "0-1-0"
|
| 1062 |
-
}
|
| 1063 |
-
dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = {
|
| 1064 |
-
bool blocking_failure = 0
|
| 1065 |
-
string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
|
| 1066 |
-
bool passed = 1
|
| 1067 |
-
string version = "0-1-0"
|
| 1068 |
-
}
|
| 1069 |
-
dictionary "CAP025_RosBridge.Ros.0-1-0" = {
|
| 1070 |
-
bool blocking_failure = 0
|
| 1071 |
-
string dependencies = "[]"
|
| 1072 |
-
string "optional requirements" = "['com.nvidia.simready.ROS.001']"
|
| 1073 |
-
bool passed = 0
|
| 1074 |
-
string version = "0-1-0"
|
| 1075 |
-
}
|
| 1076 |
-
dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = {
|
| 1077 |
-
bool blocking_failure = 0
|
| 1078 |
-
string dependencies = "[]"
|
| 1079 |
-
bool passed = 1
|
| 1080 |
-
string version = "0-1-0"
|
| 1081 |
-
}
|
| 1082 |
-
dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = {
|
| 1083 |
-
bool blocking_failure = 0
|
| 1084 |
-
string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']"
|
| 1085 |
-
bool passed = 1
|
| 1086 |
-
string version = "0-4-0"
|
| 1087 |
-
}
|
| 1088 |
-
dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = {
|
| 1089 |
-
bool blocking_failure = 0
|
| 1090 |
-
string dependencies = "[]"
|
| 1091 |
-
bool passed = 1
|
| 1092 |
-
string version = "0-3-0"
|
| 1093 |
-
}
|
| 1094 |
-
dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = {
|
| 1095 |
-
bool blocking_failure = 0
|
| 1096 |
-
string dependencies = "[]"
|
| 1097 |
-
bool passed = 1
|
| 1098 |
-
string version = "1-0-1"
|
| 1099 |
-
}
|
| 1100 |
-
dictionary "FET003_RigidBody.Newton.0-1-0" = {
|
| 1101 |
-
bool blocking_failure = 0
|
| 1102 |
-
string dependencies = "[]"
|
| 1103 |
-
bool passed = 1
|
| 1104 |
-
string version = "0-1-0"
|
| 1105 |
-
}
|
| 1106 |
-
dictionary "FET003_RigidBody.OpenUSD.0-2-0" = {
|
| 1107 |
-
bool blocking_failure = 0
|
| 1108 |
-
string dependencies = "[]"
|
| 1109 |
-
bool passed = 1
|
| 1110 |
-
string version = "0-2-0"
|
| 1111 |
-
}
|
| 1112 |
-
dictionary "FET003_RigidBody.PhysX.0-4-0" = {
|
| 1113 |
-
bool blocking_failure = 0
|
| 1114 |
-
string dependencies = "[]"
|
| 1115 |
-
bool passed = 1
|
| 1116 |
-
string version = "0-4-0"
|
| 1117 |
-
}
|
| 1118 |
-
dictionary "FET004_Multibody.Newton.0-1-0" = {
|
| 1119 |
-
bool blocking_failure = 0
|
| 1120 |
-
string dependencies = "['FET003_RigidBody.Newton.0-1-0']"
|
| 1121 |
-
bool passed = 1
|
| 1122 |
-
string version = "0-1-0"
|
| 1123 |
-
}
|
| 1124 |
-
dictionary "FET004_Multibody.OpenUSD.0-2-0" = {
|
| 1125 |
-
bool blocking_failure = 0
|
| 1126 |
-
string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']"
|
| 1127 |
-
bool passed = 1
|
| 1128 |
-
string version = "0-2-0"
|
| 1129 |
-
}
|
| 1130 |
-
dictionary "FET004_Multibody.PhysX.0-4-0" = {
|
| 1131 |
-
bool blocking_failure = 0
|
| 1132 |
-
string dependencies = "['FET003_RigidBody.PhysX.0-4-0']"
|
| 1133 |
-
bool passed = 1
|
| 1134 |
-
string version = "0-4-0"
|
| 1135 |
-
}
|
| 1136 |
-
dictionary "FET004_Multibody.RobotNewton.0-1-0" = {
|
| 1137 |
-
bool blocking_failure = 0
|
| 1138 |
-
string dependencies = "[]"
|
| 1139 |
-
bool passed = 1
|
| 1140 |
-
string version = "0-1-0"
|
| 1141 |
-
}
|
| 1142 |
-
dictionary "FET006_Materials.MDL.0-2-0" = {
|
| 1143 |
-
bool blocking_failure = 0
|
| 1144 |
-
string dependencies = "[]"
|
| 1145 |
-
bool passed = 1
|
| 1146 |
-
string version = "0-2-0"
|
| 1147 |
-
}
|
| 1148 |
-
dictionary "FET006_Materials.OpenUSD.0-2-0" = {
|
| 1149 |
-
bool blocking_failure = 0
|
| 1150 |
-
string dependencies = "[]"
|
| 1151 |
-
bool passed = 1
|
| 1152 |
-
string version = "0-2-0"
|
| 1153 |
-
}
|
| 1154 |
-
dictionary "FET006_Materials.Openpbr.0-1-0" = {
|
| 1155 |
-
bool blocking_failure = 0
|
| 1156 |
-
string dependencies = "[]"
|
| 1157 |
-
bool passed = 1
|
| 1158 |
-
string version = "0-1-0"
|
| 1159 |
-
}
|
| 1160 |
-
dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = {
|
| 1161 |
-
bool blocking_failure = 0
|
| 1162 |
-
string dependencies = "[]"
|
| 1163 |
-
bool passed = 1
|
| 1164 |
-
string version = "0-1-0"
|
| 1165 |
-
}
|
| 1166 |
-
dictionary "FET022_DrivenJoints.Isaac.0-2-0" = {
|
| 1167 |
-
bool blocking_failure = 0
|
| 1168 |
-
string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']"
|
| 1169 |
-
bool passed = 1
|
| 1170 |
-
string version = "0-2-0"
|
| 1171 |
-
}
|
| 1172 |
-
dictionary "FET022_DrivenJoints.Newton.0-1-0" = {
|
| 1173 |
-
bool blocking_failure = 0
|
| 1174 |
-
string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']"
|
| 1175 |
-
bool passed = 1
|
| 1176 |
-
string version = "0-1-0"
|
| 1177 |
-
}
|
| 1178 |
-
dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = {
|
| 1179 |
-
bool blocking_failure = 0
|
| 1180 |
-
string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']"
|
| 1181 |
-
bool passed = 1
|
| 1182 |
-
string version = "0-2-0"
|
| 1183 |
-
}
|
| 1184 |
-
dictionary "FET022_DrivenJoints.PhysX.0-2-0" = {
|
| 1185 |
-
bool blocking_failure = 0
|
| 1186 |
-
string dependencies = "['FET004_Multibody.PhysX.0-4-0']"
|
| 1187 |
-
bool passed = 1
|
| 1188 |
-
string version = "0-2-0"
|
| 1189 |
-
}
|
| 1190 |
-
}
|
| 1191 |
-
}
|
| 1192 |
-
}
|
| 1193 |
-
}
|
| 1194 |
-
float3 asset_extents = (0.19102141, 0.38669902, 1.9477055)
|
| 1195 |
-
string asset_license = "Unknown - not verified; no permissions asserted"
|
| 1196 |
-
string asset_name = "cobotta_pro_1300"
|
| 1197 |
-
string asset_type = "robot"
|
| 1198 |
-
string author = "Denso"
|
| 1199 |
-
string category = "robotic arm"
|
| 1200 |
-
string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission."
|
| 1201 |
-
string license_status = "unverified"
|
| 1202 |
-
double mass = 7.999999992549419
|
| 1203 |
-
string mass_basis = "Sum of positive authored masses of physical rigid bodies, in kilograms; coordinate-only frames excluded. Includes prior estimates; not a measured hardware mass."
|
| 1204 |
-
string qcode = "Q40687"
|
| 1205 |
-
int rigid_body_count = 14
|
| 1206 |
-
string source_file = "Denso/CobottaPro1300/cobotta_pro_1300/cobotta_pro_1300.usda"
|
| 1207 |
-
string usage_clearance = "Pending source-license or rights-holder verification"
|
| 1208 |
-
string usd_date_generated = "2026-10-02"
|
| 1209 |
-
}
|
| 1210 |
-
defaultPrim = "cobotta_pro_1300"
|
| 1211 |
-
endTimeCode = 0
|
| 1212 |
-
metersPerUnit = 1
|
| 1213 |
-
startTimeCode = -1
|
| 1214 |
-
timeCodesPerSecond = 60
|
| 1215 |
-
upAxis = "Z"
|
| 1216 |
-
)
|
| 1217 |
-
|
| 1218 |
-
def Xform "cobotta_pro_1300" (
|
| 1219 |
-
kind = "component"
|
| 1220 |
-
prepend references = [
|
| 1221 |
-
@./payloads/Physics/physics.usda@,
|
| 1222 |
-
@./payloads/base.usda@
|
| 1223 |
-
]
|
| 1224 |
-
variants = {
|
| 1225 |
-
string MuJoCo = "Disabled"
|
| 1226 |
-
string Newton = "Disabled"
|
| 1227 |
-
string PhysX = "Disabled"
|
| 1228 |
-
}
|
| 1229 |
-
prepend variantSets = ["PhysX", "Newton", "MuJoCo"]
|
| 1230 |
-
)
|
| 1231 |
-
{
|
| 1232 |
-
prepend rel isaac:physics:robotJoints = [
|
| 1233 |
-
</cobotta_pro_1300/__fixed_base_joint>,
|
| 1234 |
-
</cobotta_pro_1300/base_link/joint_1>,
|
| 1235 |
-
</cobotta_pro_1300/J1/joint_2>,
|
| 1236 |
-
</cobotta_pro_1300/J2/joint_3>,
|
| 1237 |
-
</cobotta_pro_1300/J3/joint_4>,
|
| 1238 |
-
</cobotta_pro_1300/J4/joint_5>,
|
| 1239 |
-
</cobotta_pro_1300/J5/joint_6>,
|
| 1240 |
-
</cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>,
|
| 1241 |
-
</cobotta_pro_1300/onrobot_rg6_base_link/left_inner_knuckle_joint>,
|
| 1242 |
-
</cobotta_pro_1300/onrobot_rg6_base_link/right_inner_knuckle_joint>,
|
| 1243 |
-
</cobotta_pro_1300/onrobot_rg6_base_link/right_outer_knuckle_joint>,
|
| 1244 |
-
</cobotta_pro_1300/left_outer_knuckle/left_inner_finger_joint>,
|
| 1245 |
-
</cobotta_pro_1300/right_outer_knuckle/right_inner_finger_joint>,
|
| 1246 |
-
</cobotta_pro_1300/world/joint_w>,
|
| 1247 |
-
</cobotta_pro_1300/J6/joint_tcp_fixed>,
|
| 1248 |
-
]
|
| 1249 |
-
color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] (
|
| 1250 |
-
interpolation = "constant"
|
| 1251 |
-
)
|
| 1252 |
-
|
| 1253 |
-
over "base_link"
|
| 1254 |
-
{
|
| 1255 |
-
over "collisions"
|
| 1256 |
-
{
|
| 1257 |
-
token visibility = "invisible"
|
| 1258 |
-
}
|
| 1259 |
-
}
|
| 1260 |
-
|
| 1261 |
-
over "J1"
|
| 1262 |
-
{
|
| 1263 |
-
over "collisions"
|
| 1264 |
-
{
|
| 1265 |
-
token visibility = "invisible"
|
| 1266 |
-
}
|
| 1267 |
-
}
|
| 1268 |
-
|
| 1269 |
-
over "J2"
|
| 1270 |
-
{
|
| 1271 |
-
over "collisions"
|
| 1272 |
-
{
|
| 1273 |
-
token visibility = "invisible"
|
| 1274 |
-
}
|
| 1275 |
-
}
|
| 1276 |
-
|
| 1277 |
-
over "J3"
|
| 1278 |
-
{
|
| 1279 |
-
over "collisions"
|
| 1280 |
-
{
|
| 1281 |
-
token visibility = "invisible"
|
| 1282 |
-
}
|
| 1283 |
-
}
|
| 1284 |
-
|
| 1285 |
-
over "J4"
|
| 1286 |
-
{
|
| 1287 |
-
over "collisions"
|
| 1288 |
-
{
|
| 1289 |
-
token visibility = "invisible"
|
| 1290 |
-
}
|
| 1291 |
-
}
|
| 1292 |
-
|
| 1293 |
-
over "J5"
|
| 1294 |
-
{
|
| 1295 |
-
over "collisions"
|
| 1296 |
-
{
|
| 1297 |
-
token visibility = "invisible"
|
| 1298 |
-
}
|
| 1299 |
-
}
|
| 1300 |
-
|
| 1301 |
-
over "J6"
|
| 1302 |
-
{
|
| 1303 |
-
over "collisions"
|
| 1304 |
-
{
|
| 1305 |
-
token visibility = "invisible"
|
| 1306 |
-
}
|
| 1307 |
-
}
|
| 1308 |
-
|
| 1309 |
-
over "onrobot_rg6_base_link"
|
| 1310 |
-
{
|
| 1311 |
-
over "collisions"
|
| 1312 |
-
{
|
| 1313 |
-
over "collisions"
|
| 1314 |
-
{
|
| 1315 |
-
token visibility = "invisible"
|
| 1316 |
-
}
|
| 1317 |
-
}
|
| 1318 |
-
}
|
| 1319 |
-
|
| 1320 |
-
over "left_outer_knuckle"
|
| 1321 |
-
{
|
| 1322 |
-
over "collisions"
|
| 1323 |
-
{
|
| 1324 |
-
over "collisions_1"
|
| 1325 |
-
{
|
| 1326 |
-
token visibility = "invisible"
|
| 1327 |
-
}
|
| 1328 |
-
}
|
| 1329 |
-
}
|
| 1330 |
-
|
| 1331 |
-
over "left_inner_finger"
|
| 1332 |
-
{
|
| 1333 |
-
over "collisions"
|
| 1334 |
-
{
|
| 1335 |
-
over "collisions_2"
|
| 1336 |
-
{
|
| 1337 |
-
token visibility = "invisible"
|
| 1338 |
-
}
|
| 1339 |
-
}
|
| 1340 |
-
}
|
| 1341 |
-
|
| 1342 |
-
over "left_inner_knuckle"
|
| 1343 |
-
{
|
| 1344 |
-
over "collisions"
|
| 1345 |
-
{
|
| 1346 |
-
over "collisions_3"
|
| 1347 |
-
{
|
| 1348 |
-
token visibility = "invisible"
|
| 1349 |
-
}
|
| 1350 |
-
}
|
| 1351 |
-
}
|
| 1352 |
-
|
| 1353 |
-
over "right_inner_knuckle"
|
| 1354 |
-
{
|
| 1355 |
-
over "collisions"
|
| 1356 |
-
{
|
| 1357 |
-
over "collisions_3"
|
| 1358 |
-
{
|
| 1359 |
-
token visibility = "invisible"
|
| 1360 |
-
}
|
| 1361 |
-
}
|
| 1362 |
-
}
|
| 1363 |
-
|
| 1364 |
-
over "right_outer_knuckle"
|
| 1365 |
-
{
|
| 1366 |
-
over "collisions"
|
| 1367 |
-
{
|
| 1368 |
-
over "collisions_1"
|
| 1369 |
-
{
|
| 1370 |
-
token visibility = "invisible"
|
| 1371 |
-
}
|
| 1372 |
-
}
|
| 1373 |
-
}
|
| 1374 |
-
|
| 1375 |
-
over "right_inner_finger"
|
| 1376 |
-
{
|
| 1377 |
-
over "collisions"
|
| 1378 |
-
{
|
| 1379 |
-
over "collisions_2"
|
| 1380 |
-
{
|
| 1381 |
-
token visibility = "invisible"
|
| 1382 |
-
}
|
| 1383 |
-
}
|
| 1384 |
-
}
|
| 1385 |
-
|
| 1386 |
-
over "root_joint" (
|
| 1387 |
-
active = false
|
| 1388 |
-
)
|
| 1389 |
-
{
|
| 1390 |
-
bool physics:jointEnabled = 0
|
| 1391 |
-
}
|
| 1392 |
-
variantSet "PhysX" = {
|
| 1393 |
-
"Disabled" {
|
| 1394 |
-
|
| 1395 |
-
}
|
| 1396 |
-
"Enabled" (
|
| 1397 |
-
prepend payload = @./runnables/physics/physx.usda@
|
| 1398 |
-
) {
|
| 1399 |
-
|
| 1400 |
-
}
|
| 1401 |
-
}
|
| 1402 |
-
variantSet "Newton" = {
|
| 1403 |
-
"Disabled" {
|
| 1404 |
-
|
| 1405 |
-
}
|
| 1406 |
-
"Enabled" (
|
| 1407 |
-
prepend payload = @./runnables/physics/newton.usda@
|
| 1408 |
-
) {
|
| 1409 |
-
|
| 1410 |
-
}
|
| 1411 |
-
}
|
| 1412 |
-
variantSet "MuJoCo" = {
|
| 1413 |
-
"Disabled" {
|
| 1414 |
-
|
| 1415 |
-
}
|
| 1416 |
-
"Enabled" (
|
| 1417 |
-
prepend payload = @./runnables/physics/mujoco.usda@
|
| 1418 |
-
) {
|
| 1419 |
-
|
| 1420 |
-
}
|
| 1421 |
-
}
|
| 1422 |
-
}
|
| 1423 |
-
|
|
|
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|
denso_cobottapro1300_cobotta_pro_1300/com.nvidia.simready.packaging.json
DELETED
|
@@ -1,43 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"format_version": "1.0",
|
| 3 |
-
"package_id": "simready.hf.nvidia.isaacsim-assets.denso_cobottapro1300_cobotta_pro_1300.3.0.1",
|
| 4 |
-
"license": "unknown",
|
| 5 |
-
"metadata": [
|
| 6 |
-
{
|
| 7 |
-
"name": "cobotta_pro_1300_benchmark.json",
|
| 8 |
-
"hash": {
|
| 9 |
-
"sha256": "cdc3bb6d863a9b6b0c2317e51ff8243e41fb3e85de583b1c175ccbac58b4e62e"
|
| 10 |
-
}
|
| 11 |
-
},
|
| 12 |
-
{
|
| 13 |
-
"name": "cobotta_pro_1300_validation.json",
|
| 14 |
-
"hash": {
|
| 15 |
-
"sha256": "4e08e4e4d68ed2bd7b60ccbd2fd9072879d92143e9a7a21b4f80dd26f1aecc4d"
|
| 16 |
-
}
|
| 17 |
-
},
|
| 18 |
-
{
|
| 19 |
-
"name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
|
| 20 |
-
"hash": {
|
| 21 |
-
"sha256": "7616f07410846068b086e546d26f3c65fb016353fa5810f392029c1afb2c3d6e"
|
| 22 |
-
}
|
| 23 |
-
},
|
| 24 |
-
{
|
| 25 |
-
"name": "com.nvidia.simready.packaging.bom.json",
|
| 26 |
-
"hash": {
|
| 27 |
-
"sha256": "fe6e4833435ccf33d593c864870fa58bf0bc8a524408ead0c2e20043e98021fe"
|
| 28 |
-
}
|
| 29 |
-
},
|
| 30 |
-
{
|
| 31 |
-
"name": "com.nvidia.simready.root_usds.json",
|
| 32 |
-
"hash": {
|
| 33 |
-
"sha256": "fb15a8041fbf2eaf111d7837f94c0fb450cf8e2ad8c4fe7cdf01d7909c49ebfb"
|
| 34 |
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}
|
| 35 |
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}
|
| 36 |
-
],
|
| 37 |
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"content_hash": {
|
| 38 |
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"sha256": "1ccf8c79072585acbdeccf08c3ec3cbd3da15ab354ff84ef776b4e5e99fe152e"
|
| 39 |
-
},
|
| 40 |
-
"package_hash": {
|
| 41 |
-
"sha256": "16232c6523fc127bfa317a8a8bc535248d2df6c30a9e35e51ca9c84eb3276603"
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| 42 |
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| 43 |
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}
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denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBR.mdl
DELETED
|
@@ -1,396 +0,0 @@
|
|
| 1 |
-
/*
|
| 2 |
-
* SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
| 3 |
-
* SPDX-License-Identifier: BSD-3-Clause
|
| 4 |
-
*/
|
| 5 |
-
|
| 6 |
-
mdl 1.7;
|
| 7 |
-
|
| 8 |
-
import ::df::*;
|
| 9 |
-
import ::state::*;
|
| 10 |
-
import ::math::*;
|
| 11 |
-
import ::base::*;
|
| 12 |
-
import ::state::*;
|
| 13 |
-
import ::tex::*;
|
| 14 |
-
import ::anno::*;
|
| 15 |
-
|
| 16 |
-
import ::debug::*;
|
| 17 |
-
|
| 18 |
-
import core_definitions::file_texture;
|
| 19 |
-
import core_definitions::normalmap_texture;
|
| 20 |
-
|
| 21 |
-
import OmniPBR_ClearCoat::*;
|
| 22 |
-
|
| 23 |
-
|
| 24 |
-
// OmniPBR //
|
| 25 |
-
|
| 26 |
-
export material OmniPBR(
|
| 27 |
-
|
| 28 |
-
// Albdeo //
|
| 29 |
-
|
| 30 |
-
color diffuse_color_constant = color(0.2) [[
|
| 31 |
-
anno::display_name("Albedo Color"),
|
| 32 |
-
anno::description("This is the albedo base color"),
|
| 33 |
-
anno::in_group("Albedo")
|
| 34 |
-
]],
|
| 35 |
-
uniform texture_2d diffuse_texture = texture_2d() [[
|
| 36 |
-
anno::display_name("Albedo Map"),
|
| 37 |
-
anno::in_group("Albedo")
|
| 38 |
-
]],
|
| 39 |
-
float albedo_desaturation = float(0.0) [[
|
| 40 |
-
anno::display_name("Albedo Map Desaturation"),
|
| 41 |
-
anno::description("Desaturates the albedo map"),
|
| 42 |
-
anno::in_group("Albedo"),
|
| 43 |
-
anno::soft_range(float(0.0), float(1.0))
|
| 44 |
-
]],
|
| 45 |
-
float albedo_add = float(0.0) [[
|
| 46 |
-
anno::display_name("Albedo Add"),
|
| 47 |
-
anno::description("Adds a constant value to the diffuse color "),
|
| 48 |
-
anno::in_group("Albedo"),
|
| 49 |
-
anno::soft_range(float(-1.0), float(1.0))
|
| 50 |
-
]],
|
| 51 |
-
float albedo_brightness = float(1.0) [[
|
| 52 |
-
anno::display_name("Albedo Brightness"),
|
| 53 |
-
anno::description("Multiplier for the diffuse color "),
|
| 54 |
-
anno::in_group("Albedo"),
|
| 55 |
-
anno::soft_range(float(0.0), float(1.0))
|
| 56 |
-
]],
|
| 57 |
-
color diffuse_tint = color(1.0) [[
|
| 58 |
-
anno::display_name("Color Tint"),
|
| 59 |
-
anno::description("When enabled, this color value is multiplied over the final albedo color"),
|
| 60 |
-
anno::in_group("Albedo")
|
| 61 |
-
]],
|
| 62 |
-
|
| 63 |
-
|
| 64 |
-
// Reflectivity //
|
| 65 |
-
|
| 66 |
-
float reflection_roughness_constant = float(0.5) [[
|
| 67 |
-
anno::display_name("Roughness Amount"),
|
| 68 |
-
anno::description("Higher roughness values lead to more blurry reflections"),
|
| 69 |
-
anno::in_group("Reflectivity"),
|
| 70 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 71 |
-
]],
|
| 72 |
-
float reflection_roughness_texture_influence = float(0.0) [[
|
| 73 |
-
anno::display_name("Roughness Map Influence"),
|
| 74 |
-
anno::description("Blends between the constant value and the lookup of the roughness texture"),
|
| 75 |
-
anno::in_group("Reflectivity"),
|
| 76 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 77 |
-
]],
|
| 78 |
-
uniform texture_2d reflectionroughness_texture = texture_2d() [[
|
| 79 |
-
anno::display_name("Roughness Map"),
|
| 80 |
-
anno::in_group("Reflectivity"),
|
| 81 |
-
anno::usage("roughness")
|
| 82 |
-
]],
|
| 83 |
-
float metallic_constant = float(0.0) [[
|
| 84 |
-
anno::display_name("Metallic Amount"),
|
| 85 |
-
anno::description("Metallic Material"),
|
| 86 |
-
anno::in_group("Reflectivity"),
|
| 87 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 88 |
-
]],
|
| 89 |
-
float metallic_texture_influence = float(0.0) [[
|
| 90 |
-
anno::display_name("Metallic Map Influence"),
|
| 91 |
-
anno::description("Blends between the constant value and the lookup of the metallic texture"),
|
| 92 |
-
anno::in_group("Reflectivity"),
|
| 93 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 94 |
-
]],
|
| 95 |
-
uniform texture_2d metallic_texture = texture_2d() [[
|
| 96 |
-
anno::display_name("Metallic Map"),
|
| 97 |
-
anno::in_group("Reflectivity"),
|
| 98 |
-
anno::usage("metalness")
|
| 99 |
-
]],
|
| 100 |
-
float specular_level = float(0.5) [[
|
| 101 |
-
anno::display_name("Specular"),
|
| 102 |
-
anno::description("The specular level (intensity) of the material"),
|
| 103 |
-
anno::in_group("Reflectivity"),
|
| 104 |
-
anno::soft_range(float(0.0), float(1.0))
|
| 105 |
-
]],
|
| 106 |
-
|
| 107 |
-
|
| 108 |
-
// ORM //
|
| 109 |
-
|
| 110 |
-
uniform bool enable_ORM_texture = false [[
|
| 111 |
-
anno::display_name("Enable ORM Texture"),
|
| 112 |
-
anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"),
|
| 113 |
-
anno::in_group("Reflectivity")
|
| 114 |
-
]],
|
| 115 |
-
uniform texture_2d ORM_texture = texture_2d() [[
|
| 116 |
-
anno::display_name("ORM Map"),
|
| 117 |
-
anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"),
|
| 118 |
-
anno::in_group("Reflectivity"),
|
| 119 |
-
anno::usage("roughness")
|
| 120 |
-
]],
|
| 121 |
-
|
| 122 |
-
|
| 123 |
-
// AO Group //
|
| 124 |
-
|
| 125 |
-
float ao_to_diffuse = 0.0 [[
|
| 126 |
-
anno::display_name("AO to diffuse"),
|
| 127 |
-
anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"),
|
| 128 |
-
anno::in_group("AO"),
|
| 129 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 130 |
-
]],
|
| 131 |
-
uniform texture_2d ao_texture = texture_2d() [[
|
| 132 |
-
anno::display_name("Ambient Occlusion Map"),
|
| 133 |
-
anno::description("The ambient occlusion texture for the material"),
|
| 134 |
-
anno::in_group("AO"),
|
| 135 |
-
anno::usage("occlusion")
|
| 136 |
-
]],
|
| 137 |
-
|
| 138 |
-
|
| 139 |
-
// Emission //
|
| 140 |
-
|
| 141 |
-
uniform bool enable_emission = false [[
|
| 142 |
-
anno::display_name("Enable Emission"),
|
| 143 |
-
anno::description("Enables the emission of light from the material"),
|
| 144 |
-
anno::in_group("Emissive")
|
| 145 |
-
]],
|
| 146 |
-
color emissive_color = color(1.0,0.1,0.1) [[
|
| 147 |
-
anno::display_name("Emissive Color"),
|
| 148 |
-
anno::description("The emission color"),
|
| 149 |
-
anno::in_group("Emissive"),
|
| 150 |
-
anno::enable_if("enable_emission == true")
|
| 151 |
-
]],
|
| 152 |
-
uniform texture_2d emissive_color_texture = texture_2d() [[
|
| 153 |
-
anno::display_name("Emissive Color map"),
|
| 154 |
-
anno::in_group("Emissive"),
|
| 155 |
-
anno::description("The emissive color texture"),
|
| 156 |
-
anno::enable_if("enable_emission == true")
|
| 157 |
-
]],
|
| 158 |
-
uniform texture_2d emissive_mask_texture = texture_2d() [[
|
| 159 |
-
anno::display_name("Emissive Mask map"),
|
| 160 |
-
anno::description("The texture masking the emissive color"),
|
| 161 |
-
anno::in_group("Emissive"),
|
| 162 |
-
anno::enable_if("enable_emission == true"),
|
| 163 |
-
anno::usage("occlusion")
|
| 164 |
-
]],
|
| 165 |
-
float emissive_intensity = float(40.0) [[
|
| 166 |
-
anno::display_name("Emissive Intensity"),
|
| 167 |
-
anno::description("Intensity of the emission"),
|
| 168 |
-
anno::in_group("Emissive"),
|
| 169 |
-
anno::enable_if("enable_emission == true")
|
| 170 |
-
]],
|
| 171 |
-
|
| 172 |
-
|
| 173 |
-
// Cutout Opacity //
|
| 174 |
-
|
| 175 |
-
uniform bool enable_opacity = false [[
|
| 176 |
-
anno::display_name("Enable Opacity"),
|
| 177 |
-
anno::description("Enables the use of cutout opacity"),
|
| 178 |
-
anno::in_group("Opacity")
|
| 179 |
-
]],
|
| 180 |
-
uniform texture_2d opacity_texture = texture_2d() [[
|
| 181 |
-
anno::display_name("Opacity Map"),
|
| 182 |
-
anno::in_group("Opacity"),
|
| 183 |
-
anno::usage("opacity")
|
| 184 |
-
]],
|
| 185 |
-
float opacity_constant = float(1.0) [[
|
| 186 |
-
anno::display_name("Opacity Amount"),
|
| 187 |
-
anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"),
|
| 188 |
-
anno::in_group("Opacity"),
|
| 189 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 190 |
-
]],
|
| 191 |
-
uniform bool enable_opacity_texture = false [[
|
| 192 |
-
anno::display_name("Enable Opacity Texture"),
|
| 193 |
-
anno::description("Enables or disables the usage of the opacity texture map"),
|
| 194 |
-
anno::in_group("Opacity")
|
| 195 |
-
]],
|
| 196 |
-
uniform base::mono_mode opacity_mode = base::mono_average [[
|
| 197 |
-
anno::display_name("Opacity Mono Source"),
|
| 198 |
-
anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"),
|
| 199 |
-
anno::in_group("Opacity")
|
| 200 |
-
]],
|
| 201 |
-
uniform float opacity_threshold = float(0.0) [[
|
| 202 |
-
anno::hard_range(0.0, 1.0),
|
| 203 |
-
anno::display_name("Opacity Threshold"),
|
| 204 |
-
anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"),
|
| 205 |
-
anno::in_group("Opacity")
|
| 206 |
-
]],
|
| 207 |
-
|
| 208 |
-
|
| 209 |
-
// Normal //
|
| 210 |
-
|
| 211 |
-
uniform float geometry_normal_roughness_strength = 1.f
|
| 212 |
-
[[
|
| 213 |
-
anno::hard_range(0.0, 1.0),
|
| 214 |
-
anno::display_name("Normal map to roughness weight"),
|
| 215 |
-
anno::description("Enables and weights roughness induced by normal maps"),
|
| 216 |
-
anno::in_group("Normal")
|
| 217 |
-
]],
|
| 218 |
-
uniform float bump_factor = float(1.0) [[
|
| 219 |
-
anno::display_name("Normal Strength"),
|
| 220 |
-
anno::description("Strength of normal map"),
|
| 221 |
-
anno::in_group("Normal"),
|
| 222 |
-
anno::soft_range(float(0.0), float(1.0))
|
| 223 |
-
]],
|
| 224 |
-
uniform texture_2d normalmap_texture = texture_2d() [[
|
| 225 |
-
anno::display_name("Normal Map"),
|
| 226 |
-
anno::in_group("Normal"),
|
| 227 |
-
anno::usage("normal")
|
| 228 |
-
]],
|
| 229 |
-
uniform float detail_bump_factor = float(0.3) [[
|
| 230 |
-
anno::display_name("Detail Normal Strength"),
|
| 231 |
-
anno::in_group("Normal"),
|
| 232 |
-
anno::description("Strength of the detail normal"),
|
| 233 |
-
anno::soft_range(float(0.0), float(1.0))
|
| 234 |
-
]],
|
| 235 |
-
uniform texture_2d detail_normalmap_texture = texture_2d() [[
|
| 236 |
-
anno::display_name("Detail Normal Map"),
|
| 237 |
-
anno::in_group("Normal"),
|
| 238 |
-
anno::usage("normal")
|
| 239 |
-
]],
|
| 240 |
-
uniform bool flip_tangent_u = false [[
|
| 241 |
-
anno::display_name("Normal Map Flip U Tangent"),
|
| 242 |
-
anno::in_group("Normal")
|
| 243 |
-
]],
|
| 244 |
-
uniform bool flip_tangent_v = true [[
|
| 245 |
-
anno::display_name("Normal Map Flip V Tangent"),
|
| 246 |
-
anno::in_group("Normal")
|
| 247 |
-
]],
|
| 248 |
-
|
| 249 |
-
|
| 250 |
-
// UVW Projection Group //
|
| 251 |
-
|
| 252 |
-
uniform bool project_uvw = false [[
|
| 253 |
-
anno::display_name("Enable Project UVW Coordinates"),
|
| 254 |
-
anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"),
|
| 255 |
-
anno::in_group("UV")
|
| 256 |
-
]],
|
| 257 |
-
uniform bool world_or_object = false [[
|
| 258 |
-
anno::display_name("Enable World Space"),
|
| 259 |
-
anno::description("When enabled, uses world space for projection, otherwise object space is used"),
|
| 260 |
-
anno::in_group("UV"),
|
| 261 |
-
anno::enable_if("project_uvw == true")
|
| 262 |
-
]],
|
| 263 |
-
uniform int uv_space_index = 0 [[
|
| 264 |
-
anno::display_name("UV Space Index"),
|
| 265 |
-
anno::description("UV Space Index."),
|
| 266 |
-
anno::in_group("UV"),
|
| 267 |
-
anno::enable_if("project_uvw == true"),
|
| 268 |
-
anno::hard_range(int(0), int(3))
|
| 269 |
-
]],
|
| 270 |
-
|
| 271 |
-
|
| 272 |
-
// UVW Adjustments Group //
|
| 273 |
-
|
| 274 |
-
uniform float2 texture_translate = float2(0.0) [[
|
| 275 |
-
anno::display_name("Texture Translate"),
|
| 276 |
-
anno::description("Controls position of texture."),
|
| 277 |
-
anno::in_group("UV"),
|
| 278 |
-
anno::enable_if("project_uvw == true")
|
| 279 |
-
]],
|
| 280 |
-
uniform float texture_rotate = float(0.0) [[
|
| 281 |
-
anno::display_name("Texture Rotate"),
|
| 282 |
-
anno::description("Rotates angle of texture in degrees."),
|
| 283 |
-
anno::in_group("UV"),
|
| 284 |
-
anno::enable_if("project_uvw == true")
|
| 285 |
-
]],
|
| 286 |
-
uniform float2 texture_scale = float2(1.0) [[
|
| 287 |
-
anno::display_name("Texture Tiling"),
|
| 288 |
-
anno::description("Controls the repetition of the texture."),
|
| 289 |
-
anno::in_group("UV"),
|
| 290 |
-
anno::enable_if("project_uvw == true")
|
| 291 |
-
]],
|
| 292 |
-
uniform float2 detail_texture_translate = float2(0.0) [[
|
| 293 |
-
anno::display_name("Detail Texture Translate"),
|
| 294 |
-
anno::description("Controls the position of the detail texture."),
|
| 295 |
-
anno::in_group("UV"),
|
| 296 |
-
anno::enable_if("project_uvw == true")
|
| 297 |
-
]],
|
| 298 |
-
uniform float detail_texture_rotate = float(0.0) [[
|
| 299 |
-
anno::display_name("Detail Texture Rotate"),
|
| 300 |
-
anno::description("Rotates angle of the detail texture in degrees."),
|
| 301 |
-
anno::in_group("UV"),
|
| 302 |
-
anno::enable_if("project_uvw == true")
|
| 303 |
-
]],
|
| 304 |
-
uniform float2 detail_texture_scale = float2(1.0) [[
|
| 305 |
-
anno::display_name("Detail Texture Tiling"),
|
| 306 |
-
anno::description("Controls the repetition of the detail texture."),
|
| 307 |
-
anno::in_group("UV"),
|
| 308 |
-
anno::enable_if("project_uvw == true")
|
| 309 |
-
]],
|
| 310 |
-
|
| 311 |
-
|
| 312 |
-
// Geometry //
|
| 313 |
-
|
| 314 |
-
uniform float round_edges_radius = float(0.0) [[
|
| 315 |
-
anno::display_name("Round Edge Radius"),
|
| 316 |
-
anno::description("Influence radius around the edges in meters"),
|
| 317 |
-
anno::in_group("Geometry"),
|
| 318 |
-
anno::soft_range(0.0, 1.0)
|
| 319 |
-
]],
|
| 320 |
-
uniform float round_edges_roundness = float(1.0) [[
|
| 321 |
-
anno::display_name("Round Edge Roundness"),
|
| 322 |
-
anno::description("Determines how round the edge will look"),
|
| 323 |
-
anno::in_group("Geometry"),
|
| 324 |
-
anno::hard_range(0.0, 1.0)
|
| 325 |
-
]],
|
| 326 |
-
uniform bool round_edges_across_materials = false [[
|
| 327 |
-
anno::display_name("Round Edge Across Materials"),
|
| 328 |
-
anno::description("Normal smoothing happens only between facets of equal material, \n"
|
| 329 |
-
"\t\tunless this parameter is set true, in which case the smoothing \n"
|
| 330 |
-
"\t\thappens between facets irrespective of their materials"),
|
| 331 |
-
anno::in_group("Geometry")
|
| 332 |
-
]]
|
| 333 |
-
)
|
| 334 |
-
[[
|
| 335 |
-
anno::display_name("OmniPBR"),
|
| 336 |
-
anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."),
|
| 337 |
-
anno::in_group("Base"),
|
| 338 |
-
anno::version( 2, 1, 2),
|
| 339 |
-
anno::author("NVIDIA CORPORATION"),
|
| 340 |
-
anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic"))
|
| 341 |
-
]] = let {
|
| 342 |
-
|
| 343 |
-
material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat(
|
| 344 |
-
diffuse_color_constant: diffuse_color_constant,
|
| 345 |
-
diffuse_texture: diffuse_texture,
|
| 346 |
-
albedo_desaturation: albedo_desaturation,
|
| 347 |
-
albedo_add: albedo_add,
|
| 348 |
-
albedo_brightness: albedo_brightness,
|
| 349 |
-
diffuse_tint: diffuse_tint,
|
| 350 |
-
reflection_roughness_constant: reflection_roughness_constant,
|
| 351 |
-
reflection_roughness_texture_influence: reflection_roughness_texture_influence,
|
| 352 |
-
reflectionroughness_texture: reflectionroughness_texture,
|
| 353 |
-
metallic_constant: metallic_constant,
|
| 354 |
-
metallic_texture_influence: metallic_texture_influence,
|
| 355 |
-
metallic_texture: metallic_texture,
|
| 356 |
-
specular_level: specular_level,
|
| 357 |
-
enable_ORM_texture: enable_ORM_texture,
|
| 358 |
-
ORM_texture: ORM_texture,
|
| 359 |
-
ao_to_diffuse: ao_to_diffuse,
|
| 360 |
-
ao_texture: ao_texture,
|
| 361 |
-
enable_emission: enable_emission,
|
| 362 |
-
emissive_color: emissive_color,
|
| 363 |
-
emissive_color_texture: emissive_color_texture,
|
| 364 |
-
emissive_mask_texture: emissive_mask_texture,
|
| 365 |
-
emissive_intensity: emissive_intensity,
|
| 366 |
-
enable_opacity: enable_opacity,
|
| 367 |
-
opacity_texture: opacity_texture,
|
| 368 |
-
opacity_constant: opacity_constant,
|
| 369 |
-
enable_opacity_texture: enable_opacity_texture,
|
| 370 |
-
opacity_mode: opacity_mode,
|
| 371 |
-
opacity_threshold: opacity_threshold,
|
| 372 |
-
geometry_normal_roughness_strength: geometry_normal_roughness_strength,
|
| 373 |
-
bump_factor: bump_factor,
|
| 374 |
-
normalmap_texture: normalmap_texture,
|
| 375 |
-
detail_bump_factor: detail_bump_factor,
|
| 376 |
-
detail_normalmap_texture: detail_normalmap_texture,
|
| 377 |
-
flip_tangent_u: flip_tangent_u,
|
| 378 |
-
flip_tangent_v: flip_tangent_v,
|
| 379 |
-
project_uvw: project_uvw,
|
| 380 |
-
world_or_object: world_or_object,
|
| 381 |
-
uv_space_index: uv_space_index,
|
| 382 |
-
texture_translate: texture_translate,
|
| 383 |
-
texture_rotate: texture_rotate,
|
| 384 |
-
texture_scale: texture_scale,
|
| 385 |
-
detail_texture_translate: detail_texture_translate,
|
| 386 |
-
detail_texture_rotate: detail_texture_rotate,
|
| 387 |
-
detail_texture_scale: detail_texture_scale,
|
| 388 |
-
round_edges_radius: round_edges_radius,
|
| 389 |
-
round_edges_roundness: round_edges_roundness,
|
| 390 |
-
round_edges_across_materials: round_edges_across_materials
|
| 391 |
-
);
|
| 392 |
-
|
| 393 |
-
} in material(
|
| 394 |
-
surface: base.surface,
|
| 395 |
-
geometry: base.geometry
|
| 396 |
-
);
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|
denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBRBase.mdl
DELETED
|
@@ -1,470 +0,0 @@
|
|
| 1 |
-
/*
|
| 2 |
-
* SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
| 3 |
-
* SPDX-License-Identifier: BSD-3-Clause
|
| 4 |
-
*/
|
| 5 |
-
|
| 6 |
-
mdl 1.7;
|
| 7 |
-
|
| 8 |
-
import ::df::*;
|
| 9 |
-
import ::state::*;
|
| 10 |
-
import ::math::*;
|
| 11 |
-
import ::base::*;
|
| 12 |
-
import ::tex::*;
|
| 13 |
-
import ::anno::*;
|
| 14 |
-
import ::anno::*;
|
| 15 |
-
|
| 16 |
-
export float3 HemiOctahedronToUnitVector( float2 Oct ) [[
|
| 17 |
-
anno::hidden()
|
| 18 |
-
]]
|
| 19 |
-
{
|
| 20 |
-
Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5;
|
| 21 |
-
float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) );
|
| 22 |
-
return math::normalize(N);
|
| 23 |
-
}
|
| 24 |
-
|
| 25 |
-
export struct NormalData [[
|
| 26 |
-
anno::hidden()
|
| 27 |
-
]]
|
| 28 |
-
{
|
| 29 |
-
float3 normal;
|
| 30 |
-
float2 roughness;
|
| 31 |
-
};
|
| 32 |
-
|
| 33 |
-
export NormalData tangent_space_normal_roughness_texture(
|
| 34 |
-
uniform texture_2d texture
|
| 35 |
-
[[
|
| 36 |
-
anno::description("The input texture"),
|
| 37 |
-
anno::usage("normal")
|
| 38 |
-
]],
|
| 39 |
-
uniform float factor = 1.0f
|
| 40 |
-
[[ anno::description("Determines the degree of bumpiness") ]],
|
| 41 |
-
uniform bool flip_tangent_u = false
|
| 42 |
-
[[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]],
|
| 43 |
-
uniform bool flip_tangent_v = false
|
| 44 |
-
[[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]],
|
| 45 |
-
base::texture_coordinate_info uvw = base::texture_coordinate_info()
|
| 46 |
-
[[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]],
|
| 47 |
-
uniform float2 crop_u = float2( 0.0, 1.0)
|
| 48 |
-
[[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]],
|
| 49 |
-
uniform float2 crop_v = float2( 0.0, 1.0)
|
| 50 |
-
[[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]],
|
| 51 |
-
uniform tex::wrap_mode wrap_u = tex::wrap_repeat
|
| 52 |
-
[[ anno::description("Wrapping mode in the u direction") ]],
|
| 53 |
-
uniform tex::wrap_mode wrap_v = tex::wrap_repeat
|
| 54 |
-
[[ anno::description("Wrapping mode in the v direction") ]],
|
| 55 |
-
uniform bool clip = false
|
| 56 |
-
[[
|
| 57 |
-
anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"),
|
| 58 |
-
anno::hidden()
|
| 59 |
-
]],
|
| 60 |
-
uniform float scale = 1.
|
| 61 |
-
[[
|
| 62 |
-
anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"),
|
| 63 |
-
anno::unused()
|
| 64 |
-
]],
|
| 65 |
-
uniform float offset = 0.
|
| 66 |
-
[[
|
| 67 |
-
anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"),
|
| 68 |
-
anno::unused()
|
| 69 |
-
]],
|
| 70 |
-
uniform float animation_start_time = 0.
|
| 71 |
-
[[ anno::description("When to start playing first frame of the animation ") ]],
|
| 72 |
-
uniform int2 animation_crop = int2(0, 0)
|
| 73 |
-
[[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]],
|
| 74 |
-
uniform tex::wrap_mode animation_wrap = tex::wrap_repeat
|
| 75 |
-
[[ anno::description("Defines what to do outside of regular animation time") ]],
|
| 76 |
-
uniform float animation_fps = 30
|
| 77 |
-
[[ anno::description("Framerate to use for animation playback") ]]
|
| 78 |
-
)
|
| 79 |
-
[[
|
| 80 |
-
anno::description("Interprets the color values of a bitmap as a vector in tangent space"),
|
| 81 |
-
anno::hidden(),
|
| 82 |
-
anno::noinline()
|
| 83 |
-
]]
|
| 84 |
-
{
|
| 85 |
-
NormalData normalData;
|
| 86 |
-
normalData.roughness = float2(0);
|
| 87 |
-
normalData.normal = state::normal();
|
| 88 |
-
|
| 89 |
-
float frame = 0.0;
|
| 90 |
-
if(animation_crop != int2(0,0)) //only if we have an animation
|
| 91 |
-
{
|
| 92 |
-
frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation
|
| 93 |
-
switch ( animation_wrap) {
|
| 94 |
-
case tex::wrap_repeat:
|
| 95 |
-
frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x:
|
| 96 |
-
math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y;
|
| 97 |
-
break;
|
| 98 |
-
case tex::wrap_mirrored_repeat:
|
| 99 |
-
float animation_crop_2y = 2.0*animation_crop.y;
|
| 100 |
-
frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x:
|
| 101 |
-
math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x;
|
| 102 |
-
if(frame>animation_crop.y)
|
| 103 |
-
frame = animation_crop_2y-frame;
|
| 104 |
-
break;
|
| 105 |
-
case tex::wrap_clamp:
|
| 106 |
-
frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y);
|
| 107 |
-
break;
|
| 108 |
-
case tex::wrap_clip:
|
| 109 |
-
frame += animation_crop.x;
|
| 110 |
-
if(frame < animation_crop.x || frame > animation_crop.y) return normalData;
|
| 111 |
-
break;
|
| 112 |
-
}
|
| 113 |
-
}
|
| 114 |
-
|
| 115 |
-
if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource
|
| 116 |
-
factor == 0.0f)
|
| 117 |
-
return normalData;
|
| 118 |
-
{
|
| 119 |
-
if (clip) {
|
| 120 |
-
if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) {
|
| 121 |
-
return normalData;
|
| 122 |
-
}
|
| 123 |
-
if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) {
|
| 124 |
-
return normalData;
|
| 125 |
-
}
|
| 126 |
-
}
|
| 127 |
-
if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) {
|
| 128 |
-
return normalData;
|
| 129 |
-
}
|
| 130 |
-
if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) {
|
| 131 |
-
return normalData;
|
| 132 |
-
}
|
| 133 |
-
}
|
| 134 |
-
bool pixel_flip_u = flip_tangent_u;
|
| 135 |
-
bool pixel_flip_v = flip_tangent_v;
|
| 136 |
-
//if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile
|
| 137 |
-
if (wrap_u == tex::wrap_mirrored_repeat) {
|
| 138 |
-
if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1)
|
| 139 |
-
pixel_flip_u = ! pixel_flip_u;
|
| 140 |
-
else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0)
|
| 141 |
-
pixel_flip_u = ! pixel_flip_u;
|
| 142 |
-
}
|
| 143 |
-
if (wrap_v == tex::wrap_mirrored_repeat) {
|
| 144 |
-
if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1)
|
| 145 |
-
pixel_flip_v = ! pixel_flip_v;
|
| 146 |
-
else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0)
|
| 147 |
-
pixel_flip_v = ! pixel_flip_v;
|
| 148 |
-
}
|
| 149 |
-
|
| 150 |
-
float3 transformed_tangent_u = uvw.tangent_u;
|
| 151 |
-
float3 transformed_tangent_v = uvw.tangent_v;
|
| 152 |
-
|
| 153 |
-
if (pixel_flip_u)
|
| 154 |
-
transformed_tangent_u=-transformed_tangent_u;
|
| 155 |
-
if (pixel_flip_v)
|
| 156 |
-
transformed_tangent_v=-transformed_tangent_v;
|
| 157 |
-
|
| 158 |
-
float3 tangent_space_normal;
|
| 159 |
-
float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame);
|
| 160 |
-
if(normal_raw.x > 1.5)
|
| 161 |
-
{
|
| 162 |
-
// octahedron packed by OV
|
| 163 |
-
normal_raw.x -= 2.0;
|
| 164 |
-
normal_raw.x -= 0.5;
|
| 165 |
-
normal_raw.y -= 0.5;
|
| 166 |
-
tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0);
|
| 167 |
-
normalData.roughness = float2(normal_raw.z, normal_raw.w);
|
| 168 |
-
}
|
| 169 |
-
else
|
| 170 |
-
{
|
| 171 |
-
// regular
|
| 172 |
-
tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0;
|
| 173 |
-
normalData.roughness = float2(0);
|
| 174 |
-
}
|
| 175 |
-
|
| 176 |
-
normalData.normal = math::normalize(
|
| 177 |
-
transformed_tangent_u * tangent_space_normal.x * factor +
|
| 178 |
-
transformed_tangent_v * tangent_space_normal.y * factor +
|
| 179 |
-
state::normal() * tangent_space_normal.z);
|
| 180 |
-
|
| 181 |
-
return normalData;
|
| 182 |
-
}
|
| 183 |
-
|
| 184 |
-
|
| 185 |
-
export material OmniPBRBase(
|
| 186 |
-
|
| 187 |
-
|
| 188 |
-
// Albdeo //
|
| 189 |
-
|
| 190 |
-
color diffuse_reflection_color = color(0.2) [[
|
| 191 |
-
anno::display_name("Albedo Color"),
|
| 192 |
-
anno::description("This is the albedo base color"),
|
| 193 |
-
anno::in_group("Albedo")
|
| 194 |
-
]],
|
| 195 |
-
color diffuse_tint = color(1.0) [[
|
| 196 |
-
anno::display_name("Albedo Tint"),
|
| 197 |
-
anno::description("When enabled, this color value is multiplied over the final albedo color"),
|
| 198 |
-
anno::in_group("Albedo")
|
| 199 |
-
]],
|
| 200 |
-
|
| 201 |
-
|
| 202 |
-
// Reflecitivity //
|
| 203 |
-
|
| 204 |
-
float specular_reflection_roughness = float(0.0) [[
|
| 205 |
-
anno::display_name("Roughness"),
|
| 206 |
-
anno::description("Higher roughness values lead to more blurry reflections"),
|
| 207 |
-
anno::in_group("Reflectivity"),
|
| 208 |
-
anno::hard_range(0.0, 1.0)
|
| 209 |
-
]],
|
| 210 |
-
float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[
|
| 211 |
-
anno::display_name("Aniso roughness"),
|
| 212 |
-
anno::description("Higher roughness values lead to more blurry reflections"),
|
| 213 |
-
anno::in_group("Reflectivity"),
|
| 214 |
-
anno::hidden()
|
| 215 |
-
]],
|
| 216 |
-
float metalness = float(0.0) [[
|
| 217 |
-
anno::display_name("Metalness"),
|
| 218 |
-
anno::description("Bias towards pure specular reflection"),
|
| 219 |
-
anno::in_group("Reflectivity"),
|
| 220 |
-
anno::hard_range(0.0, 1.0)
|
| 221 |
-
]],
|
| 222 |
-
float specular_level = float(0.5) [[
|
| 223 |
-
anno::display_name("Specular"),
|
| 224 |
-
anno::description("The specular level (intensity) of the material"),
|
| 225 |
-
anno::in_group("Reflectivity"),
|
| 226 |
-
anno::soft_range(0.0, 1.0)
|
| 227 |
-
]],
|
| 228 |
-
|
| 229 |
-
|
| 230 |
-
// Emission //
|
| 231 |
-
|
| 232 |
-
uniform bool enable_emission = false [[
|
| 233 |
-
anno::display_name("Enable Emission"),
|
| 234 |
-
anno::description("Enables the emission of light from the material"),
|
| 235 |
-
anno::in_group("Emissive")
|
| 236 |
-
]],
|
| 237 |
-
color emission_color = color(1.0,0.1,0.1) [[
|
| 238 |
-
anno::display_name("Emissive Color"),
|
| 239 |
-
anno::description("The emission color"),
|
| 240 |
-
anno::in_group("Emissive"),
|
| 241 |
-
anno::enable_if("enable_emission == true")
|
| 242 |
-
]],
|
| 243 |
-
float emission_intensity = float(40.0) [[
|
| 244 |
-
anno::display_name("Emissive Intensity"),
|
| 245 |
-
anno::description("Intensity of the emission"),
|
| 246 |
-
anno::in_group("Emissive"),
|
| 247 |
-
anno::soft_range(0.0, 1000.0),
|
| 248 |
-
anno::enable_if("enable_emission == true")
|
| 249 |
-
]],
|
| 250 |
-
|
| 251 |
-
|
| 252 |
-
// Geometry Opacity //
|
| 253 |
-
|
| 254 |
-
uniform bool enable_opacity = false [[
|
| 255 |
-
anno::display_name("Enable Opacity"),
|
| 256 |
-
anno::description("Enables the use of cutout opacity"),
|
| 257 |
-
anno::in_group("Opacity")
|
| 258 |
-
]],
|
| 259 |
-
float geometry_opacity = float(1.0) [[
|
| 260 |
-
anno::display_name("Opacity Amount"),
|
| 261 |
-
anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"),
|
| 262 |
-
anno::in_group("Opacity"),
|
| 263 |
-
anno::hard_range(0.0, 1.0)
|
| 264 |
-
]],
|
| 265 |
-
uniform float geometry_opacity_threshold = 0.f
|
| 266 |
-
[[
|
| 267 |
-
anno::display_name("Opacity Threshold"),
|
| 268 |
-
anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"),
|
| 269 |
-
anno::in_group("Opacity"),
|
| 270 |
-
anno::hard_range(0.0, 1.0)
|
| 271 |
-
]],
|
| 272 |
-
|
| 273 |
-
|
| 274 |
-
// Clearcoat //
|
| 275 |
-
|
| 276 |
-
uniform bool enable_coat = false [[
|
| 277 |
-
anno::display_name("Enable Clearcoat Layer"),
|
| 278 |
-
anno::description("Adds a coat layer on top of the material when enabled"),
|
| 279 |
-
anno::in_group("Clearcoat")
|
| 280 |
-
]],
|
| 281 |
-
float coat_weight = float(1.0) [[
|
| 282 |
-
anno::display_name("Clearcoat Weight"),
|
| 283 |
-
anno::description("Sets the weight for coat layer"),
|
| 284 |
-
anno::in_group("Clearcoat"),
|
| 285 |
-
anno::hard_range(0.0, 1.0)
|
| 286 |
-
]],
|
| 287 |
-
color coat_color = color(1.0) [[
|
| 288 |
-
anno::display_name("Clearcoat Tint"),
|
| 289 |
-
anno::description("Clearcoat is tinted and affects the underlying material"),
|
| 290 |
-
anno::in_group("Clearcoat")
|
| 291 |
-
]],
|
| 292 |
-
float coat_transparency = float(1.0) [[
|
| 293 |
-
anno::display_name("Clearcoat Transparency"),
|
| 294 |
-
anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"),
|
| 295 |
-
anno::in_group("Clearcoat"),
|
| 296 |
-
anno::hard_range(0.0, 1.0)
|
| 297 |
-
]],
|
| 298 |
-
float coat_roughness = float(0.0) [[
|
| 299 |
-
anno::display_name("Clearcoat Roughness"),
|
| 300 |
-
anno::description("Higher roughness values lead to more blurry reflections"),
|
| 301 |
-
anno::in_group("Clearcoat"),
|
| 302 |
-
anno::hard_range(0.0, 1.0)
|
| 303 |
-
]],
|
| 304 |
-
float2 coat_aniso_roughness = float2(0.0, 0.0) [[
|
| 305 |
-
anno::display_name("Clearcoat aniso roughness"),
|
| 306 |
-
anno::description("Higher roughness values lead to more blurry reflections"),
|
| 307 |
-
anno::in_group("Clearcoat"),
|
| 308 |
-
anno::hidden()
|
| 309 |
-
]],
|
| 310 |
-
float coat_ior = float(1.56) [[
|
| 311 |
-
anno::display_name("Clearcoat IOR"),
|
| 312 |
-
anno::description("Sets the Index of refraction for the coat layer"),
|
| 313 |
-
anno::in_group("Clearcoat"),
|
| 314 |
-
anno::soft_range(0.0, 4.0)
|
| 315 |
-
]],
|
| 316 |
-
float3 clearcoat_geometry_normal = state::normal() [[
|
| 317 |
-
anno::display_name("Clearcoat Normal"),
|
| 318 |
-
anno::in_group("Clearcoat"),
|
| 319 |
-
anno::usage("normal")
|
| 320 |
-
]],
|
| 321 |
-
|
| 322 |
-
|
| 323 |
-
// Geometry //
|
| 324 |
-
|
| 325 |
-
uniform float round_edges_radius = float(0.0) [[
|
| 326 |
-
anno::display_name("Round Edge Radius"),
|
| 327 |
-
anno::description("Influence radius around the edges in meters"),
|
| 328 |
-
anno::in_group("Geometry"),
|
| 329 |
-
anno::soft_range(0.0, 1.0)
|
| 330 |
-
]],
|
| 331 |
-
uniform float round_edges_roundness = float(1.0) [[
|
| 332 |
-
anno::display_name("Round Edge Roundness"),
|
| 333 |
-
anno::description("Determines how round the edge will look"),
|
| 334 |
-
anno::in_group("Geometry"),
|
| 335 |
-
anno::hard_range(0.0, 1.0)
|
| 336 |
-
]],
|
| 337 |
-
uniform bool round_edges_across_materials = false [[
|
| 338 |
-
anno::display_name("Round Edge Across Materials"),
|
| 339 |
-
anno::description("Normal smoothing happens only between facets of equal material, \n"
|
| 340 |
-
"\t\tunless this parameter is set true, in which case the smoothing \n"
|
| 341 |
-
"\t\thappens between facets irrespective of their materials"),
|
| 342 |
-
anno::in_group("Geometry")
|
| 343 |
-
]],
|
| 344 |
-
float3 geometry_normal = state::normal() [[
|
| 345 |
-
anno::display_name("Geometry Normal"),
|
| 346 |
-
anno::in_group("Geometry"),
|
| 347 |
-
anno::usage("normal")
|
| 348 |
-
]]
|
| 349 |
-
|
| 350 |
-
)
|
| 351 |
-
[[
|
| 352 |
-
anno::display_name("OmniPBR Base"),
|
| 353 |
-
anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."),
|
| 354 |
-
anno::in_group("Omni Materials"),
|
| 355 |
-
anno::version( 2, 1, 1),
|
| 356 |
-
anno::author("NVIDIA CORPORATION"),
|
| 357 |
-
anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic"))
|
| 358 |
-
]]
|
| 359 |
-
= let{
|
| 360 |
-
|
| 361 |
-
// Diffuse Bsdf //
|
| 362 |
-
|
| 363 |
-
color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint;
|
| 364 |
-
|
| 365 |
-
color base_color = tinted_diffuse_color;
|
| 366 |
-
|
| 367 |
-
bsdf diffuse_bsdf = df::weighted_layer(
|
| 368 |
-
weight: 1.0,
|
| 369 |
-
layer: df::diffuse_reflection_bsdf(
|
| 370 |
-
tint: base_color,
|
| 371 |
-
roughness: float(0.0)
|
| 372 |
-
),
|
| 373 |
-
base: bsdf(),
|
| 374 |
-
normal: geometry_normal
|
| 375 |
-
);
|
| 376 |
-
|
| 377 |
-
// Glossy Reflection Bsdf //
|
| 378 |
-
|
| 379 |
-
float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness
|
| 380 |
-
+ specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1);
|
| 381 |
-
float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness
|
| 382 |
-
+ specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1);
|
| 383 |
-
bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf(
|
| 384 |
-
roughness_u: roughness_u,
|
| 385 |
-
roughness_v: roughness_v,
|
| 386 |
-
tint: color(1.0),
|
| 387 |
-
mode: df::scatter_reflect
|
| 388 |
-
);
|
| 389 |
-
|
| 390 |
-
bsdf custom_curve_layer_bsdf = df::custom_curve_layer(
|
| 391 |
-
normal_reflectivity: 0.08,
|
| 392 |
-
grazing_reflectivity: 1.0,
|
| 393 |
-
exponent: 5.0,
|
| 394 |
-
weight: specular_level,
|
| 395 |
-
layer: ggx_smith_bsdf,
|
| 396 |
-
base: diffuse_bsdf,
|
| 397 |
-
normal: geometry_normal
|
| 398 |
-
);
|
| 399 |
-
|
| 400 |
-
bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf);
|
| 401 |
-
|
| 402 |
-
bsdf omni_PBR_bsdf = df::weighted_layer(
|
| 403 |
-
weight: metalness,
|
| 404 |
-
layer: directional_factor_bsdf,
|
| 405 |
-
base: custom_curve_layer_bsdf,
|
| 406 |
-
normal: geometry_normal
|
| 407 |
-
);
|
| 408 |
-
|
| 409 |
-
// Clear Coat //
|
| 410 |
-
|
| 411 |
-
float coat_roughness_u = math::clamp(coat_roughness * coat_roughness
|
| 412 |
-
+ coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1);
|
| 413 |
-
float coat_roughness_v = math::clamp(coat_roughness * coat_roughness
|
| 414 |
-
+ coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1);
|
| 415 |
-
bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf(
|
| 416 |
-
roughness_u: coat_roughness_u,
|
| 417 |
-
roughness_v: coat_roughness_v,
|
| 418 |
-
tint: color(1.0),
|
| 419 |
-
mode: df::scatter_reflect
|
| 420 |
-
);
|
| 421 |
-
|
| 422 |
-
bsdf opaque_coat = df::weighted_layer(
|
| 423 |
-
weight: coat_transparency,
|
| 424 |
-
layer: ::df::tint(
|
| 425 |
-
tint: coat_color,
|
| 426 |
-
base: omni_PBR_bsdf
|
| 427 |
-
),
|
| 428 |
-
base: ::df::diffuse_reflection_bsdf(
|
| 429 |
-
tint: coat_color
|
| 430 |
-
)
|
| 431 |
-
);
|
| 432 |
-
|
| 433 |
-
bsdf omni_PBR_coated_bsdf = df::fresnel_layer(
|
| 434 |
-
ior: coat_ior,
|
| 435 |
-
weight: coat_weight,
|
| 436 |
-
layer: coat_bsdf,
|
| 437 |
-
base: opaque_coat,
|
| 438 |
-
normal: clearcoat_geometry_normal
|
| 439 |
-
);
|
| 440 |
-
|
| 441 |
-
bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf;
|
| 442 |
-
|
| 443 |
-
color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0);
|
| 444 |
-
|
| 445 |
-
float opacity_value = geometry_opacity;
|
| 446 |
-
float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0;
|
| 447 |
-
|
| 448 |
-
material_emission emission = material_emission(
|
| 449 |
-
df::diffuse_edf(),
|
| 450 |
-
intensity: emission_value
|
| 451 |
-
);
|
| 452 |
-
|
| 453 |
-
material_surface surface = material_surface(
|
| 454 |
-
scattering: final_bsdf,
|
| 455 |
-
emission: emission
|
| 456 |
-
);
|
| 457 |
-
|
| 458 |
-
material_geometry geometry = material_geometry(
|
| 459 |
-
normal: state::rounded_corner_normal(
|
| 460 |
-
radius: round_edges_radius,
|
| 461 |
-
across_materials: round_edges_across_materials,
|
| 462 |
-
roundness: round_edges_roundness
|
| 463 |
-
),
|
| 464 |
-
cutout_opacity: cutout_opacity
|
| 465 |
-
);
|
| 466 |
-
|
| 467 |
-
} in material(
|
| 468 |
-
surface: surface,
|
| 469 |
-
geometry: geometry
|
| 470 |
-
);
|
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|
denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBR_ClearCoat.mdl
DELETED
|
@@ -1,711 +0,0 @@
|
|
| 1 |
-
/*
|
| 2 |
-
* SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
| 3 |
-
* SPDX-License-Identifier: BSD-3-Clause
|
| 4 |
-
*/
|
| 5 |
-
|
| 6 |
-
mdl 1.7;
|
| 7 |
-
|
| 8 |
-
import ::df::*;
|
| 9 |
-
import ::state::*;
|
| 10 |
-
import ::math::*;
|
| 11 |
-
import ::base::*;
|
| 12 |
-
import ::state::*;
|
| 13 |
-
import ::tex::*;
|
| 14 |
-
import ::anno::*;
|
| 15 |
-
|
| 16 |
-
import ::debug::*;
|
| 17 |
-
|
| 18 |
-
import core_definitions::file_texture;
|
| 19 |
-
import core_definitions::normalmap_texture;
|
| 20 |
-
|
| 21 |
-
import OmniPBRBase::*;
|
| 22 |
-
|
| 23 |
-
// Functions //
|
| 24 |
-
|
| 25 |
-
|
| 26 |
-
// Returns a matrix from R,T,S. inputs //
|
| 27 |
-
|
| 28 |
-
uniform float4x4 rotation_translation_scale(
|
| 29 |
-
uniform float3 rotation = float3(0.)
|
| 30 |
-
[[ anno::description("Rotation applied to every UVW coordinate") ]],
|
| 31 |
-
uniform float3 translation = float3(0.)
|
| 32 |
-
[[ anno::description("Offset applied to every UVW coordinate") ]],
|
| 33 |
-
uniform float3 scaling = float3(1.)
|
| 34 |
-
[[ anno::description("Scale applied to every UVW coordinate") ]]
|
| 35 |
-
)
|
| 36 |
-
[[
|
| 37 |
-
anno::description("Construct a transformation matrix from euler rotation, translation and scale"),
|
| 38 |
-
anno::hidden()
|
| 39 |
-
]]
|
| 40 |
-
{
|
| 41 |
-
float4x4 scale =
|
| 42 |
-
float4x4(scaling.x , 0.0 , 0.0 , 0.0,
|
| 43 |
-
0.0 , scaling.y , 0.0 , 0.0,
|
| 44 |
-
0.0 , 0.0 , scaling.z , 0.0,
|
| 45 |
-
translation.x , translation.y , translation.z , 1.0);
|
| 46 |
-
|
| 47 |
-
float3 s = math::sin(rotation);
|
| 48 |
-
float3 c = math::cos(rotation);
|
| 49 |
-
|
| 50 |
-
float4x4 rotate =
|
| 51 |
-
float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0,
|
| 52 |
-
c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0,
|
| 53 |
-
-s.y , s.x*c.y , c.x*c.y , 0.0,
|
| 54 |
-
0.0 , 0.0 , 0 , 1.0);
|
| 55 |
-
|
| 56 |
-
return scale * rotate;
|
| 57 |
-
}
|
| 58 |
-
|
| 59 |
-
// Returns the normal n in tangent space, given n is in internal space. //
|
| 60 |
-
|
| 61 |
-
float3 transform_internal_to_tangent(float3 n)
|
| 62 |
-
{
|
| 63 |
-
/* flip_tangent_v */
|
| 64 |
-
return
|
| 65 |
-
n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+
|
| 66 |
-
n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+
|
| 67 |
-
n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z);
|
| 68 |
-
}
|
| 69 |
-
|
| 70 |
-
// Returns the normal n in internal space, given n is in tangent space.
|
| 71 |
-
float3 transform_tangent_to_internal(float3 n)
|
| 72 |
-
{
|
| 73 |
-
return state::texture_tangent_u(0) * n.x -
|
| 74 |
-
state::texture_tangent_v(0) * n.y + /* flip_tangent_v */
|
| 75 |
-
state::normal() * n.z;
|
| 76 |
-
}
|
| 77 |
-
|
| 78 |
-
// Returns a normal by adding a detail normal to a global normal.
|
| 79 |
-
export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal())
|
| 80 |
-
{
|
| 81 |
-
// http://blog.selfshadow.com/publications/blending-in-detail/
|
| 82 |
-
float3 n_t = transform_internal_to_tangent(n);
|
| 83 |
-
float3 nd_t = transform_internal_to_tangent(nd);
|
| 84 |
-
n_t = n_t + float3(0.,0.,1.);
|
| 85 |
-
nd_t = nd_t * float3(-1.,-1.,1.);
|
| 86 |
-
n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t;
|
| 87 |
-
return math::normalize(transform_tangent_to_internal(n));
|
| 88 |
-
}
|
| 89 |
-
|
| 90 |
-
base::texture_return multiply_colors(
|
| 91 |
-
color color_1 = color(1.0, 1.0, 1.0),
|
| 92 |
-
color color_2 = color(.5, .5, .5),
|
| 93 |
-
float weight = 1.0
|
| 94 |
-
)
|
| 95 |
-
[[
|
| 96 |
-
anno::hidden()
|
| 97 |
-
]]
|
| 98 |
-
{
|
| 99 |
-
return base::blend_color_layers(
|
| 100 |
-
layers: base::color_layer[](
|
| 101 |
-
base::color_layer(
|
| 102 |
-
layer_color: color_2,
|
| 103 |
-
weight: weight,
|
| 104 |
-
mode: base::color_layer_multiply
|
| 105 |
-
)),
|
| 106 |
-
base: color_1
|
| 107 |
-
);
|
| 108 |
-
}
|
| 109 |
-
|
| 110 |
-
|
| 111 |
-
// OmniPBR Clearcoat //
|
| 112 |
-
|
| 113 |
-
export material OmniPBR_ClearCoat(
|
| 114 |
-
|
| 115 |
-
// Albdeo //
|
| 116 |
-
|
| 117 |
-
color diffuse_color_constant = color(0.2) [[
|
| 118 |
-
anno::display_name("Albedo Color"),
|
| 119 |
-
anno::description("This is the albedo base color"),
|
| 120 |
-
anno::in_group("Albedo")
|
| 121 |
-
]],
|
| 122 |
-
uniform texture_2d diffuse_texture = texture_2d() [[
|
| 123 |
-
anno::display_name("Albedo Map"),
|
| 124 |
-
anno::in_group("Albedo")
|
| 125 |
-
]],
|
| 126 |
-
float albedo_desaturation = float(0.0) [[
|
| 127 |
-
anno::display_name("Albedo Map Desaturation"),
|
| 128 |
-
anno::description("Desaturates the albedo map"),
|
| 129 |
-
anno::in_group("Albedo"),
|
| 130 |
-
anno::soft_range(float(0.0), float(1.0))
|
| 131 |
-
]],
|
| 132 |
-
float albedo_add = float(0.0) [[
|
| 133 |
-
anno::display_name("Albedo Add"),
|
| 134 |
-
anno::description("Adds a constant value to the diffuse color "),
|
| 135 |
-
anno::in_group("Albedo"),
|
| 136 |
-
anno::soft_range(float(-1.0), float(1.0))
|
| 137 |
-
]],
|
| 138 |
-
float albedo_brightness = float(1.0) [[
|
| 139 |
-
anno::display_name("Albedo Brightness"),
|
| 140 |
-
anno::description("Multiplier for the diffuse color "),
|
| 141 |
-
anno::in_group("Albedo"),
|
| 142 |
-
anno::soft_range(float(0.0), float(1.0))
|
| 143 |
-
]],
|
| 144 |
-
color diffuse_tint = color(1.0) [[
|
| 145 |
-
anno::display_name("Color Tint"),
|
| 146 |
-
anno::description("When enabled, this color value is multiplied over the final albedo color"),
|
| 147 |
-
anno::in_group("Albedo")
|
| 148 |
-
]],
|
| 149 |
-
|
| 150 |
-
|
| 151 |
-
// Reflectivity //
|
| 152 |
-
|
| 153 |
-
float reflection_roughness_constant = float(0.5) [[
|
| 154 |
-
anno::display_name("Roughness Amount"),
|
| 155 |
-
anno::description("Higher roughness values lead to more blurry reflections"),
|
| 156 |
-
anno::in_group("Reflectivity"),
|
| 157 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 158 |
-
]],
|
| 159 |
-
float reflection_roughness_texture_influence = float(0.0) [[
|
| 160 |
-
anno::display_name("Roughness Map Influence"),
|
| 161 |
-
anno::description("Blends between the constant value and the lookup of the roughness texture"),
|
| 162 |
-
anno::in_group("Reflectivity"),
|
| 163 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 164 |
-
]],
|
| 165 |
-
uniform texture_2d reflectionroughness_texture = texture_2d() [[
|
| 166 |
-
anno::display_name("Roughness Map"),
|
| 167 |
-
anno::in_group("Reflectivity"),
|
| 168 |
-
anno::usage("roughness")
|
| 169 |
-
]],
|
| 170 |
-
float metallic_constant = float(0.0) [[
|
| 171 |
-
anno::display_name("Metallic Amount"),
|
| 172 |
-
anno::description("Metallic Material"),
|
| 173 |
-
anno::in_group("Reflectivity"),
|
| 174 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 175 |
-
]],
|
| 176 |
-
float metallic_texture_influence = float(0.0) [[
|
| 177 |
-
anno::display_name("Metallic Map Influence"),
|
| 178 |
-
anno::description("Blends between the constant value and the lookup of the metallic texture"),
|
| 179 |
-
anno::in_group("Reflectivity"),
|
| 180 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 181 |
-
]],
|
| 182 |
-
uniform texture_2d metallic_texture = texture_2d() [[
|
| 183 |
-
anno::display_name("Metallic Map"),
|
| 184 |
-
anno::in_group("Reflectivity"),
|
| 185 |
-
anno::usage("metalness")
|
| 186 |
-
]],
|
| 187 |
-
float specular_level = float(0.5) [[
|
| 188 |
-
anno::display_name("Specular"),
|
| 189 |
-
anno::description("The specular level (intensity) of the material"),
|
| 190 |
-
anno::in_group("Reflectivity"),
|
| 191 |
-
anno::soft_range(float(0.0), float(1.0))
|
| 192 |
-
]],
|
| 193 |
-
|
| 194 |
-
|
| 195 |
-
// ORM //
|
| 196 |
-
|
| 197 |
-
uniform bool enable_ORM_texture = false [[
|
| 198 |
-
anno::display_name("Enable ORM Texture"),
|
| 199 |
-
anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"),
|
| 200 |
-
anno::in_group("Reflectivity")
|
| 201 |
-
]],
|
| 202 |
-
uniform texture_2d ORM_texture = texture_2d() [[
|
| 203 |
-
anno::display_name("ORM Map"),
|
| 204 |
-
anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"),
|
| 205 |
-
anno::in_group("Reflectivity"),
|
| 206 |
-
anno::usage("roughness")
|
| 207 |
-
]],
|
| 208 |
-
|
| 209 |
-
|
| 210 |
-
// AO Group //
|
| 211 |
-
|
| 212 |
-
float ao_to_diffuse = 0.0 [[
|
| 213 |
-
anno::display_name("AO to diffuse"),
|
| 214 |
-
anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"),
|
| 215 |
-
anno::in_group("AO"),
|
| 216 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 217 |
-
]],
|
| 218 |
-
uniform texture_2d ao_texture = texture_2d() [[
|
| 219 |
-
anno::display_name("Ambient Occlusion Map"),
|
| 220 |
-
anno::description("The ambient occlusion texture for the material"),
|
| 221 |
-
anno::in_group("AO"),
|
| 222 |
-
anno::usage("occlusion")
|
| 223 |
-
]],
|
| 224 |
-
|
| 225 |
-
|
| 226 |
-
// Emission //
|
| 227 |
-
|
| 228 |
-
uniform bool enable_emission = false [[
|
| 229 |
-
anno::display_name("Enable Emission"),
|
| 230 |
-
anno::description("Enables the emission of light from the material"),
|
| 231 |
-
anno::in_group("Emissive")
|
| 232 |
-
]],
|
| 233 |
-
color emissive_color = color(1.0,0.1,0.1) [[
|
| 234 |
-
anno::display_name("Emissive Color"),
|
| 235 |
-
anno::description("The emission color"),
|
| 236 |
-
anno::in_group("Emissive"),
|
| 237 |
-
anno::enable_if("enable_emission == true")
|
| 238 |
-
]],
|
| 239 |
-
uniform texture_2d emissive_color_texture = texture_2d() [[
|
| 240 |
-
anno::display_name("Emissive Color map"),
|
| 241 |
-
anno::in_group("Emissive"),
|
| 242 |
-
anno::description("The emissive color texture"),
|
| 243 |
-
anno::enable_if("enable_emission == true")
|
| 244 |
-
]],
|
| 245 |
-
uniform texture_2d emissive_mask_texture = texture_2d() [[
|
| 246 |
-
anno::display_name("Emissive Mask map"),
|
| 247 |
-
anno::description("The texture masking the emissive color"),
|
| 248 |
-
anno::in_group("Emissive"),
|
| 249 |
-
anno::enable_if("enable_emission == true"),
|
| 250 |
-
anno::usage("occlusion")
|
| 251 |
-
]],
|
| 252 |
-
float emissive_intensity = float(40.0) [[
|
| 253 |
-
anno::display_name("Emissive Intensity"),
|
| 254 |
-
anno::description("Intensity of the emission"),
|
| 255 |
-
anno::in_group("Emissive"),
|
| 256 |
-
anno::enable_if("enable_emission == true")
|
| 257 |
-
]],
|
| 258 |
-
|
| 259 |
-
|
| 260 |
-
// Cutout Opacity //
|
| 261 |
-
|
| 262 |
-
uniform bool enable_opacity = false [[
|
| 263 |
-
anno::display_name("Enable Opacity"),
|
| 264 |
-
anno::description("Enables the use of cutout opacity"),
|
| 265 |
-
anno::in_group("Opacity")
|
| 266 |
-
]],
|
| 267 |
-
uniform texture_2d opacity_texture = texture_2d() [[
|
| 268 |
-
anno::display_name("Opacity Map"),
|
| 269 |
-
anno::in_group("Opacity"),
|
| 270 |
-
anno::usage("opacity")
|
| 271 |
-
]],
|
| 272 |
-
float opacity_constant = float(1.0) [[
|
| 273 |
-
anno::display_name("Opacity Amount"),
|
| 274 |
-
anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"),
|
| 275 |
-
anno::in_group("Opacity"),
|
| 276 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 277 |
-
]],
|
| 278 |
-
uniform bool enable_opacity_texture = false [[
|
| 279 |
-
anno::display_name("Enable Opacity Texture"),
|
| 280 |
-
anno::description("Enables or disables the usage of the opacity texture map"),
|
| 281 |
-
anno::in_group("Opacity")
|
| 282 |
-
]],
|
| 283 |
-
uniform base::mono_mode opacity_mode = base::mono_average [[
|
| 284 |
-
anno::display_name("Opacity Mono Source"),
|
| 285 |
-
anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"),
|
| 286 |
-
anno::in_group("Opacity")
|
| 287 |
-
]],
|
| 288 |
-
uniform float opacity_threshold = float(0.0) [[
|
| 289 |
-
anno::display_name("Opacity Threshold"),
|
| 290 |
-
anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"),
|
| 291 |
-
anno::in_group("Opacity"),
|
| 292 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 293 |
-
]],
|
| 294 |
-
|
| 295 |
-
|
| 296 |
-
// Clearcoat //
|
| 297 |
-
|
| 298 |
-
uniform bool enable_clearcoat = false [[
|
| 299 |
-
anno::display_name("Enable Clearcoat Layer"),
|
| 300 |
-
anno::description("Adds a clearcoat layer on top of the material when enabled"),
|
| 301 |
-
anno::in_group("Clearcoat")
|
| 302 |
-
]],
|
| 303 |
-
float clearcoat_weight = float(1.0) [[
|
| 304 |
-
anno::display_name("Clearcoat Weight"),
|
| 305 |
-
anno::description("Sets the weight for clearcoat layer"),
|
| 306 |
-
anno::in_group("Clearcoat"),
|
| 307 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 308 |
-
]],
|
| 309 |
-
color clearcoat_tint = color(1.0) [[
|
| 310 |
-
anno::display_name("Clearcoat Tint"),
|
| 311 |
-
anno::description("Clearcoat is tinted and affects the underlying material"),
|
| 312 |
-
anno::in_group("Clearcoat")
|
| 313 |
-
]],
|
| 314 |
-
float clearcoat_transparency = float(1.0) [[
|
| 315 |
-
anno::display_name("Clearcoat Transparency"),
|
| 316 |
-
anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"),
|
| 317 |
-
anno::in_group("Clearcoat"),
|
| 318 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 319 |
-
]],
|
| 320 |
-
float clearcoat_reflection_roughness = float(0.0) [[
|
| 321 |
-
anno::display_name("Clearcoat Roughness"),
|
| 322 |
-
anno::description("Higher roughness values lead to more blurry reflections"),
|
| 323 |
-
anno::in_group("Clearcoat"),
|
| 324 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 325 |
-
]],
|
| 326 |
-
float clearcoat_ior = float(1.56) [[
|
| 327 |
-
anno::display_name("Clearcoat IOR"),
|
| 328 |
-
anno::description("Sets the Index of refraction for the clearcoat layer"),
|
| 329 |
-
anno::in_group("Clearcoat"),
|
| 330 |
-
anno::soft_range(float(0.0), float(4.0))
|
| 331 |
-
]],
|
| 332 |
-
uniform float clearcoat_bump_factor = float(1.0) [[
|
| 333 |
-
anno::display_name("Clearcoat Normal Map Strength"),
|
| 334 |
-
anno::description("Strength of normal map."),
|
| 335 |
-
anno::in_group("Clearcoat"),
|
| 336 |
-
anno::soft_range(float(0.0), float(1.0))
|
| 337 |
-
]],
|
| 338 |
-
uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[
|
| 339 |
-
anno::display_name("Clearcoat Normal Map"),
|
| 340 |
-
anno::description("Enables the usage of the normalmap texture"),
|
| 341 |
-
anno::in_group("Clearcoat"),
|
| 342 |
-
anno::usage("normal")
|
| 343 |
-
]],
|
| 344 |
-
uniform float2 clearcoat_texture_translate = float2(0.0) [[
|
| 345 |
-
anno::display_name("Clearcoat Texture Translate"),
|
| 346 |
-
anno::description("Controls the position of the clearcoat texture"),
|
| 347 |
-
anno::ui_order(1),
|
| 348 |
-
anno::in_group("UV")
|
| 349 |
-
]],
|
| 350 |
-
uniform float clearcoat_texture_rotate = float(0.0) [[
|
| 351 |
-
anno::display_name("Clearcoat Texture Rotate"),
|
| 352 |
-
anno::description("Rotates angle of the clearcoat texture in degrees"),
|
| 353 |
-
anno::ui_order(2),
|
| 354 |
-
anno::in_group("UV")
|
| 355 |
-
]],
|
| 356 |
-
uniform float2 clearcoat_texture_scale = float2(1.0) [[
|
| 357 |
-
anno::display_name("Clearcoat Texture Tiling"),
|
| 358 |
-
anno::description("Controls the repetition of the clearcoat texture"),
|
| 359 |
-
anno::ui_order(3),
|
| 360 |
-
anno::in_group("UV")
|
| 361 |
-
]],
|
| 362 |
-
float clearcoat_flatten = float(1.0) [[
|
| 363 |
-
anno::display_name("Clearcoat Flatten"),
|
| 364 |
-
anno::description("Flattens the clearcoat to even out the underlying bump maps"),
|
| 365 |
-
anno::in_group("Clearcoat"),
|
| 366 |
-
anno::hard_range(float(0.0), float(1.0))
|
| 367 |
-
]],
|
| 368 |
-
|
| 369 |
-
|
| 370 |
-
// Normal //
|
| 371 |
-
|
| 372 |
-
uniform float geometry_normal_roughness_strength = 1.f
|
| 373 |
-
[[
|
| 374 |
-
anno::hard_range(0.0, 1.0),
|
| 375 |
-
anno::display_name("Normal map to roughness weight"),
|
| 376 |
-
anno::description("Enables and weights roughness induced by normal maps"),
|
| 377 |
-
anno::in_group("Normal")
|
| 378 |
-
]],
|
| 379 |
-
uniform float bump_factor = float(1.0) [[
|
| 380 |
-
anno::display_name("Normal Strength"),
|
| 381 |
-
anno::description("Strength of normal map"),
|
| 382 |
-
anno::in_group("Normal"),
|
| 383 |
-
anno::soft_range(float(0.0), float(1.0))
|
| 384 |
-
]],
|
| 385 |
-
uniform texture_2d normalmap_texture = texture_2d() [[
|
| 386 |
-
anno::display_name("Normal Map"),
|
| 387 |
-
anno::in_group("Normal"),
|
| 388 |
-
anno::usage("normal")
|
| 389 |
-
]],
|
| 390 |
-
uniform float detail_bump_factor = float(0.3) [[
|
| 391 |
-
anno::display_name("Detail Normal Strength"),
|
| 392 |
-
anno::in_group("Normal"),
|
| 393 |
-
anno::description("Strength of the detail normal"),
|
| 394 |
-
anno::soft_range(float(0.0), float(1.0))
|
| 395 |
-
]],
|
| 396 |
-
uniform texture_2d detail_normalmap_texture = texture_2d() [[
|
| 397 |
-
anno::display_name("Detail Normal Map"),
|
| 398 |
-
anno::in_group("Normal"),
|
| 399 |
-
anno::usage("normal")
|
| 400 |
-
]],
|
| 401 |
-
uniform bool flip_tangent_u = false [[
|
| 402 |
-
anno::display_name("Normal Map Flip U Tangent"),
|
| 403 |
-
anno::in_group("Normal")
|
| 404 |
-
]],
|
| 405 |
-
uniform bool flip_tangent_v = true [[
|
| 406 |
-
anno::display_name("Normal Map Flip V Tangent"),
|
| 407 |
-
anno::in_group("Normal")
|
| 408 |
-
]],
|
| 409 |
-
|
| 410 |
-
|
| 411 |
-
// UVW Projection Group //
|
| 412 |
-
|
| 413 |
-
uniform bool project_uvw = false [[
|
| 414 |
-
anno::display_name("Enable Project UVW Coordinates"),
|
| 415 |
-
anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"),
|
| 416 |
-
anno::in_group("UV")
|
| 417 |
-
]],
|
| 418 |
-
uniform bool world_or_object = false [[
|
| 419 |
-
anno::display_name("Enable World Space"),
|
| 420 |
-
anno::description("When enabled, uses world space for projection, otherwise object space is used"),
|
| 421 |
-
anno::in_group("UV"),
|
| 422 |
-
anno::enable_if("project_uvw == true")
|
| 423 |
-
]],
|
| 424 |
-
uniform int uv_space_index = 0 [[
|
| 425 |
-
anno::display_name("UV Space Index"),
|
| 426 |
-
anno::description("UV Space Index"),
|
| 427 |
-
anno::in_group("UV"),
|
| 428 |
-
anno::enable_if("project_uvw == true"),
|
| 429 |
-
anno::hard_range(int(0), int(3))
|
| 430 |
-
]],
|
| 431 |
-
|
| 432 |
-
|
| 433 |
-
// UVW Adjustments Group //
|
| 434 |
-
|
| 435 |
-
uniform float2 texture_translate = float2(0.0) [[
|
| 436 |
-
anno::display_name("Texture Translate"),
|
| 437 |
-
anno::description("Controls position of texture."),
|
| 438 |
-
anno::in_group("UV"),
|
| 439 |
-
anno::enable_if("project_uvw == true")
|
| 440 |
-
]],
|
| 441 |
-
uniform float texture_rotate = float(0.0) [[
|
| 442 |
-
anno::display_name("Texture Rotate"),
|
| 443 |
-
anno::description("Rotates angle of texture in degrees."),
|
| 444 |
-
anno::in_group("UV"),
|
| 445 |
-
anno::enable_if("project_uvw == true")
|
| 446 |
-
]],
|
| 447 |
-
uniform float2 texture_scale = float2(1.0) [[
|
| 448 |
-
anno::display_name("Texture Tiling"),
|
| 449 |
-
anno::description("Controls repetition of the texture."),
|
| 450 |
-
anno::in_group("UV"),
|
| 451 |
-
anno::enable_if("project_uvw == true")
|
| 452 |
-
]],
|
| 453 |
-
uniform float2 detail_texture_translate = float2(0.0) [[
|
| 454 |
-
anno::display_name("Detail Texture Translate"),
|
| 455 |
-
anno::description("Controls the position of the detail texture."),
|
| 456 |
-
anno::in_group("UV"),
|
| 457 |
-
anno::enable_if("project_uvw == true")
|
| 458 |
-
]],
|
| 459 |
-
uniform float detail_texture_rotate = float(0.0) [[
|
| 460 |
-
anno::display_name("Detail Texture Rotate"),
|
| 461 |
-
anno::description("Rotates angle of the detail texture in degrees."),
|
| 462 |
-
anno::in_group("UV"),
|
| 463 |
-
anno::enable_if("project_uvw == true")
|
| 464 |
-
]],
|
| 465 |
-
uniform float2 detail_texture_scale = float2(1.0) [[
|
| 466 |
-
anno::display_name("Detail Texture Tiling"),
|
| 467 |
-
anno::description("Controls repetition of the detail texture."),
|
| 468 |
-
anno::in_group("UV"),
|
| 469 |
-
anno::enable_if("project_uvw == true")
|
| 470 |
-
]],
|
| 471 |
-
|
| 472 |
-
|
| 473 |
-
// Geometry //
|
| 474 |
-
|
| 475 |
-
uniform float round_edges_radius = float(0.0) [[
|
| 476 |
-
anno::display_name("Round Edge Radius"),
|
| 477 |
-
anno::description("Influence radius around the edges in meters"),
|
| 478 |
-
anno::in_group("Geometry"),
|
| 479 |
-
anno::soft_range(0.0, 1.0)
|
| 480 |
-
]],
|
| 481 |
-
uniform float round_edges_roundness = float(1.0) [[
|
| 482 |
-
anno::display_name("Round Edge Roundness"),
|
| 483 |
-
anno::description("Determines how round the edge will look"),
|
| 484 |
-
anno::in_group("Geometry"),
|
| 485 |
-
anno::hard_range(0.0, 1.0)
|
| 486 |
-
]],
|
| 487 |
-
uniform bool round_edges_across_materials = false [[
|
| 488 |
-
anno::display_name("Round Edge Across Materials"),
|
| 489 |
-
anno::description("Normal smoothing happens only between facets of equal material, \n"
|
| 490 |
-
"\t\tunless this parameter is set true, in which case the smoothing \n"
|
| 491 |
-
"\t\thappens between facets irrespective of their materials"),
|
| 492 |
-
anno::in_group("Geometry")
|
| 493 |
-
]]
|
| 494 |
-
)
|
| 495 |
-
[[
|
| 496 |
-
anno::display_name("OmniPBR ClearCoat "),
|
| 497 |
-
anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."),
|
| 498 |
-
anno::in_group("Base"),
|
| 499 |
-
anno::version( 2, 1, 1),
|
| 500 |
-
anno::author("NVIDIA CORPORATION"),
|
| 501 |
-
anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic"))
|
| 502 |
-
]] = let {
|
| 503 |
-
|
| 504 |
-
// UVW lookup and transformation //
|
| 505 |
-
base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object;
|
| 506 |
-
|
| 507 |
-
base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection(
|
| 508 |
-
coordinate_system: the_system,
|
| 509 |
-
texture_space: uv_space_index,
|
| 510 |
-
projection_type: base::projection_cubic
|
| 511 |
-
) :
|
| 512 |
-
base::coordinate_source(
|
| 513 |
-
coordinate_system: base::texture_coordinate_uvw,
|
| 514 |
-
texture_space: uv_space_index
|
| 515 |
-
);
|
| 516 |
-
|
| 517 |
-
base::texture_coordinate_info transformed_uvw = base::transform_coordinate(
|
| 518 |
-
transform: rotation_translation_scale(
|
| 519 |
-
scaling: float3(texture_scale.x, texture_scale.y, 1.0),
|
| 520 |
-
rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ),
|
| 521 |
-
translation: float3(texture_translate.x, texture_translate.y, 0.0)
|
| 522 |
-
),
|
| 523 |
-
coordinate: uvw
|
| 524 |
-
);
|
| 525 |
-
|
| 526 |
-
base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate(
|
| 527 |
-
transform: rotation_translation_scale(
|
| 528 |
-
scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0),
|
| 529 |
-
rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ),
|
| 530 |
-
translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0)
|
| 531 |
-
),
|
| 532 |
-
coordinate: uvw
|
| 533 |
-
);
|
| 534 |
-
|
| 535 |
-
base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate(
|
| 536 |
-
transform: rotation_translation_scale(
|
| 537 |
-
scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0),
|
| 538 |
-
rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ),
|
| 539 |
-
translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f)
|
| 540 |
-
),
|
| 541 |
-
coordinate: uvw
|
| 542 |
-
);
|
| 543 |
-
|
| 544 |
-
// Normal calculations //
|
| 545 |
-
OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0));
|
| 546 |
-
|
| 547 |
-
OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ?
|
| 548 |
-
OmniPBRBase::tangent_space_normal_roughness_texture(
|
| 549 |
-
texture: normalmap_texture,
|
| 550 |
-
factor: bump_factor,
|
| 551 |
-
uvw: transformed_uvw,
|
| 552 |
-
flip_tangent_u: flip_tangent_u,
|
| 553 |
-
flip_tangent_v: flip_tangent_v // true for dx, false for opengl
|
| 554 |
-
//flip_tangent_v: true
|
| 555 |
-
|
| 556 |
-
) : defaultData;
|
| 557 |
-
float3 the_normal = normal_data.normal;
|
| 558 |
-
|
| 559 |
-
OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ?
|
| 560 |
-
OmniPBRBase::tangent_space_normal_roughness_texture(
|
| 561 |
-
texture: detail_normalmap_texture,
|
| 562 |
-
factor: detail_bump_factor,
|
| 563 |
-
uvw: detail_transformed_uvw,
|
| 564 |
-
flip_tangent_u: flip_tangent_u,
|
| 565 |
-
flip_tangent_v: flip_tangent_v // true for dx, false for opengl
|
| 566 |
-
) : defaultData;
|
| 567 |
-
float3 detail_normal = detail_normal_data.normal;
|
| 568 |
-
|
| 569 |
-
OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ?
|
| 570 |
-
OmniPBRBase::tangent_space_normal_roughness_texture(
|
| 571 |
-
texture: clearcoat_normalmap_texture,
|
| 572 |
-
factor: clearcoat_bump_factor,
|
| 573 |
-
uvw: clearcoat_transformed_uvw,
|
| 574 |
-
flip_tangent_u: flip_tangent_u,
|
| 575 |
-
flip_tangent_v: flip_tangent_v // true for dx, false for opengl
|
| 576 |
-
) : defaultData;
|
| 577 |
-
float3 clearcoat_normal = clearcoat_normal_data.normal;
|
| 578 |
-
|
| 579 |
-
|
| 580 |
-
float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal;
|
| 581 |
-
float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten);
|
| 582 |
-
float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal)
|
| 583 |
-
: flattened_clearcoat_normal;
|
| 584 |
-
|
| 585 |
-
|
| 586 |
-
// ORM Handling //
|
| 587 |
-
|
| 588 |
-
float3 ORM_lookup = tex::lookup_float3(
|
| 589 |
-
tex: ORM_texture,
|
| 590 |
-
coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)
|
| 591 |
-
);
|
| 592 |
-
|
| 593 |
-
|
| 594 |
-
float3 roughness_lookup = tex::lookup_float3(
|
| 595 |
-
tex: reflectionroughness_texture,
|
| 596 |
-
coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)
|
| 597 |
-
);
|
| 598 |
-
|
| 599 |
-
float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x;
|
| 600 |
-
float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence);
|
| 601 |
-
float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)),
|
| 602 |
-
math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y)));
|
| 603 |
-
|
| 604 |
-
float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)),
|
| 605 |
-
math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y)));
|
| 606 |
-
|
| 607 |
-
// Diffuse Color Lookup and AO //
|
| 608 |
-
|
| 609 |
-
base::texture_return base_lookup = base::file_texture(
|
| 610 |
-
texture: diffuse_texture,
|
| 611 |
-
color_offset: color(albedo_add),
|
| 612 |
-
color_scale: color(albedo_brightness),
|
| 613 |
-
mono_source: base::mono_luminance,
|
| 614 |
-
uvw: transformed_uvw,
|
| 615 |
-
clip: false
|
| 616 |
-
);
|
| 617 |
-
|
| 618 |
-
base::texture_return ao_lookup = base::file_texture(
|
| 619 |
-
texture: ao_texture,
|
| 620 |
-
color_offset: color(0.0, 0.0, 0.0),
|
| 621 |
-
color_scale: color(1.0, 1.0, 1.0),
|
| 622 |
-
mono_source: base::mono_average,
|
| 623 |
-
uvw: transformed_uvw,
|
| 624 |
-
clip: false
|
| 625 |
-
);
|
| 626 |
-
|
| 627 |
-
|
| 628 |
-
color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint;
|
| 629 |
-
color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation);
|
| 630 |
-
color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant;
|
| 631 |
-
color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint;
|
| 632 |
-
|
| 633 |
-
color base_color = multiply_colors(
|
| 634 |
-
color_1: tinted_diffuse,
|
| 635 |
-
color_2: ao_color,
|
| 636 |
-
weight: ao_to_diffuse
|
| 637 |
-
).tint;
|
| 638 |
-
|
| 639 |
-
|
| 640 |
-
// Metalness //
|
| 641 |
-
|
| 642 |
-
float3 metallic_lookup = tex::lookup_float3(
|
| 643 |
-
tex: metallic_texture,
|
| 644 |
-
coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)
|
| 645 |
-
);
|
| 646 |
-
|
| 647 |
-
float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x;
|
| 648 |
-
float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence);
|
| 649 |
-
|
| 650 |
-
|
| 651 |
-
// Emission //
|
| 652 |
-
|
| 653 |
-
color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ?
|
| 654 |
-
base::file_texture(
|
| 655 |
-
texture: emissive_color_texture,
|
| 656 |
-
color_offset: color(0.0, 0.0, 0.0),
|
| 657 |
-
color_scale: color(1.0, 1.0, 1.0),
|
| 658 |
-
mono_source: base::mono_average,
|
| 659 |
-
uvw: transformed_uvw,
|
| 660 |
-
clip: false
|
| 661 |
-
).tint : emissive_color;
|
| 662 |
-
|
| 663 |
-
color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ?
|
| 664 |
-
base::file_texture(
|
| 665 |
-
texture: emissive_mask_texture,
|
| 666 |
-
color_offset: color(0.0, 0.0, 0.0),
|
| 667 |
-
color_scale: color(1.0, 1.0, 1.0),
|
| 668 |
-
mono_source: base::mono_average,
|
| 669 |
-
uvw: transformed_uvw,
|
| 670 |
-
clip: false
|
| 671 |
-
).tint : color(1.0);
|
| 672 |
-
|
| 673 |
-
color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0);
|
| 674 |
-
|
| 675 |
-
// Opacity //
|
| 676 |
-
|
| 677 |
-
float opacity_value = enable_opacity_texture ? base::file_texture(
|
| 678 |
-
texture: opacity_texture,
|
| 679 |
-
mono_source: opacity_mode,
|
| 680 |
-
uvw: transformed_uvw
|
| 681 |
-
).mono : opacity_constant;
|
| 682 |
-
|
| 683 |
-
float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0;
|
| 684 |
-
|
| 685 |
-
material base = OmniPBRBase::OmniPBRBase(
|
| 686 |
-
diffuse_reflection_color: base_color,
|
| 687 |
-
specular_reflection_aniso_roughness: reflection_roughness,
|
| 688 |
-
specular_level: specular_level,
|
| 689 |
-
metalness: metallic,
|
| 690 |
-
enable_emission: enable_emission,
|
| 691 |
-
emission_color: final_emission_color,
|
| 692 |
-
emission_intensity: emissive_intensity,
|
| 693 |
-
enable_coat: enable_clearcoat,
|
| 694 |
-
coat_weight: clearcoat_weight,
|
| 695 |
-
coat_color: clearcoat_tint,
|
| 696 |
-
coat_transparency: clearcoat_transparency,
|
| 697 |
-
coat_aniso_roughness: clearcoat_reflection_roughness2,
|
| 698 |
-
coat_ior: clearcoat_ior,
|
| 699 |
-
enable_opacity: enable_opacity,
|
| 700 |
-
geometry_opacity: cutout_opacity,
|
| 701 |
-
clearcoat_geometry_normal: final_clearcoat_normal,
|
| 702 |
-
round_edges_radius: round_edges_radius,
|
| 703 |
-
round_edges_roundness: round_edges_roundness,
|
| 704 |
-
round_edges_across_materials: round_edges_across_materials,
|
| 705 |
-
geometry_normal: diffuse_gloss_normal
|
| 706 |
-
);
|
| 707 |
-
|
| 708 |
-
} in material(
|
| 709 |
-
surface: base.surface,
|
| 710 |
-
geometry: base.geometry
|
| 711 |
-
);
|
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denso_cobottapro1300_cobotta_pro_1300/materials/mdl/aux_definitions.mdl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
denso_cobottapro1300_cobotta_pro_1300/materials/mdl/core_definitions.mdl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
denso_cobottapro1300_cobotta_pro_1300/materials/mdl/license.txt
DELETED
|
@@ -1,73 +0,0 @@
|
|
| 1 |
-
# NVIDIA Omniverse Core Materials Licenses
|
| 2 |
-
|
| 3 |
-
## Primary License
|
| 4 |
-
This project is primarily licensed under the BSD-3-Clause License.
|
| 5 |
-
|
| 6 |
-
```
|
| 7 |
-
Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
| 8 |
-
|
| 9 |
-
Redistribution and use in source and binary forms, with or without
|
| 10 |
-
modification, are permitted provided that the following conditions are met:
|
| 11 |
-
|
| 12 |
-
1. Redistributions of source code must retain the above copyright notice, this
|
| 13 |
-
list of conditions and the following disclaimer.
|
| 14 |
-
|
| 15 |
-
2. Redistributions in binary form must reproduce the above copyright notice,
|
| 16 |
-
this list of conditions and the following disclaimer in the documentation
|
| 17 |
-
and/or other materials provided with the distribution.
|
| 18 |
-
|
| 19 |
-
3. Neither the name of the copyright holder nor the names of its
|
| 20 |
-
contributors may be used to endorse or promote products derived from
|
| 21 |
-
this software without specific prior written permission.
|
| 22 |
-
|
| 23 |
-
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
| 24 |
-
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
| 25 |
-
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
| 26 |
-
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
| 27 |
-
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
| 28 |
-
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
| 29 |
-
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
| 30 |
-
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
| 31 |
-
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
| 32 |
-
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
| 33 |
-
```
|
| 34 |
-
|
| 35 |
-
## Third-Party Licenses
|
| 36 |
-
|
| 37 |
-
### Apache License 2.0
|
| 38 |
-
The following components are licensed under the Apache License 2.0:
|
| 39 |
-
|
| 40 |
-
#### MaterialX Components
|
| 41 |
-
Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project:
|
| 42 |
-
https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE
|
| 43 |
-
|
| 44 |
-
```
|
| 45 |
-
Copyright Contributors to the MaterialX Project
|
| 46 |
-
|
| 47 |
-
Licensed under the Apache License, Version 2.0 (the "License");
|
| 48 |
-
you may not use this file except in compliance with the License.
|
| 49 |
-
You may obtain a copy of the License at
|
| 50 |
-
|
| 51 |
-
http://www.apache.org/licenses/LICENSE-2.0
|
| 52 |
-
|
| 53 |
-
Unless required by applicable law or agreed to in writing, software
|
| 54 |
-
distributed under the License is distributed on an "AS IS" BASIS,
|
| 55 |
-
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 56 |
-
See the License for the specific language governing permissions and
|
| 57 |
-
limitations under the License.
|
| 58 |
-
```
|
| 59 |
-
|
| 60 |
-
## SPDX License Identifiers
|
| 61 |
-
Files in this project use the following SPDX license identifiers:
|
| 62 |
-
- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code
|
| 63 |
-
- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components
|
| 64 |
-
|
| 65 |
-
## License Attribution
|
| 66 |
-
This project contains code from multiple sources:
|
| 67 |
-
1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase
|
| 68 |
-
2. Academy Software Foundation (Apache-2.0) - MaterialX components
|
| 69 |
-
|
| 70 |
-
## License Scope
|
| 71 |
-
- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise
|
| 72 |
-
- Files in `/source/mdl/materialx` are licensed under Apache-2.0
|
| 73 |
-
- All other files are licensed under BSD-3-Clause
|
|
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|
denso_cobottapro1300_cobotta_pro_1300/materials/mdl/support_definitions.mdl
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/mujoco.usda
DELETED
|
@@ -1,263 +0,0 @@
|
|
| 1 |
-
#usda 1.0
|
| 2 |
-
(
|
| 3 |
-
customLayerData = {
|
| 4 |
-
}
|
| 5 |
-
endTimeCode = 0
|
| 6 |
-
metersPerUnit = 1
|
| 7 |
-
startTimeCode = -1
|
| 8 |
-
timeCodesPerSecond = 60
|
| 9 |
-
upAxis = "Z"
|
| 10 |
-
)
|
| 11 |
-
|
| 12 |
-
over "cobotta_pro_1300"
|
| 13 |
-
{
|
| 14 |
-
over "world"
|
| 15 |
-
{
|
| 16 |
-
over "joint_w"
|
| 17 |
-
{
|
| 18 |
-
}
|
| 19 |
-
}
|
| 20 |
-
|
| 21 |
-
over "root_joint"
|
| 22 |
-
{
|
| 23 |
-
}
|
| 24 |
-
|
| 25 |
-
over "base_link"
|
| 26 |
-
{
|
| 27 |
-
over "joint_1" (
|
| 28 |
-
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 29 |
-
)
|
| 30 |
-
{
|
| 31 |
-
}
|
| 32 |
-
|
| 33 |
-
over "visuals"
|
| 34 |
-
{
|
| 35 |
-
}
|
| 36 |
-
|
| 37 |
-
over "collisions"
|
| 38 |
-
{
|
| 39 |
-
}
|
| 40 |
-
}
|
| 41 |
-
|
| 42 |
-
over "J1"
|
| 43 |
-
{
|
| 44 |
-
over "joint_2" (
|
| 45 |
-
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 46 |
-
)
|
| 47 |
-
{
|
| 48 |
-
}
|
| 49 |
-
|
| 50 |
-
over "visuals"
|
| 51 |
-
{
|
| 52 |
-
}
|
| 53 |
-
|
| 54 |
-
over "collisions"
|
| 55 |
-
{
|
| 56 |
-
}
|
| 57 |
-
}
|
| 58 |
-
|
| 59 |
-
over "J2"
|
| 60 |
-
{
|
| 61 |
-
over "joint_3" (
|
| 62 |
-
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 63 |
-
)
|
| 64 |
-
{
|
| 65 |
-
}
|
| 66 |
-
|
| 67 |
-
over "visuals"
|
| 68 |
-
{
|
| 69 |
-
}
|
| 70 |
-
|
| 71 |
-
over "collisions"
|
| 72 |
-
{
|
| 73 |
-
}
|
| 74 |
-
}
|
| 75 |
-
|
| 76 |
-
over "J3"
|
| 77 |
-
{
|
| 78 |
-
over "joint_4" (
|
| 79 |
-
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 80 |
-
)
|
| 81 |
-
{
|
| 82 |
-
}
|
| 83 |
-
|
| 84 |
-
over "visuals"
|
| 85 |
-
{
|
| 86 |
-
}
|
| 87 |
-
|
| 88 |
-
over "collisions"
|
| 89 |
-
{
|
| 90 |
-
}
|
| 91 |
-
}
|
| 92 |
-
|
| 93 |
-
over "J4"
|
| 94 |
-
{
|
| 95 |
-
over "joint_5" (
|
| 96 |
-
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 97 |
-
)
|
| 98 |
-
{
|
| 99 |
-
}
|
| 100 |
-
|
| 101 |
-
over "visuals"
|
| 102 |
-
{
|
| 103 |
-
}
|
| 104 |
-
|
| 105 |
-
over "collisions"
|
| 106 |
-
{
|
| 107 |
-
}
|
| 108 |
-
}
|
| 109 |
-
|
| 110 |
-
over "J5"
|
| 111 |
-
{
|
| 112 |
-
over "joint_6" (
|
| 113 |
-
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 114 |
-
)
|
| 115 |
-
{
|
| 116 |
-
}
|
| 117 |
-
|
| 118 |
-
over "visuals"
|
| 119 |
-
{
|
| 120 |
-
}
|
| 121 |
-
|
| 122 |
-
over "collisions"
|
| 123 |
-
{
|
| 124 |
-
}
|
| 125 |
-
}
|
| 126 |
-
|
| 127 |
-
over "J6"
|
| 128 |
-
{
|
| 129 |
-
over "joint_tcp_fixed"
|
| 130 |
-
{
|
| 131 |
-
}
|
| 132 |
-
|
| 133 |
-
over "visuals"
|
| 134 |
-
{
|
| 135 |
-
}
|
| 136 |
-
|
| 137 |
-
over "collisions"
|
| 138 |
-
{
|
| 139 |
-
}
|
| 140 |
-
}
|
| 141 |
-
|
| 142 |
-
over "onrobot_rg6_base_link"
|
| 143 |
-
{
|
| 144 |
-
over "finger_joint" (
|
| 145 |
-
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 146 |
-
)
|
| 147 |
-
{
|
| 148 |
-
}
|
| 149 |
-
|
| 150 |
-
over "left_inner_knuckle_joint" (
|
| 151 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 152 |
-
)
|
| 153 |
-
{
|
| 154 |
-
}
|
| 155 |
-
|
| 156 |
-
over "right_inner_knuckle_joint" (
|
| 157 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 158 |
-
)
|
| 159 |
-
{
|
| 160 |
-
}
|
| 161 |
-
|
| 162 |
-
over "right_outer_knuckle_joint" (
|
| 163 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 164 |
-
)
|
| 165 |
-
{
|
| 166 |
-
}
|
| 167 |
-
|
| 168 |
-
over "visuals"
|
| 169 |
-
{
|
| 170 |
-
}
|
| 171 |
-
|
| 172 |
-
over "collisions"
|
| 173 |
-
{
|
| 174 |
-
}
|
| 175 |
-
}
|
| 176 |
-
|
| 177 |
-
over "left_outer_knuckle"
|
| 178 |
-
{
|
| 179 |
-
over "left_inner_finger_joint" (
|
| 180 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 181 |
-
)
|
| 182 |
-
{
|
| 183 |
-
}
|
| 184 |
-
|
| 185 |
-
over "visuals"
|
| 186 |
-
{
|
| 187 |
-
}
|
| 188 |
-
|
| 189 |
-
over "collisions"
|
| 190 |
-
{
|
| 191 |
-
}
|
| 192 |
-
}
|
| 193 |
-
|
| 194 |
-
over "left_inner_finger"
|
| 195 |
-
{
|
| 196 |
-
over "visuals"
|
| 197 |
-
{
|
| 198 |
-
}
|
| 199 |
-
|
| 200 |
-
over "collisions"
|
| 201 |
-
{
|
| 202 |
-
}
|
| 203 |
-
}
|
| 204 |
-
|
| 205 |
-
over "left_inner_knuckle"
|
| 206 |
-
{
|
| 207 |
-
over "visuals"
|
| 208 |
-
{
|
| 209 |
-
}
|
| 210 |
-
|
| 211 |
-
over "collisions"
|
| 212 |
-
{
|
| 213 |
-
}
|
| 214 |
-
}
|
| 215 |
-
|
| 216 |
-
over "right_inner_knuckle"
|
| 217 |
-
{
|
| 218 |
-
over "visuals"
|
| 219 |
-
{
|
| 220 |
-
}
|
| 221 |
-
|
| 222 |
-
over "collisions"
|
| 223 |
-
{
|
| 224 |
-
}
|
| 225 |
-
}
|
| 226 |
-
|
| 227 |
-
over "right_outer_knuckle"
|
| 228 |
-
{
|
| 229 |
-
over "right_inner_finger_joint" (
|
| 230 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 231 |
-
)
|
| 232 |
-
{
|
| 233 |
-
}
|
| 234 |
-
|
| 235 |
-
over "visuals"
|
| 236 |
-
{
|
| 237 |
-
}
|
| 238 |
-
|
| 239 |
-
over "collisions"
|
| 240 |
-
{
|
| 241 |
-
}
|
| 242 |
-
}
|
| 243 |
-
|
| 244 |
-
over "right_inner_finger"
|
| 245 |
-
{
|
| 246 |
-
over "visuals"
|
| 247 |
-
{
|
| 248 |
-
}
|
| 249 |
-
|
| 250 |
-
over "collisions"
|
| 251 |
-
{
|
| 252 |
-
}
|
| 253 |
-
}
|
| 254 |
-
|
| 255 |
-
over "Looks"
|
| 256 |
-
{
|
| 257 |
-
}
|
| 258 |
-
|
| 259 |
-
over "VisualMaterials"
|
| 260 |
-
{
|
| 261 |
-
}
|
| 262 |
-
}
|
| 263 |
-
|
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|
denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/physics.usda
DELETED
|
@@ -1,636 +0,0 @@
|
|
| 1 |
-
#usda 1.0
|
| 2 |
-
(
|
| 3 |
-
customLayerData = {
|
| 4 |
-
}
|
| 5 |
-
defaultPrim = "cobotta_pro_1300"
|
| 6 |
-
endTimeCode = 0
|
| 7 |
-
metersPerUnit = 1
|
| 8 |
-
startTimeCode = -1
|
| 9 |
-
timeCodesPerSecond = 60
|
| 10 |
-
upAxis = "Z"
|
| 11 |
-
)
|
| 12 |
-
|
| 13 |
-
def "cobotta_pro_1300" (
|
| 14 |
-
prepend apiSchemas = ["PhysicsArticulationRootAPI"]
|
| 15 |
-
)
|
| 16 |
-
{
|
| 17 |
-
over "world"
|
| 18 |
-
{
|
| 19 |
-
def PhysicsFixedJoint "joint_w"
|
| 20 |
-
{
|
| 21 |
-
custom rel physics:body0 = </cobotta_pro_1300/world>
|
| 22 |
-
custom rel physics:body1 = </cobotta_pro_1300/base_link>
|
| 23 |
-
float physics:breakForce = 3.4028235e38
|
| 24 |
-
float physics:breakTorque = 3.4028235e38
|
| 25 |
-
point3f physics:localPos0 = (0, 0, 0)
|
| 26 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 27 |
-
quatf physics:localRot0 = (1, 0, 0, 0)
|
| 28 |
-
quatf physics:localRot1 = (1, 0, 0, 0)
|
| 29 |
-
}
|
| 30 |
-
}
|
| 31 |
-
|
| 32 |
-
over "base_link" (
|
| 33 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 34 |
-
)
|
| 35 |
-
{
|
| 36 |
-
vector3f physics:angularVelocity = (0, 0, 0)
|
| 37 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 38 |
-
float physics:mass = 1
|
| 39 |
-
vector3f physics:velocity = (0, 0, 0)
|
| 40 |
-
|
| 41 |
-
def PhysicsRevoluteJoint "joint_1" (
|
| 42 |
-
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 43 |
-
)
|
| 44 |
-
{
|
| 45 |
-
float drive:angular:physics:damping = 34.64989
|
| 46 |
-
float drive:angular:physics:maxForce = 60
|
| 47 |
-
float drive:angular:physics:stiffness = 69299.78
|
| 48 |
-
float drive:angular:physics:targetPosition = 0
|
| 49 |
-
uniform token drive:angular:physics:type = "force"
|
| 50 |
-
uniform token physics:axis = "X"
|
| 51 |
-
custom rel physics:body0 = </cobotta_pro_1300/base_link>
|
| 52 |
-
custom rel physics:body1 = </cobotta_pro_1300/J1>
|
| 53 |
-
float physics:breakForce = 3.4028235e38
|
| 54 |
-
float physics:breakTorque = 3.4028235e38
|
| 55 |
-
point3f physics:localPos0 = (0, 0, 0)
|
| 56 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 57 |
-
quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0)
|
| 58 |
-
quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0)
|
| 59 |
-
float physics:lowerLimit = -270
|
| 60 |
-
float physics:upperLimit = 270
|
| 61 |
-
float state:angular:physics:position = 0
|
| 62 |
-
float state:angular:physics:velocity = 0
|
| 63 |
-
}
|
| 64 |
-
|
| 65 |
-
over "collisions" (
|
| 66 |
-
instanceable = false
|
| 67 |
-
)
|
| 68 |
-
{
|
| 69 |
-
over "visuals" (
|
| 70 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 71 |
-
)
|
| 72 |
-
{
|
| 73 |
-
}
|
| 74 |
-
}
|
| 75 |
-
}
|
| 76 |
-
|
| 77 |
-
over "J1" (
|
| 78 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 79 |
-
)
|
| 80 |
-
{
|
| 81 |
-
vector3f physics:angularVelocity = (2.7284708e-10, 1.3249582e-11, 0.0024680665)
|
| 82 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 83 |
-
float physics:mass = 1
|
| 84 |
-
vector3f physics:velocity = (0, 0, 0)
|
| 85 |
-
|
| 86 |
-
def PhysicsRevoluteJoint "joint_2" (
|
| 87 |
-
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 88 |
-
)
|
| 89 |
-
{
|
| 90 |
-
float drive:angular:physics:damping = 39.58488
|
| 91 |
-
float drive:angular:physics:maxForce = 60
|
| 92 |
-
float drive:angular:physics:stiffness = 79169.766
|
| 93 |
-
float drive:angular:physics:targetPosition = 0
|
| 94 |
-
uniform token drive:angular:physics:type = "force"
|
| 95 |
-
uniform token physics:axis = "X"
|
| 96 |
-
custom rel physics:body0 = </cobotta_pro_1300/J1>
|
| 97 |
-
custom rel physics:body1 = </cobotta_pro_1300/J2>
|
| 98 |
-
float physics:breakForce = 3.4028235e38
|
| 99 |
-
float physics:breakTorque = 3.4028235e38
|
| 100 |
-
point3f physics:localPos0 = (0, 0, 0.22)
|
| 101 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 102 |
-
quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677)
|
| 103 |
-
quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677)
|
| 104 |
-
float physics:lowerLimit = -149.99998
|
| 105 |
-
float physics:upperLimit = 149.99998
|
| 106 |
-
float state:angular:physics:position = 0
|
| 107 |
-
float state:angular:physics:velocity = 0
|
| 108 |
-
}
|
| 109 |
-
|
| 110 |
-
over "collisions" (
|
| 111 |
-
instanceable = false
|
| 112 |
-
)
|
| 113 |
-
{
|
| 114 |
-
over "visuals_1" (
|
| 115 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 116 |
-
)
|
| 117 |
-
{
|
| 118 |
-
}
|
| 119 |
-
}
|
| 120 |
-
}
|
| 121 |
-
|
| 122 |
-
over "J2" (
|
| 123 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 124 |
-
)
|
| 125 |
-
{
|
| 126 |
-
vector3f physics:angularVelocity = (1.3822823e-7, 0.021232193, 0.0024680672)
|
| 127 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 128 |
-
float physics:mass = 1
|
| 129 |
-
vector3f physics:velocity = (-7.386821e-13, -1.3974331e-12, 8.916391e-20)
|
| 130 |
-
|
| 131 |
-
def PhysicsRevoluteJoint "joint_3" (
|
| 132 |
-
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 133 |
-
)
|
| 134 |
-
{
|
| 135 |
-
float drive:angular:physics:damping = 268.9445
|
| 136 |
-
float drive:angular:physics:maxForce = 60
|
| 137 |
-
float drive:angular:physics:stiffness = 537889
|
| 138 |
-
float drive:angular:physics:targetPosition = 0
|
| 139 |
-
uniform token drive:angular:physics:type = "force"
|
| 140 |
-
uniform token physics:axis = "X"
|
| 141 |
-
custom rel physics:body0 = </cobotta_pro_1300/J2>
|
| 142 |
-
custom rel physics:body1 = </cobotta_pro_1300/J3>
|
| 143 |
-
float physics:breakForce = 3.4028235e38
|
| 144 |
-
float physics:breakTorque = 3.4028235e38
|
| 145 |
-
point3f physics:localPos0 = (0, 0, 0.71)
|
| 146 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 147 |
-
quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677)
|
| 148 |
-
quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677)
|
| 149 |
-
float physics:lowerLimit = -149.99998
|
| 150 |
-
float physics:upperLimit = 149.99998
|
| 151 |
-
float state:angular:physics:position = 0
|
| 152 |
-
float state:angular:physics:velocity = 0
|
| 153 |
-
}
|
| 154 |
-
|
| 155 |
-
over "collisions" (
|
| 156 |
-
instanceable = false
|
| 157 |
-
)
|
| 158 |
-
{
|
| 159 |
-
over "visuals_2" (
|
| 160 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 161 |
-
)
|
| 162 |
-
{
|
| 163 |
-
}
|
| 164 |
-
}
|
| 165 |
-
}
|
| 166 |
-
|
| 167 |
-
over "J3" (
|
| 168 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 169 |
-
)
|
| 170 |
-
{
|
| 171 |
-
vector3f physics:angularVelocity = (2.4390482e-7, 0.037161797, 0.0024680665)
|
| 172 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 173 |
-
float physics:mass = 1
|
| 174 |
-
vector3f physics:velocity = (0.000263106, -2.6250608e-9, 7.529916e-9)
|
| 175 |
-
|
| 176 |
-
def PhysicsRevoluteJoint "joint_4" (
|
| 177 |
-
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 178 |
-
)
|
| 179 |
-
{
|
| 180 |
-
float drive:angular:physics:damping = 51.470253
|
| 181 |
-
float drive:angular:physics:maxForce = 60
|
| 182 |
-
float drive:angular:physics:stiffness = 102940.5
|
| 183 |
-
float drive:angular:physics:targetPosition = 0
|
| 184 |
-
uniform token drive:angular:physics:type = "force"
|
| 185 |
-
uniform token physics:axis = "X"
|
| 186 |
-
custom rel physics:body0 = </cobotta_pro_1300/J3>
|
| 187 |
-
custom rel physics:body1 = </cobotta_pro_1300/J4>
|
| 188 |
-
float physics:breakForce = 3.4028235e38
|
| 189 |
-
float physics:breakTorque = 3.4028235e38
|
| 190 |
-
point3f physics:localPos0 = (0, -0.05, -0.93)
|
| 191 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 192 |
-
quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0)
|
| 193 |
-
quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0)
|
| 194 |
-
float physics:lowerLimit = -270
|
| 195 |
-
float physics:upperLimit = 270
|
| 196 |
-
float state:angular:physics:position = 0
|
| 197 |
-
float state:angular:physics:velocity = 0
|
| 198 |
-
}
|
| 199 |
-
|
| 200 |
-
over "collisions" (
|
| 201 |
-
instanceable = false
|
| 202 |
-
)
|
| 203 |
-
{
|
| 204 |
-
over "visuals_3" (
|
| 205 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 206 |
-
)
|
| 207 |
-
{
|
| 208 |
-
}
|
| 209 |
-
}
|
| 210 |
-
}
|
| 211 |
-
|
| 212 |
-
over "J4" (
|
| 213 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 214 |
-
)
|
| 215 |
-
{
|
| 216 |
-
vector3f physics:angularVelocity = (-4.0471058e-9, 0.037161797, 0.007137848)
|
| 217 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 218 |
-
float physics:mass = 1
|
| 219 |
-
vector3f physics:velocity = (-0.00033793465, 3.4636507e-9, -2.3572937e-8)
|
| 220 |
-
|
| 221 |
-
def PhysicsRevoluteJoint "joint_5" (
|
| 222 |
-
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 223 |
-
)
|
| 224 |
-
{
|
| 225 |
-
float drive:angular:physics:damping = 39.90229
|
| 226 |
-
float drive:angular:physics:maxForce = 60
|
| 227 |
-
float drive:angular:physics:stiffness = 79804.58
|
| 228 |
-
float drive:angular:physics:targetPosition = 0
|
| 229 |
-
uniform token drive:angular:physics:type = "force"
|
| 230 |
-
uniform token physics:axis = "X"
|
| 231 |
-
custom rel physics:body0 = </cobotta_pro_1300/J4>
|
| 232 |
-
custom rel physics:body1 = </cobotta_pro_1300/J5>
|
| 233 |
-
float physics:breakForce = 3.4028235e38
|
| 234 |
-
float physics:breakTorque = 3.4028235e38
|
| 235 |
-
point3f physics:localPos0 = (0, 0.05, 1.52)
|
| 236 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 237 |
-
quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677)
|
| 238 |
-
quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677)
|
| 239 |
-
float physics:lowerLimit = -149.99998
|
| 240 |
-
float physics:upperLimit = 149.99998
|
| 241 |
-
float state:angular:physics:position = 0
|
| 242 |
-
float state:angular:physics:velocity = 0
|
| 243 |
-
}
|
| 244 |
-
|
| 245 |
-
over "collisions" (
|
| 246 |
-
instanceable = false
|
| 247 |
-
)
|
| 248 |
-
{
|
| 249 |
-
over "visuals_4" (
|
| 250 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 251 |
-
)
|
| 252 |
-
{
|
| 253 |
-
}
|
| 254 |
-
}
|
| 255 |
-
}
|
| 256 |
-
|
| 257 |
-
over "J5" (
|
| 258 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 259 |
-
)
|
| 260 |
-
{
|
| 261 |
-
vector3f physics:angularVelocity = (2.240541e-8, 0.038610484, 0.007137848)
|
| 262 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 263 |
-
float physics:mass = 1
|
| 264 |
-
vector3f physics:velocity = (0.0006417024, -6.425707e-9, 2.6624393e-8)
|
| 265 |
-
|
| 266 |
-
def PhysicsRevoluteJoint "joint_6" (
|
| 267 |
-
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 268 |
-
)
|
| 269 |
-
{
|
| 270 |
-
float drive:angular:physics:damping = 35.397015
|
| 271 |
-
float drive:angular:physics:maxForce = 60
|
| 272 |
-
float drive:angular:physics:stiffness = 70794.03
|
| 273 |
-
float drive:angular:physics:targetPosition = 0
|
| 274 |
-
uniform token drive:angular:physics:type = "force"
|
| 275 |
-
uniform token physics:axis = "X"
|
| 276 |
-
custom rel physics:body0 = </cobotta_pro_1300/J5>
|
| 277 |
-
custom rel physics:body1 = </cobotta_pro_1300/J6>
|
| 278 |
-
float physics:breakForce = 3.4028235e38
|
| 279 |
-
float physics:breakTorque = 3.4028235e38
|
| 280 |
-
point3f physics:localPos0 = (0, 0.1, 0.16)
|
| 281 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 282 |
-
quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0)
|
| 283 |
-
quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0)
|
| 284 |
-
float physics:lowerLimit = -360
|
| 285 |
-
float physics:upperLimit = 360
|
| 286 |
-
float state:angular:physics:position = 0
|
| 287 |
-
float state:angular:physics:velocity = 0
|
| 288 |
-
}
|
| 289 |
-
|
| 290 |
-
over "collisions" (
|
| 291 |
-
instanceable = false
|
| 292 |
-
)
|
| 293 |
-
{
|
| 294 |
-
over "visuals_5" (
|
| 295 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 296 |
-
)
|
| 297 |
-
{
|
| 298 |
-
}
|
| 299 |
-
}
|
| 300 |
-
}
|
| 301 |
-
|
| 302 |
-
over "J6" (
|
| 303 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 304 |
-
)
|
| 305 |
-
{
|
| 306 |
-
vector3f physics:angularVelocity = (2.340288e-8, 0.038610484, 0.007120195)
|
| 307 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 308 |
-
float physics:mass = 1
|
| 309 |
-
vector3f physics:velocity = (0.00073706516, -7.3689295e-9, 3.123826e-8)
|
| 310 |
-
|
| 311 |
-
def PhysicsFixedJoint "joint_tcp_fixed"
|
| 312 |
-
{
|
| 313 |
-
custom rel physics:body0 = </cobotta_pro_1300/J6>
|
| 314 |
-
custom rel physics:body1 = </cobotta_pro_1300/onrobot_rg6_base_link>
|
| 315 |
-
float physics:breakForce = 3.4028235e38
|
| 316 |
-
float physics:breakTorque = 3.4028235e38
|
| 317 |
-
point3f physics:localPos0 = (0, 0, 0)
|
| 318 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 319 |
-
quatf physics:localRot0 = (1, 0, 0, 0)
|
| 320 |
-
quatf physics:localRot1 = (1, 0, 0, 0)
|
| 321 |
-
}
|
| 322 |
-
|
| 323 |
-
over "collisions" (
|
| 324 |
-
instanceable = false
|
| 325 |
-
)
|
| 326 |
-
{
|
| 327 |
-
over "visuals_6" (
|
| 328 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 329 |
-
)
|
| 330 |
-
{
|
| 331 |
-
}
|
| 332 |
-
}
|
| 333 |
-
}
|
| 334 |
-
|
| 335 |
-
over "onrobot_rg6_base_link" (
|
| 336 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 337 |
-
)
|
| 338 |
-
{
|
| 339 |
-
vector3f physics:angularVelocity = (2.340288e-8, 0.038610484, 0.007120195)
|
| 340 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 341 |
-
float physics:mass = 0.7
|
| 342 |
-
vector3f physics:velocity = (0.00073706516, -7.3689295e-9, 3.123826e-8)
|
| 343 |
-
|
| 344 |
-
def PhysicsRevoluteJoint "finger_joint" (
|
| 345 |
-
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
| 346 |
-
)
|
| 347 |
-
{
|
| 348 |
-
float drive:angular:physics:damping = 34.559498
|
| 349 |
-
float drive:angular:physics:maxForce = 60000
|
| 350 |
-
float drive:angular:physics:stiffness = 69119
|
| 351 |
-
float drive:angular:physics:targetPosition = 0
|
| 352 |
-
uniform token drive:angular:physics:type = "force"
|
| 353 |
-
uniform token physics:axis = "X"
|
| 354 |
-
custom rel physics:body0 = </cobotta_pro_1300/onrobot_rg6_base_link>
|
| 355 |
-
custom rel physics:body1 = </cobotta_pro_1300/left_outer_knuckle>
|
| 356 |
-
float physics:breakForce = 3.4028235e38
|
| 357 |
-
float physics:breakTorque = 3.4028235e38
|
| 358 |
-
point3f physics:localPos0 = (0, -0.024112, 0.136813)
|
| 359 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 360 |
-
quatf physics:localRot0 = (-4.371139e-8, 0, 1, 0)
|
| 361 |
-
quatf physics:localRot1 = (-4.371139e-8, 0, 1, 0)
|
| 362 |
-
float physics:lowerLimit = -36.000027
|
| 363 |
-
float physics:upperLimit = 36.000027
|
| 364 |
-
float state:angular:physics:position = 0
|
| 365 |
-
float state:angular:physics:velocity = 0
|
| 366 |
-
}
|
| 367 |
-
|
| 368 |
-
def PhysicsRevoluteJoint "left_inner_knuckle_joint" (
|
| 369 |
-
prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 370 |
-
)
|
| 371 |
-
{
|
| 372 |
-
float drive:angular:physics:damping = 17.453293
|
| 373 |
-
float drive:angular:physics:maxForce = 60000
|
| 374 |
-
float drive:angular:physics:stiffness = 174.53294
|
| 375 |
-
float drive:angular:physics:targetPosition = 0
|
| 376 |
-
uniform token drive:angular:physics:type = "force"
|
| 377 |
-
uniform token physics:axis = "X"
|
| 378 |
-
custom rel physics:body0 = </cobotta_pro_1300/onrobot_rg6_base_link>
|
| 379 |
-
custom rel physics:body1 = </cobotta_pro_1300/left_inner_knuckle>
|
| 380 |
-
float physics:breakForce = 3.4028235e38
|
| 381 |
-
float physics:breakTorque = 3.4028235e38
|
| 382 |
-
point3f physics:localPos0 = (0, -0.01272, 0.1595)
|
| 383 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 384 |
-
quatf physics:localRot0 = (1, 0, 0, 0)
|
| 385 |
-
quatf physics:localRot1 = (1, 0, 0, 0)
|
| 386 |
-
float physics:lowerLimit = -36.000027
|
| 387 |
-
float physics:upperLimit = 36.000027
|
| 388 |
-
}
|
| 389 |
-
|
| 390 |
-
def PhysicsRevoluteJoint "right_inner_knuckle_joint" (
|
| 391 |
-
prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 392 |
-
)
|
| 393 |
-
{
|
| 394 |
-
float drive:angular:physics:damping = 17.453293
|
| 395 |
-
float drive:angular:physics:maxForce = 60000
|
| 396 |
-
float drive:angular:physics:stiffness = 174.53294
|
| 397 |
-
float drive:angular:physics:targetPosition = 0
|
| 398 |
-
uniform token drive:angular:physics:type = "force"
|
| 399 |
-
uniform token physics:axis = "X"
|
| 400 |
-
custom rel physics:body0 = </cobotta_pro_1300/onrobot_rg6_base_link>
|
| 401 |
-
custom rel physics:body1 = </cobotta_pro_1300/right_inner_knuckle>
|
| 402 |
-
float physics:breakForce = 3.4028235e38
|
| 403 |
-
float physics:breakTorque = 3.4028235e38
|
| 404 |
-
point3f physics:localPos0 = (0, 0.01272, 0.1595)
|
| 405 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 406 |
-
quatf physics:localRot0 = (-4.371139e-8, 0, -0, -1)
|
| 407 |
-
quatf physics:localRot1 = (1, 0, 0, 0)
|
| 408 |
-
float physics:lowerLimit = -36.000027
|
| 409 |
-
float physics:upperLimit = 36.000027
|
| 410 |
-
}
|
| 411 |
-
|
| 412 |
-
def PhysicsRevoluteJoint "right_outer_knuckle_joint" (
|
| 413 |
-
prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 414 |
-
)
|
| 415 |
-
{
|
| 416 |
-
float drive:angular:physics:damping = 17.453293
|
| 417 |
-
float drive:angular:physics:maxForce = 60000
|
| 418 |
-
float drive:angular:physics:stiffness = 174.53294
|
| 419 |
-
float drive:angular:physics:targetPosition = 0
|
| 420 |
-
uniform token drive:angular:physics:type = "force"
|
| 421 |
-
uniform token physics:axis = "X"
|
| 422 |
-
custom rel physics:body0 = </cobotta_pro_1300/onrobot_rg6_base_link>
|
| 423 |
-
custom rel physics:body1 = </cobotta_pro_1300/right_outer_knuckle>
|
| 424 |
-
float physics:breakForce = 3.4028235e38
|
| 425 |
-
float physics:breakTorque = 3.4028235e38
|
| 426 |
-
point3f physics:localPos0 = (0, 0.024112, 0.136813)
|
| 427 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 428 |
-
quatf physics:localRot0 = (-4.371139e-8, 0, 0, 1)
|
| 429 |
-
quatf physics:localRot1 = (1, 0, 0, 0)
|
| 430 |
-
float physics:lowerLimit = -36.000027
|
| 431 |
-
float physics:upperLimit = 36.000027
|
| 432 |
-
}
|
| 433 |
-
|
| 434 |
-
over "collisions" (
|
| 435 |
-
instanceable = false
|
| 436 |
-
)
|
| 437 |
-
{
|
| 438 |
-
over "collisions" (
|
| 439 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 440 |
-
)
|
| 441 |
-
{
|
| 442 |
-
}
|
| 443 |
-
}
|
| 444 |
-
}
|
| 445 |
-
|
| 446 |
-
over "left_outer_knuckle" (
|
| 447 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 448 |
-
)
|
| 449 |
-
{
|
| 450 |
-
vector3f physics:angularVelocity = (-0.001196937, 0.038610496, 0.007120128)
|
| 451 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 452 |
-
float physics:mass = 0.05
|
| 453 |
-
vector3f physics:velocity = (0.00083225704, -8.424632e-9, 3.646527e-8)
|
| 454 |
-
|
| 455 |
-
def PhysicsRevoluteJoint "left_inner_finger_joint" (
|
| 456 |
-
prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 457 |
-
)
|
| 458 |
-
{
|
| 459 |
-
float drive:angular:physics:damping = 17.453293
|
| 460 |
-
float drive:angular:physics:maxForce = 60000
|
| 461 |
-
float drive:angular:physics:stiffness = 174.53294
|
| 462 |
-
float drive:angular:physics:targetPosition = 0
|
| 463 |
-
uniform token drive:angular:physics:type = "force"
|
| 464 |
-
uniform token physics:axis = "X"
|
| 465 |
-
custom rel physics:body0 = </cobotta_pro_1300/left_outer_knuckle>
|
| 466 |
-
custom rel physics:body1 = </cobotta_pro_1300/left_inner_finger>
|
| 467 |
-
float physics:breakForce = 3.4028235e38
|
| 468 |
-
float physics:breakTorque = 3.4028235e38
|
| 469 |
-
point3f physics:localPos0 = (0, -0.047335, 0.064495)
|
| 470 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 471 |
-
quatf physics:localRot0 = (1, 0, 0, 0)
|
| 472 |
-
quatf physics:localRot1 = (1, 0, 0, 0)
|
| 473 |
-
float physics:lowerLimit = -50.00002
|
| 474 |
-
float physics:upperLimit = 50.00002
|
| 475 |
-
}
|
| 476 |
-
|
| 477 |
-
over "collisions" (
|
| 478 |
-
instanceable = false
|
| 479 |
-
)
|
| 480 |
-
{
|
| 481 |
-
over "collisions_1" (
|
| 482 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 483 |
-
)
|
| 484 |
-
{
|
| 485 |
-
}
|
| 486 |
-
}
|
| 487 |
-
}
|
| 488 |
-
|
| 489 |
-
over "left_inner_finger" (
|
| 490 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 491 |
-
)
|
| 492 |
-
{
|
| 493 |
-
vector3f physics:angularVelocity = (-0.0011964187, 0.038610496, 0.007120128)
|
| 494 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 495 |
-
float physics:mass = 0.05
|
| 496 |
-
vector3f physics:velocity = (0.00088160136, 0.0000013370804, 0.0000010263208)
|
| 497 |
-
|
| 498 |
-
over "collisions" (
|
| 499 |
-
instanceable = false
|
| 500 |
-
)
|
| 501 |
-
{
|
| 502 |
-
over "collisions_2" (
|
| 503 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 504 |
-
)
|
| 505 |
-
{
|
| 506 |
-
}
|
| 507 |
-
}
|
| 508 |
-
}
|
| 509 |
-
|
| 510 |
-
over "left_inner_knuckle" (
|
| 511 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 512 |
-
)
|
| 513 |
-
{
|
| 514 |
-
vector3f physics:angularVelocity = (-5.212868e-8, 0.038610484, 0.007120195)
|
| 515 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 516 |
-
float physics:mass = 0.05
|
| 517 |
-
vector3f physics:velocity = (0.0008461299, -8.564809e-9, 3.7152468e-8)
|
| 518 |
-
|
| 519 |
-
over "collisions" (
|
| 520 |
-
instanceable = false
|
| 521 |
-
)
|
| 522 |
-
{
|
| 523 |
-
over "collisions_3" (
|
| 524 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 525 |
-
)
|
| 526 |
-
{
|
| 527 |
-
}
|
| 528 |
-
}
|
| 529 |
-
}
|
| 530 |
-
|
| 531 |
-
over "right_inner_knuckle" (
|
| 532 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 533 |
-
)
|
| 534 |
-
{
|
| 535 |
-
vector3f physics:angularVelocity = (-5.489869e-8, 0.038610484, 0.007120195)
|
| 536 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 537 |
-
float physics:mass = 0.05
|
| 538 |
-
vector3f physics:velocity = (0.00084296835, -8.507107e-9, 3.6855397e-8)
|
| 539 |
-
|
| 540 |
-
over "collisions" (
|
| 541 |
-
instanceable = false
|
| 542 |
-
)
|
| 543 |
-
{
|
| 544 |
-
over "collisions_3" (
|
| 545 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 546 |
-
)
|
| 547 |
-
{
|
| 548 |
-
}
|
| 549 |
-
}
|
| 550 |
-
}
|
| 551 |
-
|
| 552 |
-
over "right_outer_knuckle" (
|
| 553 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 554 |
-
)
|
| 555 |
-
{
|
| 556 |
-
vector3f physics:angularVelocity = (0.001199663, 0.038610462, 0.007120268)
|
| 557 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 558 |
-
float physics:mass = 0.05
|
| 559 |
-
vector3f physics:velocity = (0.0008262645, -8.315263e-9, 3.5902207e-8)
|
| 560 |
-
|
| 561 |
-
def PhysicsRevoluteJoint "right_inner_finger_joint" (
|
| 562 |
-
prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 563 |
-
)
|
| 564 |
-
{
|
| 565 |
-
float drive:angular:physics:damping = 17.453293
|
| 566 |
-
float drive:angular:physics:maxForce = 60000
|
| 567 |
-
float drive:angular:physics:stiffness = 174.53294
|
| 568 |
-
float drive:angular:physics:targetPosition = 0
|
| 569 |
-
uniform token drive:angular:physics:type = "force"
|
| 570 |
-
uniform token physics:axis = "X"
|
| 571 |
-
custom rel physics:body0 = </cobotta_pro_1300/right_outer_knuckle>
|
| 572 |
-
custom rel physics:body1 = </cobotta_pro_1300/right_inner_finger>
|
| 573 |
-
float physics:breakForce = 3.4028235e38
|
| 574 |
-
float physics:breakTorque = 3.4028235e38
|
| 575 |
-
point3f physics:localPos0 = (0, -0.047335, 0.064495)
|
| 576 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 577 |
-
quatf physics:localRot0 = (1, 0, 0, 0)
|
| 578 |
-
quatf physics:localRot1 = (1, 0, 0, 0)
|
| 579 |
-
float physics:lowerLimit = -50.00002
|
| 580 |
-
float physics:upperLimit = 50.00002
|
| 581 |
-
}
|
| 582 |
-
|
| 583 |
-
over "collisions" (
|
| 584 |
-
instanceable = false
|
| 585 |
-
)
|
| 586 |
-
{
|
| 587 |
-
over "collisions_1" (
|
| 588 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 589 |
-
)
|
| 590 |
-
{
|
| 591 |
-
}
|
| 592 |
-
}
|
| 593 |
-
}
|
| 594 |
-
|
| 595 |
-
over "right_inner_finger" (
|
| 596 |
-
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
| 597 |
-
)
|
| 598 |
-
{
|
| 599 |
-
vector3f physics:angularVelocity = (0.0011995977, 0.038610462, 0.007120268)
|
| 600 |
-
point3f physics:centerOfMass = (0, 0, 0)
|
| 601 |
-
float physics:mass = 0.05
|
| 602 |
-
vector3f physics:velocity = (0.00086384354, -0.0000013692552, 0.0000010280687)
|
| 603 |
-
|
| 604 |
-
over "collisions" (
|
| 605 |
-
instanceable = false
|
| 606 |
-
)
|
| 607 |
-
{
|
| 608 |
-
over "collisions_2" (
|
| 609 |
-
prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 610 |
-
)
|
| 611 |
-
{
|
| 612 |
-
}
|
| 613 |
-
}
|
| 614 |
-
}
|
| 615 |
-
|
| 616 |
-
def PhysicsFixedJoint "root_joint"
|
| 617 |
-
{
|
| 618 |
-
custom rel physics:body1 = </cobotta_pro_1300/world>
|
| 619 |
-
}
|
| 620 |
-
|
| 621 |
-
def PhysicsFixedJoint "__fixed_base_joint"
|
| 622 |
-
{
|
| 623 |
-
rel physics:body1 = </cobotta_pro_1300/base_link>
|
| 624 |
-
point3f physics:localPos0 = (0, 0, 0)
|
| 625 |
-
point3f physics:localPos1 = (0, 0, 0)
|
| 626 |
-
quatf physics:localRot0 = (1, 0, 0, 0)
|
| 627 |
-
quatf physics:localRot1 = (1, 0, 0, 0)
|
| 628 |
-
}
|
| 629 |
-
}
|
| 630 |
-
|
| 631 |
-
def PhysicsScene "physicsScene"
|
| 632 |
-
{
|
| 633 |
-
vector3f physics:gravityDirection = (0, 0, -1)
|
| 634 |
-
float physics:gravityMagnitude = 9.81
|
| 635 |
-
}
|
| 636 |
-
|
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|
denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/physx.usda
DELETED
|
@@ -1,165 +0,0 @@
|
|
| 1 |
-
#usda 1.0
|
| 2 |
-
(
|
| 3 |
-
customLayerData = {
|
| 4 |
-
}
|
| 5 |
-
defaultPrim = "cobotta_pro_1300"
|
| 6 |
-
endTimeCode = 0
|
| 7 |
-
metersPerUnit = 1
|
| 8 |
-
startTimeCode = -1
|
| 9 |
-
subLayers = [
|
| 10 |
-
@./physics.usda@
|
| 11 |
-
]
|
| 12 |
-
timeCodesPerSecond = 60
|
| 13 |
-
upAxis = "Z"
|
| 14 |
-
)
|
| 15 |
-
|
| 16 |
-
over "cobotta_pro_1300" (
|
| 17 |
-
prepend apiSchemas = ["PhysxArticulationAPI"]
|
| 18 |
-
)
|
| 19 |
-
{
|
| 20 |
-
bool physxArticulation:enabledSelfCollisions = 0
|
| 21 |
-
int physxArticulation:solverPositionIterationCount = 32
|
| 22 |
-
int physxArticulation:solverVelocityIterationCount = 16
|
| 23 |
-
|
| 24 |
-
over "base_link"
|
| 25 |
-
{
|
| 26 |
-
over "joint_1" (
|
| 27 |
-
prepend apiSchemas = ["PhysxJointAPI"]
|
| 28 |
-
)
|
| 29 |
-
{
|
| 30 |
-
float physxJoint:jointFriction = 0
|
| 31 |
-
float physxJoint:maxJointVelocity = 57.29578
|
| 32 |
-
}
|
| 33 |
-
}
|
| 34 |
-
|
| 35 |
-
over "J1"
|
| 36 |
-
{
|
| 37 |
-
over "joint_2" (
|
| 38 |
-
prepend apiSchemas = ["PhysxJointAPI"]
|
| 39 |
-
)
|
| 40 |
-
{
|
| 41 |
-
float physxJoint:jointFriction = 0
|
| 42 |
-
float physxJoint:maxJointVelocity = 57.29578
|
| 43 |
-
}
|
| 44 |
-
}
|
| 45 |
-
|
| 46 |
-
over "J2"
|
| 47 |
-
{
|
| 48 |
-
over "joint_3" (
|
| 49 |
-
prepend apiSchemas = ["PhysxJointAPI"]
|
| 50 |
-
)
|
| 51 |
-
{
|
| 52 |
-
float physxJoint:jointFriction = 0
|
| 53 |
-
float physxJoint:maxJointVelocity = 57.29578
|
| 54 |
-
}
|
| 55 |
-
}
|
| 56 |
-
|
| 57 |
-
over "J3"
|
| 58 |
-
{
|
| 59 |
-
over "joint_4" (
|
| 60 |
-
prepend apiSchemas = ["PhysxJointAPI"]
|
| 61 |
-
)
|
| 62 |
-
{
|
| 63 |
-
float physxJoint:jointFriction = 0
|
| 64 |
-
float physxJoint:maxJointVelocity = 57.29578
|
| 65 |
-
}
|
| 66 |
-
}
|
| 67 |
-
|
| 68 |
-
over "J4"
|
| 69 |
-
{
|
| 70 |
-
over "joint_5" (
|
| 71 |
-
prepend apiSchemas = ["PhysxJointAPI"]
|
| 72 |
-
)
|
| 73 |
-
{
|
| 74 |
-
float physxJoint:jointFriction = 0
|
| 75 |
-
float physxJoint:maxJointVelocity = 57.29578
|
| 76 |
-
}
|
| 77 |
-
}
|
| 78 |
-
|
| 79 |
-
over "J5"
|
| 80 |
-
{
|
| 81 |
-
over "joint_6" (
|
| 82 |
-
prepend apiSchemas = ["PhysxJointAPI"]
|
| 83 |
-
)
|
| 84 |
-
{
|
| 85 |
-
float physxJoint:jointFriction = 0
|
| 86 |
-
float physxJoint:maxJointVelocity = 57.29578
|
| 87 |
-
}
|
| 88 |
-
}
|
| 89 |
-
|
| 90 |
-
over "onrobot_rg6_base_link"
|
| 91 |
-
{
|
| 92 |
-
over "finger_joint" (
|
| 93 |
-
prepend apiSchemas = ["PhysxJointAPI"]
|
| 94 |
-
)
|
| 95 |
-
{
|
| 96 |
-
float physxJoint:jointFriction = 0
|
| 97 |
-
float physxJoint:maxJointVelocity = 114.59156
|
| 98 |
-
}
|
| 99 |
-
|
| 100 |
-
over "left_inner_knuckle_joint" (
|
| 101 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
|
| 102 |
-
)
|
| 103 |
-
{
|
| 104 |
-
float physxJoint:jointFriction = 0
|
| 105 |
-
float physxJoint:maxJointVelocity = 114.59156
|
| 106 |
-
rel physxMimicJoint:rotX:referenceJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 107 |
-
}
|
| 108 |
-
|
| 109 |
-
over "right_inner_knuckle_joint" (
|
| 110 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
|
| 111 |
-
)
|
| 112 |
-
{
|
| 113 |
-
float physxJoint:jointFriction = 0
|
| 114 |
-
float physxJoint:maxJointVelocity = 114.59156
|
| 115 |
-
rel physxMimicJoint:rotX:referenceJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 116 |
-
}
|
| 117 |
-
|
| 118 |
-
over "right_outer_knuckle_joint" (
|
| 119 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
|
| 120 |
-
)
|
| 121 |
-
{
|
| 122 |
-
float physxJoint:jointFriction = 0
|
| 123 |
-
float physxJoint:maxJointVelocity = 114.59156
|
| 124 |
-
rel physxMimicJoint:rotX:referenceJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 125 |
-
}
|
| 126 |
-
}
|
| 127 |
-
|
| 128 |
-
over "left_outer_knuckle"
|
| 129 |
-
{
|
| 130 |
-
over "left_inner_finger_joint" (
|
| 131 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
|
| 132 |
-
)
|
| 133 |
-
{
|
| 134 |
-
float physxJoint:jointFriction = 0
|
| 135 |
-
float physxJoint:maxJointVelocity = 114.59156
|
| 136 |
-
float physxMimicJoint:rotX:gearing = -1
|
| 137 |
-
rel physxMimicJoint:rotX:referenceJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 138 |
-
}
|
| 139 |
-
}
|
| 140 |
-
|
| 141 |
-
over "right_outer_knuckle"
|
| 142 |
-
{
|
| 143 |
-
over "right_inner_finger_joint" (
|
| 144 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
|
| 145 |
-
)
|
| 146 |
-
{
|
| 147 |
-
float physxJoint:jointFriction = 0
|
| 148 |
-
float physxJoint:maxJointVelocity = 114.59156
|
| 149 |
-
float physxMimicJoint:rotX:gearing = -1
|
| 150 |
-
rel physxMimicJoint:rotX:referenceJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 151 |
-
}
|
| 152 |
-
}
|
| 153 |
-
}
|
| 154 |
-
|
| 155 |
-
over "physicsScene" (
|
| 156 |
-
prepend apiSchemas = ["PhysxSceneAPI"]
|
| 157 |
-
)
|
| 158 |
-
{
|
| 159 |
-
uniform token physxScene:broadphaseType = "MBP"
|
| 160 |
-
bool physxScene:enableCCD = 1
|
| 161 |
-
bool physxScene:enableGPUDynamics = 0
|
| 162 |
-
bool physxScene:enableStabilization = 1
|
| 163 |
-
uniform token physxScene:solverType = "TGS"
|
| 164 |
-
}
|
| 165 |
-
|
|
|
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|
denso_cobottapro1300_cobotta_pro_1300/payloads/base.usda
DELETED
|
@@ -1,459 +0,0 @@
|
|
| 1 |
-
#usda 1.0
|
| 2 |
-
(
|
| 3 |
-
customLayerData = {
|
| 4 |
-
}
|
| 5 |
-
defaultPrim = "cobotta_pro_1300"
|
| 6 |
-
endTimeCode = 0
|
| 7 |
-
metersPerUnit = 1
|
| 8 |
-
startTimeCode = -1
|
| 9 |
-
subLayers = [
|
| 10 |
-
@./robot.usda@
|
| 11 |
-
]
|
| 12 |
-
timeCodesPerSecond = 60
|
| 13 |
-
upAxis = "Z"
|
| 14 |
-
)
|
| 15 |
-
|
| 16 |
-
def Xform "cobotta_pro_1300"
|
| 17 |
-
{
|
| 18 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 19 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 20 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 21 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 22 |
-
|
| 23 |
-
def Xform "world"
|
| 24 |
-
{
|
| 25 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 26 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 27 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 28 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 29 |
-
}
|
| 30 |
-
|
| 31 |
-
def Xform "base_link"
|
| 32 |
-
{
|
| 33 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 34 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 35 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 36 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 37 |
-
|
| 38 |
-
def Xform "visuals" (
|
| 39 |
-
instanceable = true
|
| 40 |
-
prepend references = @./instances.usda@</Instances/visuals>
|
| 41 |
-
)
|
| 42 |
-
{
|
| 43 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 44 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 45 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 46 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 47 |
-
}
|
| 48 |
-
|
| 49 |
-
def Xform "collisions" (
|
| 50 |
-
instanceable = true
|
| 51 |
-
prepend references = @./instances.usda@</Instances/visuals_1>
|
| 52 |
-
)
|
| 53 |
-
{
|
| 54 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 55 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 56 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 57 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 58 |
-
}
|
| 59 |
-
}
|
| 60 |
-
|
| 61 |
-
def Xform "J1"
|
| 62 |
-
{
|
| 63 |
-
quatd xformOp:orient = (0.9999999999948294, -7.052017952314611e-9, -1.0404821663993073e-8, -0.0000032157620238250975)
|
| 64 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 65 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 66 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 67 |
-
|
| 68 |
-
def Xform "visuals" (
|
| 69 |
-
instanceable = true
|
| 70 |
-
prepend references = @./instances.usda@</Instances/visuals_1_1>
|
| 71 |
-
)
|
| 72 |
-
{
|
| 73 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 74 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 75 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 76 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 77 |
-
}
|
| 78 |
-
|
| 79 |
-
def Xform "collisions" (
|
| 80 |
-
instanceable = true
|
| 81 |
-
prepend references = @./instances.usda@</Instances/visuals_1_2>
|
| 82 |
-
)
|
| 83 |
-
{
|
| 84 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 85 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 86 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 87 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 88 |
-
}
|
| 89 |
-
}
|
| 90 |
-
|
| 91 |
-
def Xform "J2"
|
| 92 |
-
{
|
| 93 |
-
quatd xformOp:orient = (0.9999999998747489, -2.418892400202836e-8, -0.000015477957322150874, -0.0000033067412350193337)
|
| 94 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 95 |
-
double3 xformOp:translate = (-4.605681169778109e-9, 1.2517162417680083e-8, 0.22000013291835785)
|
| 96 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 97 |
-
|
| 98 |
-
def Xform "visuals" (
|
| 99 |
-
instanceable = true
|
| 100 |
-
prepend references = @./instances.usda@</Instances/visuals_2>
|
| 101 |
-
)
|
| 102 |
-
{
|
| 103 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 104 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 105 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 106 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 107 |
-
}
|
| 108 |
-
|
| 109 |
-
def Xform "collisions" (
|
| 110 |
-
instanceable = true
|
| 111 |
-
prepend references = @./instances.usda@</Instances/visuals_2_1>
|
| 112 |
-
)
|
| 113 |
-
{
|
| 114 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 115 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 116 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 117 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 118 |
-
}
|
| 119 |
-
}
|
| 120 |
-
|
| 121 |
-
def Xform "J3"
|
| 122 |
-
{
|
| 123 |
-
quatd xformOp:orient = (0.9999999996092371, -1.899593551825981e-8, -0.00002776598821438609, -0.0000032519640985473014)
|
| 124 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 125 |
-
double3 xformOp:translate = (-0.00002198357105953619, 3.381866520157928e-8, 0.9300004243850708)
|
| 126 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 127 |
-
|
| 128 |
-
def Xform "visuals" (
|
| 129 |
-
instanceable = true
|
| 130 |
-
prepend references = @./instances.usda@</Instances/visuals_3>
|
| 131 |
-
)
|
| 132 |
-
{
|
| 133 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 134 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 135 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 136 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 137 |
-
}
|
| 138 |
-
|
| 139 |
-
def Xform "collisions" (
|
| 140 |
-
instanceable = true
|
| 141 |
-
prepend references = @./instances.usda@</Instances/visuals_3_1>
|
| 142 |
-
)
|
| 143 |
-
{
|
| 144 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 145 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 146 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 147 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 148 |
-
}
|
| 149 |
-
}
|
| 150 |
-
|
| 151 |
-
def Xform "J4"
|
| 152 |
-
{
|
| 153 |
-
quatd xformOp:orient = (0.9999999995726505, -2.6432238709821734e-8, -0.00002774595951691296, -0.000009211949299615985)
|
| 154 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 155 |
-
double3 xformOp:translate = (0.00002933601354015991, -0.05000003054738045, -5.960464477539063e-8)
|
| 156 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 157 |
-
|
| 158 |
-
def Xform "visuals" (
|
| 159 |
-
instanceable = true
|
| 160 |
-
prepend references = @./instances.usda@</Instances/visuals_4>
|
| 161 |
-
)
|
| 162 |
-
{
|
| 163 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 164 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 165 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 166 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 167 |
-
}
|
| 168 |
-
|
| 169 |
-
def Xform "collisions" (
|
| 170 |
-
instanceable = true
|
| 171 |
-
prepend references = @./instances.usda@</Instances/visuals_4_1>
|
| 172 |
-
)
|
| 173 |
-
{
|
| 174 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 175 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 176 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 177 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 178 |
-
}
|
| 179 |
-
}
|
| 180 |
-
|
| 181 |
-
def Xform "J5"
|
| 182 |
-
{
|
| 183 |
-
quatd xformOp:orient = (0.9999999995408136, -2.889856807784052e-8, -0.000028867131849083755, -0.000009222828995550733)
|
| 184 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 185 |
-
double3 xformOp:translate = (-0.000054090298363007605, 7.078051567077637e-8, 1.52000093460083)
|
| 186 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 187 |
-
|
| 188 |
-
def Xform "visuals" (
|
| 189 |
-
instanceable = true
|
| 190 |
-
prepend references = @./instances.usda@</Instances/visuals_5>
|
| 191 |
-
)
|
| 192 |
-
{
|
| 193 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 194 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 195 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 196 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 197 |
-
}
|
| 198 |
-
|
| 199 |
-
def Xform "collisions" (
|
| 200 |
-
instanceable = true
|
| 201 |
-
prepend references = @./instances.usda@</Instances/visuals_5_1>
|
| 202 |
-
)
|
| 203 |
-
{
|
| 204 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 205 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 206 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 207 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 208 |
-
}
|
| 209 |
-
}
|
| 210 |
-
|
| 211 |
-
def Xform "J6"
|
| 212 |
-
{
|
| 213 |
-
quatd xformOp:orient = (0.9999999995403356, -1.136140905345604e-8, -0.000028886107850985295, -0.000009215285085595104)
|
| 214 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 215 |
-
double3 xformOp:translate = (-0.00006148754619061947, 0.10000008344650269, 1.680000901222229)
|
| 216 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 217 |
-
|
| 218 |
-
def Xform "visuals" (
|
| 219 |
-
instanceable = true
|
| 220 |
-
prepend references = @./instances.usda@</Instances/visuals_6>
|
| 221 |
-
)
|
| 222 |
-
{
|
| 223 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 224 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 225 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 226 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 227 |
-
}
|
| 228 |
-
|
| 229 |
-
def Xform "collisions" (
|
| 230 |
-
instanceable = true
|
| 231 |
-
prepend references = @./instances.usda@</Instances/visuals_6_1>
|
| 232 |
-
)
|
| 233 |
-
{
|
| 234 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 235 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 236 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 237 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 238 |
-
}
|
| 239 |
-
}
|
| 240 |
-
|
| 241 |
-
def Xform "onrobot_rg6_base_link"
|
| 242 |
-
{
|
| 243 |
-
quatd xformOp:orient = (0.9999999995403256, -1.1342423323897838e-8, -0.000028886022293307436, -0.000009216637483571476)
|
| 244 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 245 |
-
double3 xformOp:translate = (-0.00006148754619061947, 0.10000008344650269, 1.680000901222229)
|
| 246 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 247 |
-
|
| 248 |
-
def Xform "visuals" (
|
| 249 |
-
instanceable = true
|
| 250 |
-
prepend references = @./instances.usda@</Instances/visuals_7>
|
| 251 |
-
)
|
| 252 |
-
{
|
| 253 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 254 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 255 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 256 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 257 |
-
}
|
| 258 |
-
|
| 259 |
-
def Xform "collisions" (
|
| 260 |
-
instanceable = true
|
| 261 |
-
prepend references = @./instances.usda@</Instances/collisions>
|
| 262 |
-
)
|
| 263 |
-
{
|
| 264 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 265 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 266 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 267 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
|
| 271 |
-
def Xform "left_outer_knuckle"
|
| 272 |
-
{
|
| 273 |
-
quatd xformOp:orient = (0.9999999995398013, 0.0000010257464658199549, -0.000028886603726100275, -0.000009214623327444102)
|
| 274 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 275 |
-
double3 xformOp:translate = (-0.00006983580533415079, 0.07588805258274078, 1.8168139457702637)
|
| 276 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 277 |
-
|
| 278 |
-
def Xform "visuals" (
|
| 279 |
-
instanceable = true
|
| 280 |
-
prepend references = @./instances.usda@</Instances/visuals_8>
|
| 281 |
-
)
|
| 282 |
-
{
|
| 283 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 284 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 285 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 286 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 287 |
-
}
|
| 288 |
-
|
| 289 |
-
def Xform "collisions" (
|
| 290 |
-
instanceable = true
|
| 291 |
-
prepend references = @./instances.usda@</Instances/collisions_1>
|
| 292 |
-
)
|
| 293 |
-
{
|
| 294 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 295 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 296 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 297 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 298 |
-
}
|
| 299 |
-
}
|
| 300 |
-
|
| 301 |
-
def Xform "left_inner_finger"
|
| 302 |
-
{
|
| 303 |
-
quatd xformOp:orient = (0.9999999995397958, 0.0000010533368724648935, -0.000028886137278159124, -0.000009213575338502534)
|
| 304 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 305 |
-
double3 xformOp:translate = (-0.00007443419599439949, 0.028552912175655365, 1.881308913230896)
|
| 306 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 307 |
-
|
| 308 |
-
def Xform "visuals" (
|
| 309 |
-
instanceable = true
|
| 310 |
-
prepend references = @./instances.usda@</Instances/visuals_9>
|
| 311 |
-
)
|
| 312 |
-
{
|
| 313 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 314 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 315 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 316 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 317 |
-
}
|
| 318 |
-
|
| 319 |
-
def Xform "collisions" (
|
| 320 |
-
instanceable = true
|
| 321 |
-
prepend references = @./instances.usda@</Instances/collisions_2>
|
| 322 |
-
)
|
| 323 |
-
{
|
| 324 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 325 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 326 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 327 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 328 |
-
}
|
| 329 |
-
}
|
| 330 |
-
|
| 331 |
-
def Xform "left_inner_knuckle"
|
| 332 |
-
{
|
| 333 |
-
quatd xformOp:orient = (0.9999999995403277, 1.0431733613448901e-8, -0.000028885958944821105, -0.000009216608229340531)
|
| 334 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 335 |
-
double3 xformOp:translate = (-0.00007093654130585492, 0.08728008717298508, 1.839500904083252)
|
| 336 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 337 |
-
|
| 338 |
-
def Xform "visuals" (
|
| 339 |
-
instanceable = true
|
| 340 |
-
prepend references = @./instances.usda@</Instances/visuals_10>
|
| 341 |
-
)
|
| 342 |
-
{
|
| 343 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 344 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 345 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 346 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 347 |
-
}
|
| 348 |
-
|
| 349 |
-
def Xform "collisions" (
|
| 350 |
-
instanceable = true
|
| 351 |
-
prepend references = @./instances.usda@</Instances/collisions_3>
|
| 352 |
-
)
|
| 353 |
-
{
|
| 354 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 355 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 356 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 357 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 358 |
-
}
|
| 359 |
-
}
|
| 360 |
-
|
| 361 |
-
def Xform "right_inner_knuckle"
|
| 362 |
-
{
|
| 363 |
-
quatd xformOp:orient = (0.000009260489592639516, -0.00002888610468779683, 7.175805191191092e-8, 0.9999999995399156)
|
| 364 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 365 |
-
double3 xformOp:translate = (-0.0000704677077010274, 0.11272010207176208, 1.839500904083252)
|
| 366 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 367 |
-
|
| 368 |
-
def Xform "visuals" (
|
| 369 |
-
instanceable = true
|
| 370 |
-
prepend references = @./instances.usda@</Instances/visuals_10>
|
| 371 |
-
)
|
| 372 |
-
{
|
| 373 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 374 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 375 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 376 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 377 |
-
}
|
| 378 |
-
|
| 379 |
-
def Xform "collisions" (
|
| 380 |
-
instanceable = true
|
| 381 |
-
prepend references = @./instances.usda@</Instances/collisions_3>
|
| 382 |
-
)
|
| 383 |
-
{
|
| 384 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 385 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 386 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 387 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 388 |
-
}
|
| 389 |
-
}
|
| 390 |
-
|
| 391 |
-
def Xform "right_outer_knuckle"
|
| 392 |
-
{
|
| 393 |
-
quatd xformOp:orient = (0.000009172592744398964, -0.0000288856646869084, 0.0000010546644818803616, 0.9999999995401849)
|
| 394 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 395 |
-
double3 xformOp:translate = (-0.00006894697435200214, 0.12411211431026459, 1.8168139457702637)
|
| 396 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 397 |
-
|
| 398 |
-
def Xform "visuals" (
|
| 399 |
-
instanceable = true
|
| 400 |
-
prepend references = @./instances.usda@</Instances/visuals_8>
|
| 401 |
-
)
|
| 402 |
-
{
|
| 403 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 404 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 405 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 406 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 407 |
-
}
|
| 408 |
-
|
| 409 |
-
def Xform "collisions" (
|
| 410 |
-
instanceable = true
|
| 411 |
-
prepend references = @./instances.usda@</Instances/collisions_1>
|
| 412 |
-
)
|
| 413 |
-
{
|
| 414 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 415 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 416 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 417 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 418 |
-
}
|
| 419 |
-
}
|
| 420 |
-
|
| 421 |
-
def Xform "right_inner_finger"
|
| 422 |
-
{
|
| 423 |
-
quatd xformOp:orient = (0.000009174458669813063, -0.000028884969638417244, 0.0000010599105730435762, 0.9999999995401821)
|
| 424 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 425 |
-
double3 xformOp:translate = (-0.00007180427201092243, 0.1714472621679306, 1.881308913230896)
|
| 426 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 427 |
-
|
| 428 |
-
def Xform "visuals" (
|
| 429 |
-
instanceable = true
|
| 430 |
-
prepend references = @./instances.usda@</Instances/visuals_9>
|
| 431 |
-
)
|
| 432 |
-
{
|
| 433 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 434 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 435 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 436 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 437 |
-
}
|
| 438 |
-
|
| 439 |
-
def Xform "collisions" (
|
| 440 |
-
instanceable = true
|
| 441 |
-
prepend references = @./instances.usda@</Instances/collisions_2>
|
| 442 |
-
)
|
| 443 |
-
{
|
| 444 |
-
quatd xformOp:orient = (1, 0, 0, 0)
|
| 445 |
-
double3 xformOp:scale = (1, 1, 1)
|
| 446 |
-
double3 xformOp:translate = (0, 0, 0)
|
| 447 |
-
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 448 |
-
}
|
| 449 |
-
}
|
| 450 |
-
|
| 451 |
-
def Scope "Looks"
|
| 452 |
-
{
|
| 453 |
-
}
|
| 454 |
-
|
| 455 |
-
def Scope "VisualMaterials"
|
| 456 |
-
{
|
| 457 |
-
}
|
| 458 |
-
}
|
| 459 |
-
|
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|
denso_cobottapro1300_cobotta_pro_1300/payloads/geometries.usd
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:8a0634585ea290a5eb751ad85757271b2288837959cbb9b436e23d0c60387401
|
| 3 |
-
size 3993003
|
|
|
|
|
|
|
|
|
|
|
|
denso_cobottapro1300_cobotta_pro_1300/payloads/instances.usda
DELETED
|
@@ -1,696 +0,0 @@
|
|
| 1 |
-
#usda 1.0
|
| 2 |
-
(
|
| 3 |
-
customLayerData = {
|
| 4 |
-
}
|
| 5 |
-
endTimeCode = 0
|
| 6 |
-
metersPerUnit = 1
|
| 7 |
-
startTimeCode = -1
|
| 8 |
-
timeCodesPerSecond = 60
|
| 9 |
-
upAxis = "Z"
|
| 10 |
-
)
|
| 11 |
-
|
| 12 |
-
def Scope "Instances"
|
| 13 |
-
{
|
| 14 |
-
def Xform "visuals" (
|
| 15 |
-
prepend references = @./geometries.usd@</Geometries/visuals>
|
| 16 |
-
)
|
| 17 |
-
{
|
| 18 |
-
over "visuals" (
|
| 19 |
-
apiSchemas = ["MaterialBindingAPI"]
|
| 20 |
-
)
|
| 21 |
-
{
|
| 22 |
-
custom rel material:binding
|
| 23 |
-
prepend rel material:binding = </Instances/visuals/VisualMaterials/material_blinn20>
|
| 24 |
-
color3f[] primvars:displayColor = [(0.752941, 0.752941, 0.752941)] (
|
| 25 |
-
colorSpace = "lin_rec709_scene"
|
| 26 |
-
customData = {
|
| 27 |
-
dictionary simready = {
|
| 28 |
-
string displayColorSource = "material_blinn20: UsdPreviewSurface diffuseColor constant"
|
| 29 |
-
}
|
| 30 |
-
}
|
| 31 |
-
interpolation = "constant"
|
| 32 |
-
)
|
| 33 |
-
}
|
| 34 |
-
|
| 35 |
-
def Scope "VisualMaterials"
|
| 36 |
-
{
|
| 37 |
-
def Material "material_blinn20" (
|
| 38 |
-
instanceable = true
|
| 39 |
-
prepend references = @./materials.usda@</Materials/material_blinn20>
|
| 40 |
-
)
|
| 41 |
-
{
|
| 42 |
-
token outputs:surface.connect = </Instances/visuals/VisualMaterials/material_blinn20/SimReadyPreviewSurface.outputs:surface>
|
| 43 |
-
|
| 44 |
-
def Shader "SimReadyPreviewSurface"
|
| 45 |
-
{
|
| 46 |
-
token info:id = "UsdPreviewSurface"
|
| 47 |
-
color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941)
|
| 48 |
-
float inputs:metallic = 0
|
| 49 |
-
float inputs:opacity = 1
|
| 50 |
-
float inputs:roughness = 0.5
|
| 51 |
-
token outputs:surface
|
| 52 |
-
}
|
| 53 |
-
|
| 54 |
-
def Shader "SimReadyUV"
|
| 55 |
-
{
|
| 56 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 57 |
-
string inputs:varname = "st"
|
| 58 |
-
float2 outputs:result
|
| 59 |
-
}
|
| 60 |
-
}
|
| 61 |
-
}
|
| 62 |
-
}
|
| 63 |
-
|
| 64 |
-
def Xform "visuals_1" (
|
| 65 |
-
prepend references = @./geometries.usd@</Geometries/visuals>
|
| 66 |
-
)
|
| 67 |
-
{
|
| 68 |
-
over "visuals" (
|
| 69 |
-
apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 70 |
-
)
|
| 71 |
-
{
|
| 72 |
-
token purpose = "guide"
|
| 73 |
-
}
|
| 74 |
-
}
|
| 75 |
-
|
| 76 |
-
def Xform "visuals_1_1" (
|
| 77 |
-
prepend references = @./geometries.usd@</Geometries/visuals_1>
|
| 78 |
-
)
|
| 79 |
-
{
|
| 80 |
-
over "visuals_1" (
|
| 81 |
-
apiSchemas = ["MaterialBindingAPI"]
|
| 82 |
-
)
|
| 83 |
-
{
|
| 84 |
-
custom rel material:binding
|
| 85 |
-
prepend rel material:binding = </Instances/visuals_1_1/VisualMaterials/material_blinn20>
|
| 86 |
-
color3f[] primvars:displayColor = [(0.752941, 0.752941, 0.752941)] (
|
| 87 |
-
colorSpace = "lin_rec709_scene"
|
| 88 |
-
customData = {
|
| 89 |
-
dictionary simready = {
|
| 90 |
-
string displayColorSource = "material_blinn20: UsdPreviewSurface diffuseColor constant"
|
| 91 |
-
}
|
| 92 |
-
}
|
| 93 |
-
interpolation = "constant"
|
| 94 |
-
)
|
| 95 |
-
}
|
| 96 |
-
|
| 97 |
-
def Scope "VisualMaterials"
|
| 98 |
-
{
|
| 99 |
-
def Material "material_blinn20" (
|
| 100 |
-
instanceable = true
|
| 101 |
-
prepend references = @./materials.usda@</Materials/material_blinn20>
|
| 102 |
-
)
|
| 103 |
-
{
|
| 104 |
-
token outputs:surface.connect = </Instances/visuals_1_1/VisualMaterials/material_blinn20/SimReadyPreviewSurface.outputs:surface>
|
| 105 |
-
|
| 106 |
-
def Shader "SimReadyPreviewSurface"
|
| 107 |
-
{
|
| 108 |
-
token info:id = "UsdPreviewSurface"
|
| 109 |
-
color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941)
|
| 110 |
-
float inputs:metallic = 0
|
| 111 |
-
float inputs:opacity = 1
|
| 112 |
-
float inputs:roughness = 0.5
|
| 113 |
-
token outputs:surface
|
| 114 |
-
}
|
| 115 |
-
|
| 116 |
-
def Shader "SimReadyUV"
|
| 117 |
-
{
|
| 118 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 119 |
-
string inputs:varname = "st"
|
| 120 |
-
float2 outputs:result
|
| 121 |
-
}
|
| 122 |
-
}
|
| 123 |
-
}
|
| 124 |
-
}
|
| 125 |
-
|
| 126 |
-
def Xform "visuals_1_2" (
|
| 127 |
-
prepend references = @./geometries.usd@</Geometries/visuals_1>
|
| 128 |
-
)
|
| 129 |
-
{
|
| 130 |
-
over "visuals_1" (
|
| 131 |
-
apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 132 |
-
)
|
| 133 |
-
{
|
| 134 |
-
token purpose = "guide"
|
| 135 |
-
}
|
| 136 |
-
}
|
| 137 |
-
|
| 138 |
-
def Xform "visuals_2" (
|
| 139 |
-
prepend references = @./geometries.usd@</Geometries/visuals_2>
|
| 140 |
-
)
|
| 141 |
-
{
|
| 142 |
-
over "visuals_2" (
|
| 143 |
-
apiSchemas = ["MaterialBindingAPI"]
|
| 144 |
-
)
|
| 145 |
-
{
|
| 146 |
-
custom rel material:binding
|
| 147 |
-
prepend rel material:binding = </Instances/visuals_2/VisualMaterials/material_blinn20_1>
|
| 148 |
-
color3f[] primvars:displayColor = [(1, 1, 1)] (
|
| 149 |
-
colorSpace = "lin_rec709_scene"
|
| 150 |
-
customData = {
|
| 151 |
-
dictionary simready = {
|
| 152 |
-
string displayColorSource = "material_blinn20_1: UsdPreviewSurface diffuseColor constant"
|
| 153 |
-
}
|
| 154 |
-
}
|
| 155 |
-
interpolation = "constant"
|
| 156 |
-
)
|
| 157 |
-
}
|
| 158 |
-
|
| 159 |
-
def Scope "VisualMaterials"
|
| 160 |
-
{
|
| 161 |
-
def Material "material_blinn20_1" (
|
| 162 |
-
instanceable = true
|
| 163 |
-
prepend references = @./materials.usda@</Materials/material_blinn20_1>
|
| 164 |
-
)
|
| 165 |
-
{
|
| 166 |
-
token outputs:surface.connect = </Instances/visuals_2/VisualMaterials/material_blinn20_1/SimReadyPreviewSurface.outputs:surface>
|
| 167 |
-
|
| 168 |
-
def Shader "SimReadyPreviewSurface"
|
| 169 |
-
{
|
| 170 |
-
token info:id = "UsdPreviewSurface"
|
| 171 |
-
color3f inputs:diffuseColor = (1, 1, 1)
|
| 172 |
-
float inputs:metallic = 0
|
| 173 |
-
float inputs:opacity = 1
|
| 174 |
-
float inputs:roughness = 0.5
|
| 175 |
-
token outputs:surface
|
| 176 |
-
}
|
| 177 |
-
|
| 178 |
-
def Shader "SimReadyUV"
|
| 179 |
-
{
|
| 180 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 181 |
-
string inputs:varname = "st"
|
| 182 |
-
float2 outputs:result
|
| 183 |
-
}
|
| 184 |
-
}
|
| 185 |
-
}
|
| 186 |
-
}
|
| 187 |
-
|
| 188 |
-
def Xform "visuals_2_1" (
|
| 189 |
-
prepend references = @./geometries.usd@</Geometries/visuals_2>
|
| 190 |
-
)
|
| 191 |
-
{
|
| 192 |
-
over "visuals_2" (
|
| 193 |
-
apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 194 |
-
)
|
| 195 |
-
{
|
| 196 |
-
token purpose = "guide"
|
| 197 |
-
}
|
| 198 |
-
}
|
| 199 |
-
|
| 200 |
-
def Xform "visuals_3" (
|
| 201 |
-
prepend references = @./geometries.usd@</Geometries/visuals_3>
|
| 202 |
-
)
|
| 203 |
-
{
|
| 204 |
-
over "visuals_3" (
|
| 205 |
-
apiSchemas = ["MaterialBindingAPI"]
|
| 206 |
-
)
|
| 207 |
-
{
|
| 208 |
-
custom rel material:binding
|
| 209 |
-
prepend rel material:binding = </Instances/visuals_3/VisualMaterials/material_blinn20_1>
|
| 210 |
-
color3f[] primvars:displayColor = [(1, 1, 1)] (
|
| 211 |
-
colorSpace = "lin_rec709_scene"
|
| 212 |
-
customData = {
|
| 213 |
-
dictionary simready = {
|
| 214 |
-
string displayColorSource = "material_blinn20_1: UsdPreviewSurface diffuseColor constant"
|
| 215 |
-
}
|
| 216 |
-
}
|
| 217 |
-
interpolation = "constant"
|
| 218 |
-
)
|
| 219 |
-
}
|
| 220 |
-
|
| 221 |
-
def Scope "VisualMaterials"
|
| 222 |
-
{
|
| 223 |
-
def Material "material_blinn20_1" (
|
| 224 |
-
instanceable = true
|
| 225 |
-
prepend references = @./materials.usda@</Materials/material_blinn20_1>
|
| 226 |
-
)
|
| 227 |
-
{
|
| 228 |
-
token outputs:surface.connect = </Instances/visuals_3/VisualMaterials/material_blinn20_1/SimReadyPreviewSurface.outputs:surface>
|
| 229 |
-
|
| 230 |
-
def Shader "SimReadyPreviewSurface"
|
| 231 |
-
{
|
| 232 |
-
token info:id = "UsdPreviewSurface"
|
| 233 |
-
color3f inputs:diffuseColor = (1, 1, 1)
|
| 234 |
-
float inputs:metallic = 0
|
| 235 |
-
float inputs:opacity = 1
|
| 236 |
-
float inputs:roughness = 0.5
|
| 237 |
-
token outputs:surface
|
| 238 |
-
}
|
| 239 |
-
|
| 240 |
-
def Shader "SimReadyUV"
|
| 241 |
-
{
|
| 242 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 243 |
-
string inputs:varname = "st"
|
| 244 |
-
float2 outputs:result
|
| 245 |
-
}
|
| 246 |
-
}
|
| 247 |
-
}
|
| 248 |
-
}
|
| 249 |
-
|
| 250 |
-
def Xform "visuals_3_1" (
|
| 251 |
-
prepend references = @./geometries.usd@</Geometries/visuals_3>
|
| 252 |
-
)
|
| 253 |
-
{
|
| 254 |
-
over "visuals_3" (
|
| 255 |
-
apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 256 |
-
)
|
| 257 |
-
{
|
| 258 |
-
token purpose = "guide"
|
| 259 |
-
}
|
| 260 |
-
}
|
| 261 |
-
|
| 262 |
-
def Xform "visuals_4" (
|
| 263 |
-
prepend references = @./geometries.usd@</Geometries/visuals_4>
|
| 264 |
-
)
|
| 265 |
-
{
|
| 266 |
-
over "visuals_4" (
|
| 267 |
-
apiSchemas = ["MaterialBindingAPI"]
|
| 268 |
-
)
|
| 269 |
-
{
|
| 270 |
-
custom rel material:binding
|
| 271 |
-
prepend rel material:binding = </Instances/visuals_4/VisualMaterials/material_blinn20>
|
| 272 |
-
color3f[] primvars:displayColor = [(0.752941, 0.752941, 0.752941)] (
|
| 273 |
-
colorSpace = "lin_rec709_scene"
|
| 274 |
-
customData = {
|
| 275 |
-
dictionary simready = {
|
| 276 |
-
string displayColorSource = "material_blinn20: UsdPreviewSurface diffuseColor constant"
|
| 277 |
-
}
|
| 278 |
-
}
|
| 279 |
-
interpolation = "constant"
|
| 280 |
-
)
|
| 281 |
-
}
|
| 282 |
-
|
| 283 |
-
def Scope "VisualMaterials"
|
| 284 |
-
{
|
| 285 |
-
def Material "material_blinn20" (
|
| 286 |
-
instanceable = true
|
| 287 |
-
prepend references = @./materials.usda@</Materials/material_blinn20>
|
| 288 |
-
)
|
| 289 |
-
{
|
| 290 |
-
token outputs:surface.connect = </Instances/visuals_4/VisualMaterials/material_blinn20/SimReadyPreviewSurface.outputs:surface>
|
| 291 |
-
|
| 292 |
-
def Shader "SimReadyPreviewSurface"
|
| 293 |
-
{
|
| 294 |
-
token info:id = "UsdPreviewSurface"
|
| 295 |
-
color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941)
|
| 296 |
-
float inputs:metallic = 0
|
| 297 |
-
float inputs:opacity = 1
|
| 298 |
-
float inputs:roughness = 0.5
|
| 299 |
-
token outputs:surface
|
| 300 |
-
}
|
| 301 |
-
|
| 302 |
-
def Shader "SimReadyUV"
|
| 303 |
-
{
|
| 304 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 305 |
-
string inputs:varname = "st"
|
| 306 |
-
float2 outputs:result
|
| 307 |
-
}
|
| 308 |
-
}
|
| 309 |
-
}
|
| 310 |
-
}
|
| 311 |
-
|
| 312 |
-
def Xform "visuals_4_1" (
|
| 313 |
-
prepend references = @./geometries.usd@</Geometries/visuals_4>
|
| 314 |
-
)
|
| 315 |
-
{
|
| 316 |
-
over "visuals_4" (
|
| 317 |
-
apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 318 |
-
)
|
| 319 |
-
{
|
| 320 |
-
token purpose = "guide"
|
| 321 |
-
}
|
| 322 |
-
}
|
| 323 |
-
|
| 324 |
-
def Xform "visuals_5" (
|
| 325 |
-
prepend references = @./geometries.usd@</Geometries/visuals_5>
|
| 326 |
-
)
|
| 327 |
-
{
|
| 328 |
-
over "visuals_5" (
|
| 329 |
-
apiSchemas = ["MaterialBindingAPI"]
|
| 330 |
-
)
|
| 331 |
-
{
|
| 332 |
-
custom rel material:binding
|
| 333 |
-
prepend rel material:binding = </Instances/visuals_5/VisualMaterials/material_blinn20>
|
| 334 |
-
color3f[] primvars:displayColor = [(0.752941, 0.752941, 0.752941)] (
|
| 335 |
-
colorSpace = "lin_rec709_scene"
|
| 336 |
-
customData = {
|
| 337 |
-
dictionary simready = {
|
| 338 |
-
string displayColorSource = "material_blinn20: UsdPreviewSurface diffuseColor constant"
|
| 339 |
-
}
|
| 340 |
-
}
|
| 341 |
-
interpolation = "constant"
|
| 342 |
-
)
|
| 343 |
-
}
|
| 344 |
-
|
| 345 |
-
def Scope "VisualMaterials"
|
| 346 |
-
{
|
| 347 |
-
def Material "material_blinn20" (
|
| 348 |
-
instanceable = true
|
| 349 |
-
prepend references = @./materials.usda@</Materials/material_blinn20>
|
| 350 |
-
)
|
| 351 |
-
{
|
| 352 |
-
token outputs:surface.connect = </Instances/visuals_5/VisualMaterials/material_blinn20/SimReadyPreviewSurface.outputs:surface>
|
| 353 |
-
|
| 354 |
-
def Shader "SimReadyPreviewSurface"
|
| 355 |
-
{
|
| 356 |
-
token info:id = "UsdPreviewSurface"
|
| 357 |
-
color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941)
|
| 358 |
-
float inputs:metallic = 0
|
| 359 |
-
float inputs:opacity = 1
|
| 360 |
-
float inputs:roughness = 0.5
|
| 361 |
-
token outputs:surface
|
| 362 |
-
}
|
| 363 |
-
|
| 364 |
-
def Shader "SimReadyUV"
|
| 365 |
-
{
|
| 366 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 367 |
-
string inputs:varname = "st"
|
| 368 |
-
float2 outputs:result
|
| 369 |
-
}
|
| 370 |
-
}
|
| 371 |
-
}
|
| 372 |
-
}
|
| 373 |
-
|
| 374 |
-
def Xform "visuals_5_1" (
|
| 375 |
-
prepend references = @./geometries.usd@</Geometries/visuals_5>
|
| 376 |
-
)
|
| 377 |
-
{
|
| 378 |
-
over "visuals_5" (
|
| 379 |
-
apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 380 |
-
)
|
| 381 |
-
{
|
| 382 |
-
token purpose = "guide"
|
| 383 |
-
}
|
| 384 |
-
}
|
| 385 |
-
|
| 386 |
-
def Xform "visuals_6" (
|
| 387 |
-
prepend references = @./geometries.usd@</Geometries/visuals_6>
|
| 388 |
-
)
|
| 389 |
-
{
|
| 390 |
-
over "visuals_6" (
|
| 391 |
-
apiSchemas = ["MaterialBindingAPI"]
|
| 392 |
-
)
|
| 393 |
-
{
|
| 394 |
-
custom rel material:binding
|
| 395 |
-
prepend rel material:binding = </Instances/visuals_6/VisualMaterials/material_blinn20>
|
| 396 |
-
color3f[] primvars:displayColor = [(0.752941, 0.752941, 0.752941)] (
|
| 397 |
-
colorSpace = "lin_rec709_scene"
|
| 398 |
-
customData = {
|
| 399 |
-
dictionary simready = {
|
| 400 |
-
string displayColorSource = "material_blinn20: UsdPreviewSurface diffuseColor constant"
|
| 401 |
-
}
|
| 402 |
-
}
|
| 403 |
-
interpolation = "constant"
|
| 404 |
-
)
|
| 405 |
-
}
|
| 406 |
-
|
| 407 |
-
def Scope "VisualMaterials"
|
| 408 |
-
{
|
| 409 |
-
def Material "material_blinn20" (
|
| 410 |
-
instanceable = true
|
| 411 |
-
prepend references = @./materials.usda@</Materials/material_blinn20>
|
| 412 |
-
)
|
| 413 |
-
{
|
| 414 |
-
token outputs:surface.connect = </Instances/visuals_6/VisualMaterials/material_blinn20/SimReadyPreviewSurface.outputs:surface>
|
| 415 |
-
|
| 416 |
-
def Shader "SimReadyPreviewSurface"
|
| 417 |
-
{
|
| 418 |
-
token info:id = "UsdPreviewSurface"
|
| 419 |
-
color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941)
|
| 420 |
-
float inputs:metallic = 0
|
| 421 |
-
float inputs:opacity = 1
|
| 422 |
-
float inputs:roughness = 0.5
|
| 423 |
-
token outputs:surface
|
| 424 |
-
}
|
| 425 |
-
|
| 426 |
-
def Shader "SimReadyUV"
|
| 427 |
-
{
|
| 428 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 429 |
-
string inputs:varname = "st"
|
| 430 |
-
float2 outputs:result
|
| 431 |
-
}
|
| 432 |
-
}
|
| 433 |
-
}
|
| 434 |
-
}
|
| 435 |
-
|
| 436 |
-
def Xform "visuals_6_1" (
|
| 437 |
-
prepend references = @./geometries.usd@</Geometries/visuals_6>
|
| 438 |
-
)
|
| 439 |
-
{
|
| 440 |
-
over "visuals_6" (
|
| 441 |
-
apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 442 |
-
)
|
| 443 |
-
{
|
| 444 |
-
token purpose = "guide"
|
| 445 |
-
}
|
| 446 |
-
}
|
| 447 |
-
|
| 448 |
-
def Xform "visuals_7" (
|
| 449 |
-
prepend references = @./geometries.usd@</Geometries/visuals_7>
|
| 450 |
-
)
|
| 451 |
-
{
|
| 452 |
-
over "visuals_7" (
|
| 453 |
-
apiSchemas = ["MaterialBindingAPI"]
|
| 454 |
-
)
|
| 455 |
-
{
|
| 456 |
-
custom rel material:binding
|
| 457 |
-
prepend rel material:binding = </Instances/visuals_7/VisualMaterials/material_CCCCCC>
|
| 458 |
-
color3f[] primvars:displayColor = [(0.8, 0.8, 0.8)] (
|
| 459 |
-
colorSpace = "lin_rec709_scene"
|
| 460 |
-
customData = {
|
| 461 |
-
dictionary simready = {
|
| 462 |
-
string displayColorSource = "material_CCCCCC: UsdPreviewSurface diffuseColor constant"
|
| 463 |
-
}
|
| 464 |
-
}
|
| 465 |
-
interpolation = "constant"
|
| 466 |
-
)
|
| 467 |
-
}
|
| 468 |
-
|
| 469 |
-
def Scope "VisualMaterials"
|
| 470 |
-
{
|
| 471 |
-
def Material "material_CCCCCC" (
|
| 472 |
-
instanceable = true
|
| 473 |
-
prepend references = @./materials.usda@</Materials/material_CCCCCC>
|
| 474 |
-
)
|
| 475 |
-
{
|
| 476 |
-
token outputs:surface.connect = </Instances/visuals_7/VisualMaterials/material_CCCCCC/SimReadyPreviewSurface.outputs:surface>
|
| 477 |
-
|
| 478 |
-
def Shader "SimReadyPreviewSurface"
|
| 479 |
-
{
|
| 480 |
-
token info:id = "UsdPreviewSurface"
|
| 481 |
-
color3f inputs:diffuseColor = (0.8, 0.8, 0.8)
|
| 482 |
-
float inputs:metallic = 0
|
| 483 |
-
float inputs:opacity = 1
|
| 484 |
-
float inputs:roughness = 0.5
|
| 485 |
-
token outputs:surface
|
| 486 |
-
}
|
| 487 |
-
|
| 488 |
-
def Shader "SimReadyUV"
|
| 489 |
-
{
|
| 490 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 491 |
-
string inputs:varname = "st"
|
| 492 |
-
float2 outputs:result
|
| 493 |
-
}
|
| 494 |
-
}
|
| 495 |
-
}
|
| 496 |
-
}
|
| 497 |
-
|
| 498 |
-
def Xform "collisions" (
|
| 499 |
-
prepend references = @./geometries.usd@</Geometries/collisions>
|
| 500 |
-
)
|
| 501 |
-
{
|
| 502 |
-
over "collisions" (
|
| 503 |
-
apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 504 |
-
)
|
| 505 |
-
{
|
| 506 |
-
token purpose = "guide"
|
| 507 |
-
}
|
| 508 |
-
}
|
| 509 |
-
|
| 510 |
-
def Xform "visuals_8" (
|
| 511 |
-
prepend references = @./geometries.usd@</Geometries/visuals_8>
|
| 512 |
-
)
|
| 513 |
-
{
|
| 514 |
-
over "visuals_8" (
|
| 515 |
-
apiSchemas = ["MaterialBindingAPI"]
|
| 516 |
-
)
|
| 517 |
-
{
|
| 518 |
-
custom rel material:binding
|
| 519 |
-
prepend rel material:binding = </Instances/visuals_8/VisualMaterials/material_CCCCCC>
|
| 520 |
-
color3f[] primvars:displayColor = [(0.8, 0.8, 0.8)] (
|
| 521 |
-
colorSpace = "lin_rec709_scene"
|
| 522 |
-
customData = {
|
| 523 |
-
dictionary simready = {
|
| 524 |
-
string displayColorSource = "material_CCCCCC: UsdPreviewSurface diffuseColor constant"
|
| 525 |
-
}
|
| 526 |
-
}
|
| 527 |
-
interpolation = "constant"
|
| 528 |
-
)
|
| 529 |
-
}
|
| 530 |
-
|
| 531 |
-
def Scope "VisualMaterials"
|
| 532 |
-
{
|
| 533 |
-
def Material "material_CCCCCC" (
|
| 534 |
-
instanceable = true
|
| 535 |
-
prepend references = @./materials.usda@</Materials/material_CCCCCC>
|
| 536 |
-
)
|
| 537 |
-
{
|
| 538 |
-
token outputs:surface.connect = </Instances/visuals_8/VisualMaterials/material_CCCCCC/SimReadyPreviewSurface.outputs:surface>
|
| 539 |
-
|
| 540 |
-
def Shader "SimReadyPreviewSurface"
|
| 541 |
-
{
|
| 542 |
-
token info:id = "UsdPreviewSurface"
|
| 543 |
-
color3f inputs:diffuseColor = (0.8, 0.8, 0.8)
|
| 544 |
-
float inputs:metallic = 0
|
| 545 |
-
float inputs:opacity = 1
|
| 546 |
-
float inputs:roughness = 0.5
|
| 547 |
-
token outputs:surface
|
| 548 |
-
}
|
| 549 |
-
|
| 550 |
-
def Shader "SimReadyUV"
|
| 551 |
-
{
|
| 552 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 553 |
-
string inputs:varname = "st"
|
| 554 |
-
float2 outputs:result
|
| 555 |
-
}
|
| 556 |
-
}
|
| 557 |
-
}
|
| 558 |
-
}
|
| 559 |
-
|
| 560 |
-
def Xform "collisions_1" (
|
| 561 |
-
prepend references = @./geometries.usd@</Geometries/collisions_1>
|
| 562 |
-
)
|
| 563 |
-
{
|
| 564 |
-
over "collisions_1" (
|
| 565 |
-
apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 566 |
-
)
|
| 567 |
-
{
|
| 568 |
-
token purpose = "guide"
|
| 569 |
-
}
|
| 570 |
-
}
|
| 571 |
-
|
| 572 |
-
def Xform "visuals_9" (
|
| 573 |
-
prepend references = @./geometries.usd@</Geometries/visuals_9>
|
| 574 |
-
)
|
| 575 |
-
{
|
| 576 |
-
over "visuals_9" (
|
| 577 |
-
apiSchemas = ["MaterialBindingAPI"]
|
| 578 |
-
)
|
| 579 |
-
{
|
| 580 |
-
custom rel material:binding
|
| 581 |
-
prepend rel material:binding = </Instances/visuals_9/VisualMaterials/material_191919>
|
| 582 |
-
color3f[] primvars:displayColor = [(0.1, 0.1, 0.1)] (
|
| 583 |
-
colorSpace = "lin_rec709_scene"
|
| 584 |
-
customData = {
|
| 585 |
-
dictionary simready = {
|
| 586 |
-
string displayColorSource = "material_191919: UsdPreviewSurface diffuseColor constant"
|
| 587 |
-
}
|
| 588 |
-
}
|
| 589 |
-
interpolation = "constant"
|
| 590 |
-
)
|
| 591 |
-
}
|
| 592 |
-
|
| 593 |
-
def Scope "VisualMaterials"
|
| 594 |
-
{
|
| 595 |
-
def Material "material_191919" (
|
| 596 |
-
instanceable = true
|
| 597 |
-
prepend references = @./materials.usda@</Materials/material_191919>
|
| 598 |
-
)
|
| 599 |
-
{
|
| 600 |
-
token outputs:surface.connect = </Instances/visuals_9/VisualMaterials/material_191919/SimReadyPreviewSurface.outputs:surface>
|
| 601 |
-
|
| 602 |
-
def Shader "SimReadyPreviewSurface"
|
| 603 |
-
{
|
| 604 |
-
token info:id = "UsdPreviewSurface"
|
| 605 |
-
color3f inputs:diffuseColor = (0.1, 0.1, 0.1)
|
| 606 |
-
float inputs:metallic = 0
|
| 607 |
-
float inputs:opacity = 1
|
| 608 |
-
float inputs:roughness = 0.5
|
| 609 |
-
token outputs:surface
|
| 610 |
-
}
|
| 611 |
-
|
| 612 |
-
def Shader "SimReadyUV"
|
| 613 |
-
{
|
| 614 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 615 |
-
string inputs:varname = "st"
|
| 616 |
-
float2 outputs:result
|
| 617 |
-
}
|
| 618 |
-
}
|
| 619 |
-
}
|
| 620 |
-
}
|
| 621 |
-
|
| 622 |
-
def Xform "collisions_2" (
|
| 623 |
-
prepend references = @./geometries.usd@</Geometries/collisions_2>
|
| 624 |
-
)
|
| 625 |
-
{
|
| 626 |
-
over "collisions_2" (
|
| 627 |
-
apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 628 |
-
)
|
| 629 |
-
{
|
| 630 |
-
token purpose = "guide"
|
| 631 |
-
}
|
| 632 |
-
}
|
| 633 |
-
|
| 634 |
-
def Xform "visuals_10" (
|
| 635 |
-
prepend references = @./geometries.usd@</Geometries/visuals_10>
|
| 636 |
-
)
|
| 637 |
-
{
|
| 638 |
-
over "visuals_10" (
|
| 639 |
-
apiSchemas = ["MaterialBindingAPI"]
|
| 640 |
-
)
|
| 641 |
-
{
|
| 642 |
-
custom rel material:binding
|
| 643 |
-
prepend rel material:binding = </Instances/visuals_10/VisualMaterials/material_CCCCCC>
|
| 644 |
-
color3f[] primvars:displayColor = [(0.8, 0.8, 0.8)] (
|
| 645 |
-
colorSpace = "lin_rec709_scene"
|
| 646 |
-
customData = {
|
| 647 |
-
dictionary simready = {
|
| 648 |
-
string displayColorSource = "material_CCCCCC: UsdPreviewSurface diffuseColor constant"
|
| 649 |
-
}
|
| 650 |
-
}
|
| 651 |
-
interpolation = "constant"
|
| 652 |
-
)
|
| 653 |
-
}
|
| 654 |
-
|
| 655 |
-
def Scope "VisualMaterials"
|
| 656 |
-
{
|
| 657 |
-
def Material "material_CCCCCC" (
|
| 658 |
-
instanceable = true
|
| 659 |
-
prepend references = @./materials.usda@</Materials/material_CCCCCC>
|
| 660 |
-
)
|
| 661 |
-
{
|
| 662 |
-
token outputs:surface.connect = </Instances/visuals_10/VisualMaterials/material_CCCCCC/SimReadyPreviewSurface.outputs:surface>
|
| 663 |
-
|
| 664 |
-
def Shader "SimReadyPreviewSurface"
|
| 665 |
-
{
|
| 666 |
-
token info:id = "UsdPreviewSurface"
|
| 667 |
-
color3f inputs:diffuseColor = (0.8, 0.8, 0.8)
|
| 668 |
-
float inputs:metallic = 0
|
| 669 |
-
float inputs:opacity = 1
|
| 670 |
-
float inputs:roughness = 0.5
|
| 671 |
-
token outputs:surface
|
| 672 |
-
}
|
| 673 |
-
|
| 674 |
-
def Shader "SimReadyUV"
|
| 675 |
-
{
|
| 676 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 677 |
-
string inputs:varname = "st"
|
| 678 |
-
float2 outputs:result
|
| 679 |
-
}
|
| 680 |
-
}
|
| 681 |
-
}
|
| 682 |
-
}
|
| 683 |
-
|
| 684 |
-
def Xform "collisions_3" (
|
| 685 |
-
prepend references = @./geometries.usd@</Geometries/collisions_3>
|
| 686 |
-
)
|
| 687 |
-
{
|
| 688 |
-
over "collisions_3" (
|
| 689 |
-
apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 690 |
-
)
|
| 691 |
-
{
|
| 692 |
-
token purpose = "guide"
|
| 693 |
-
}
|
| 694 |
-
}
|
| 695 |
-
}
|
| 696 |
-
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|
denso_cobottapro1300_cobotta_pro_1300/payloads/materials.usda
DELETED
|
@@ -1,250 +0,0 @@
|
|
| 1 |
-
#usda 1.0
|
| 2 |
-
(
|
| 3 |
-
customLayerData = {
|
| 4 |
-
}
|
| 5 |
-
endTimeCode = 0
|
| 6 |
-
metersPerUnit = 1
|
| 7 |
-
startTimeCode = -1
|
| 8 |
-
timeCodesPerSecond = 60
|
| 9 |
-
upAxis = "Z"
|
| 10 |
-
)
|
| 11 |
-
|
| 12 |
-
def Scope "Materials"
|
| 13 |
-
{
|
| 14 |
-
def Material "material_blinn20"
|
| 15 |
-
{
|
| 16 |
-
custom token[] omni:simready:nonvisual:attributes = ["none"]
|
| 17 |
-
custom token omni:simready:nonvisual:base = "aluminum"
|
| 18 |
-
custom token omni:simready:nonvisual:coating = "paint"
|
| 19 |
-
token outputs:displacement (
|
| 20 |
-
displayGroup = "Outputs"
|
| 21 |
-
)
|
| 22 |
-
prepend token outputs:mdl:displacement.connect = </Materials/material_blinn20/Shader.outputs:out>
|
| 23 |
-
prepend token outputs:mdl:surface.connect = </Materials/material_blinn20/Shader.outputs:out>
|
| 24 |
-
prepend token outputs:mdl:volume.connect = </Materials/material_blinn20/Shader.outputs:out>
|
| 25 |
-
token outputs:mtlx:surface.connect = </Materials/material_blinn20/simready_pbr_surfaceshader.outputs:out>
|
| 26 |
-
token outputs:surface (
|
| 27 |
-
displayGroup = "Outputs"
|
| 28 |
-
)
|
| 29 |
-
token outputs:surface.connect = </Materials/material_blinn20/SimReadyPreviewSurface.outputs:surface>
|
| 30 |
-
token outputs:volume (
|
| 31 |
-
displayGroup = "Outputs"
|
| 32 |
-
)
|
| 33 |
-
|
| 34 |
-
def Shader "Shader" (
|
| 35 |
-
apiSchemas = ["NodeDefAPI"]
|
| 36 |
-
)
|
| 37 |
-
{
|
| 38 |
-
token info:id = "UsdPreviewSurface"
|
| 39 |
-
token info:implementationSource = "sourceAsset"
|
| 40 |
-
asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
|
| 41 |
-
token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
|
| 42 |
-
color3f inputs:diffuse_color_constant = (0.752941, 0.752941, 0.752941)
|
| 43 |
-
color3f inputs:emissive_color = (0.023529, 0.023529, 0.023529)
|
| 44 |
-
token outputs:out
|
| 45 |
-
}
|
| 46 |
-
|
| 47 |
-
def Shader "SimReadyPreviewSurface"
|
| 48 |
-
{
|
| 49 |
-
token info:id = "UsdPreviewSurface"
|
| 50 |
-
color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941)
|
| 51 |
-
float inputs:metallic = 0
|
| 52 |
-
float inputs:opacity = 1
|
| 53 |
-
float inputs:roughness = 0.5
|
| 54 |
-
token outputs:surface
|
| 55 |
-
}
|
| 56 |
-
|
| 57 |
-
def Shader "SimReadyUV"
|
| 58 |
-
{
|
| 59 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 60 |
-
string inputs:varname = "st"
|
| 61 |
-
float2 outputs:result
|
| 62 |
-
}
|
| 63 |
-
|
| 64 |
-
def Shader "simready_pbr_surfaceshader"
|
| 65 |
-
{
|
| 66 |
-
uniform token info:id = "ND_open_pbr_surface_surfaceshader"
|
| 67 |
-
color3f inputs:base_color = (0.5, 0.5, 0.5)
|
| 68 |
-
float inputs:base_metalness = 0
|
| 69 |
-
float inputs:specular_roughness = 0.5
|
| 70 |
-
token outputs:out
|
| 71 |
-
}
|
| 72 |
-
}
|
| 73 |
-
|
| 74 |
-
def Material "material_blinn20_1"
|
| 75 |
-
{
|
| 76 |
-
custom token[] omni:simready:nonvisual:attributes = ["none"]
|
| 77 |
-
custom token omni:simready:nonvisual:base = "aluminum"
|
| 78 |
-
custom token omni:simready:nonvisual:coating = "paint"
|
| 79 |
-
token outputs:displacement (
|
| 80 |
-
displayGroup = "Outputs"
|
| 81 |
-
)
|
| 82 |
-
prepend token outputs:mdl:displacement.connect = </Materials/material_blinn20_1/Shader.outputs:out>
|
| 83 |
-
prepend token outputs:mdl:surface.connect = </Materials/material_blinn20_1/Shader.outputs:out>
|
| 84 |
-
prepend token outputs:mdl:volume.connect = </Materials/material_blinn20_1/Shader.outputs:out>
|
| 85 |
-
token outputs:mtlx:surface.connect = </Materials/material_blinn20_1/simready_pbr_surfaceshader.outputs:out>
|
| 86 |
-
token outputs:surface (
|
| 87 |
-
displayGroup = "Outputs"
|
| 88 |
-
)
|
| 89 |
-
token outputs:surface.connect = </Materials/material_blinn20_1/SimReadyPreviewSurface.outputs:surface>
|
| 90 |
-
token outputs:volume (
|
| 91 |
-
displayGroup = "Outputs"
|
| 92 |
-
)
|
| 93 |
-
|
| 94 |
-
def Shader "Shader" (
|
| 95 |
-
apiSchemas = ["NodeDefAPI"]
|
| 96 |
-
)
|
| 97 |
-
{
|
| 98 |
-
token info:id = "UsdPreviewSurface"
|
| 99 |
-
token info:implementationSource = "sourceAsset"
|
| 100 |
-
asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
|
| 101 |
-
token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
|
| 102 |
-
color3f inputs:diffuse_color_constant = (1, 1, 1)
|
| 103 |
-
color3f inputs:emissive_color = (0.04, 0.04, 0.04)
|
| 104 |
-
token outputs:out
|
| 105 |
-
}
|
| 106 |
-
|
| 107 |
-
def Shader "SimReadyPreviewSurface"
|
| 108 |
-
{
|
| 109 |
-
token info:id = "UsdPreviewSurface"
|
| 110 |
-
color3f inputs:diffuseColor = (1, 1, 1)
|
| 111 |
-
float inputs:metallic = 0
|
| 112 |
-
float inputs:opacity = 1
|
| 113 |
-
float inputs:roughness = 0.5
|
| 114 |
-
token outputs:surface
|
| 115 |
-
}
|
| 116 |
-
|
| 117 |
-
def Shader "SimReadyUV"
|
| 118 |
-
{
|
| 119 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 120 |
-
string inputs:varname = "st"
|
| 121 |
-
float2 outputs:result
|
| 122 |
-
}
|
| 123 |
-
|
| 124 |
-
def Shader "simready_pbr_surfaceshader"
|
| 125 |
-
{
|
| 126 |
-
uniform token info:id = "ND_open_pbr_surface_surfaceshader"
|
| 127 |
-
color3f inputs:base_color = (0.5, 0.5, 0.5)
|
| 128 |
-
float inputs:base_metalness = 0
|
| 129 |
-
float inputs:specular_roughness = 0.5
|
| 130 |
-
token outputs:out
|
| 131 |
-
}
|
| 132 |
-
}
|
| 133 |
-
|
| 134 |
-
def Material "material_CCCCCC"
|
| 135 |
-
{
|
| 136 |
-
custom token[] omni:simready:nonvisual:attributes = ["none"]
|
| 137 |
-
custom token omni:simready:nonvisual:base = "aluminum"
|
| 138 |
-
custom token omni:simready:nonvisual:coating = "none"
|
| 139 |
-
token outputs:displacement (
|
| 140 |
-
displayGroup = "Outputs"
|
| 141 |
-
)
|
| 142 |
-
prepend token outputs:mdl:displacement.connect = </Materials/material_CCCCCC/Shader.outputs:out>
|
| 143 |
-
prepend token outputs:mdl:surface.connect = </Materials/material_CCCCCC/Shader.outputs:out>
|
| 144 |
-
prepend token outputs:mdl:volume.connect = </Materials/material_CCCCCC/Shader.outputs:out>
|
| 145 |
-
token outputs:mtlx:surface.connect = </Materials/material_CCCCCC/simready_pbr_surfaceshader.outputs:out>
|
| 146 |
-
token outputs:surface (
|
| 147 |
-
displayGroup = "Outputs"
|
| 148 |
-
)
|
| 149 |
-
token outputs:surface.connect = </Materials/material_CCCCCC/SimReadyPreviewSurface.outputs:surface>
|
| 150 |
-
token outputs:volume (
|
| 151 |
-
displayGroup = "Outputs"
|
| 152 |
-
)
|
| 153 |
-
|
| 154 |
-
def Shader "Shader" (
|
| 155 |
-
apiSchemas = ["NodeDefAPI"]
|
| 156 |
-
)
|
| 157 |
-
{
|
| 158 |
-
token info:implementationSource = "sourceAsset"
|
| 159 |
-
asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
|
| 160 |
-
token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
|
| 161 |
-
color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8)
|
| 162 |
-
token outputs:out
|
| 163 |
-
}
|
| 164 |
-
|
| 165 |
-
def Shader "SimReadyPreviewSurface"
|
| 166 |
-
{
|
| 167 |
-
token info:id = "UsdPreviewSurface"
|
| 168 |
-
color3f inputs:diffuseColor = (0.8, 0.8, 0.8)
|
| 169 |
-
float inputs:metallic = 0
|
| 170 |
-
float inputs:opacity = 1
|
| 171 |
-
float inputs:roughness = 0.5
|
| 172 |
-
token outputs:surface
|
| 173 |
-
}
|
| 174 |
-
|
| 175 |
-
def Shader "SimReadyUV"
|
| 176 |
-
{
|
| 177 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 178 |
-
string inputs:varname = "st"
|
| 179 |
-
float2 outputs:result
|
| 180 |
-
}
|
| 181 |
-
|
| 182 |
-
def Shader "simready_pbr_surfaceshader"
|
| 183 |
-
{
|
| 184 |
-
uniform token info:id = "ND_open_pbr_surface_surfaceshader"
|
| 185 |
-
color3f inputs:base_color = (0.5, 0.5, 0.5)
|
| 186 |
-
float inputs:base_metalness = 0
|
| 187 |
-
float inputs:specular_roughness = 0.5
|
| 188 |
-
token outputs:out
|
| 189 |
-
}
|
| 190 |
-
}
|
| 191 |
-
|
| 192 |
-
def Material "material_191919"
|
| 193 |
-
{
|
| 194 |
-
custom token[] omni:simready:nonvisual:attributes = ["none"]
|
| 195 |
-
custom token omni:simready:nonvisual:base = "aluminum"
|
| 196 |
-
custom token omni:simready:nonvisual:coating = "paint"
|
| 197 |
-
token outputs:displacement (
|
| 198 |
-
displayGroup = "Outputs"
|
| 199 |
-
)
|
| 200 |
-
prepend token outputs:mdl:displacement.connect = </Materials/material_191919/Shader.outputs:out>
|
| 201 |
-
prepend token outputs:mdl:surface.connect = </Materials/material_191919/Shader.outputs:out>
|
| 202 |
-
prepend token outputs:mdl:volume.connect = </Materials/material_191919/Shader.outputs:out>
|
| 203 |
-
token outputs:mtlx:surface.connect = </Materials/material_191919/simready_pbr_surfaceshader.outputs:out>
|
| 204 |
-
token outputs:surface (
|
| 205 |
-
displayGroup = "Outputs"
|
| 206 |
-
)
|
| 207 |
-
token outputs:surface.connect = </Materials/material_191919/SimReadyPreviewSurface.outputs:surface>
|
| 208 |
-
token outputs:volume (
|
| 209 |
-
displayGroup = "Outputs"
|
| 210 |
-
)
|
| 211 |
-
|
| 212 |
-
def Shader "Shader" (
|
| 213 |
-
apiSchemas = ["NodeDefAPI"]
|
| 214 |
-
)
|
| 215 |
-
{
|
| 216 |
-
token info:implementationSource = "sourceAsset"
|
| 217 |
-
asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
|
| 218 |
-
token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
|
| 219 |
-
color3f inputs:diffuse_color_constant = (0.1, 0.1, 0.1)
|
| 220 |
-
token outputs:out
|
| 221 |
-
}
|
| 222 |
-
|
| 223 |
-
def Shader "SimReadyPreviewSurface"
|
| 224 |
-
{
|
| 225 |
-
token info:id = "UsdPreviewSurface"
|
| 226 |
-
color3f inputs:diffuseColor = (0.1, 0.1, 0.1)
|
| 227 |
-
float inputs:metallic = 0
|
| 228 |
-
float inputs:opacity = 1
|
| 229 |
-
float inputs:roughness = 0.5
|
| 230 |
-
token outputs:surface
|
| 231 |
-
}
|
| 232 |
-
|
| 233 |
-
def Shader "SimReadyUV"
|
| 234 |
-
{
|
| 235 |
-
token info:id = "UsdPrimvarReader_float2"
|
| 236 |
-
string inputs:varname = "st"
|
| 237 |
-
float2 outputs:result
|
| 238 |
-
}
|
| 239 |
-
|
| 240 |
-
def Shader "simready_pbr_surfaceshader"
|
| 241 |
-
{
|
| 242 |
-
uniform token info:id = "ND_open_pbr_surface_surfaceshader"
|
| 243 |
-
color3f inputs:base_color = (0.5, 0.5, 0.5)
|
| 244 |
-
float inputs:base_metalness = 0
|
| 245 |
-
float inputs:specular_roughness = 0.5
|
| 246 |
-
token outputs:out
|
| 247 |
-
}
|
| 248 |
-
}
|
| 249 |
-
}
|
| 250 |
-
|
|
|
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|
|
denso_cobottapro1300_cobotta_pro_1300/payloads/robot.usda
DELETED
|
@@ -1,424 +0,0 @@
|
|
| 1 |
-
#usda 1.0
|
| 2 |
-
(
|
| 3 |
-
customLayerData = {
|
| 4 |
-
}
|
| 5 |
-
defaultPrim = "cobotta_pro_1300"
|
| 6 |
-
endTimeCode = 0
|
| 7 |
-
metersPerUnit = 1
|
| 8 |
-
startTimeCode = -1
|
| 9 |
-
timeCodesPerSecond = 60
|
| 10 |
-
upAxis = "Z"
|
| 11 |
-
)
|
| 12 |
-
|
| 13 |
-
over "cobotta_pro_1300" (
|
| 14 |
-
prepend apiSchemas = ["IsaacRobotAPI"]
|
| 15 |
-
)
|
| 16 |
-
{
|
| 17 |
-
string isaac:description
|
| 18 |
-
string isaac:namespace
|
| 19 |
-
prepend rel isaac:physics:robotJoints = [
|
| 20 |
-
</cobotta_pro_1300/base_link/joint_1>,
|
| 21 |
-
</cobotta_pro_1300/J1/joint_2>,
|
| 22 |
-
</cobotta_pro_1300/J2/joint_3>,
|
| 23 |
-
</cobotta_pro_1300/J3/joint_4>,
|
| 24 |
-
</cobotta_pro_1300/J4/joint_5>,
|
| 25 |
-
</cobotta_pro_1300/J5/joint_6>,
|
| 26 |
-
</cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>,
|
| 27 |
-
</cobotta_pro_1300/onrobot_rg6_base_link/left_inner_knuckle_joint>,
|
| 28 |
-
</cobotta_pro_1300/onrobot_rg6_base_link/right_inner_knuckle_joint>,
|
| 29 |
-
</cobotta_pro_1300/onrobot_rg6_base_link/right_outer_knuckle_joint>,
|
| 30 |
-
</cobotta_pro_1300/left_outer_knuckle/left_inner_finger_joint>,
|
| 31 |
-
</cobotta_pro_1300/right_outer_knuckle/right_inner_finger_joint>,
|
| 32 |
-
</cobotta_pro_1300/world/joint_w>,
|
| 33 |
-
</cobotta_pro_1300/J6/joint_tcp_fixed>,
|
| 34 |
-
]
|
| 35 |
-
prepend rel isaac:physics:robotLinks = [
|
| 36 |
-
</cobotta_pro_1300/world>,
|
| 37 |
-
</cobotta_pro_1300/base_link>,
|
| 38 |
-
</cobotta_pro_1300/J1>,
|
| 39 |
-
</cobotta_pro_1300/J2>,
|
| 40 |
-
</cobotta_pro_1300/J3>,
|
| 41 |
-
</cobotta_pro_1300/J4>,
|
| 42 |
-
</cobotta_pro_1300/J5>,
|
| 43 |
-
</cobotta_pro_1300/J6>,
|
| 44 |
-
</cobotta_pro_1300/onrobot_rg6_base_link>,
|
| 45 |
-
</cobotta_pro_1300/left_outer_knuckle>,
|
| 46 |
-
</cobotta_pro_1300/left_inner_finger>,
|
| 47 |
-
</cobotta_pro_1300/left_inner_knuckle>,
|
| 48 |
-
</cobotta_pro_1300/right_inner_knuckle>,
|
| 49 |
-
</cobotta_pro_1300/right_outer_knuckle>,
|
| 50 |
-
</cobotta_pro_1300/right_inner_finger>,
|
| 51 |
-
]
|
| 52 |
-
token isaac:robotType = "Manipulator"
|
| 53 |
-
|
| 54 |
-
over "world"
|
| 55 |
-
{
|
| 56 |
-
string isaac:nameOverride
|
| 57 |
-
|
| 58 |
-
over "joint_w" (
|
| 59 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 60 |
-
)
|
| 61 |
-
{
|
| 62 |
-
custom string isaac:nameOverride
|
| 63 |
-
float[] isaac:physics:AccelerationLimit
|
| 64 |
-
float[] isaac:physics:JerkLimit
|
| 65 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 66 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 67 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 68 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 69 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 70 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 71 |
-
}
|
| 72 |
-
}
|
| 73 |
-
|
| 74 |
-
over "root_joint" (
|
| 75 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 76 |
-
)
|
| 77 |
-
{
|
| 78 |
-
custom string isaac:nameOverride
|
| 79 |
-
float[] isaac:physics:AccelerationLimit
|
| 80 |
-
float[] isaac:physics:JerkLimit
|
| 81 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 82 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 83 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 84 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 85 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 86 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 87 |
-
}
|
| 88 |
-
|
| 89 |
-
over "base_link" (
|
| 90 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 91 |
-
)
|
| 92 |
-
{
|
| 93 |
-
string isaac:nameOverride (
|
| 94 |
-
displayName = "Name Override"
|
| 95 |
-
doc = "Name override for prim lookup in base name search"
|
| 96 |
-
)
|
| 97 |
-
|
| 98 |
-
over "joint_1" (
|
| 99 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 100 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 101 |
-
)
|
| 102 |
-
{
|
| 103 |
-
custom string isaac:nameOverride
|
| 104 |
-
float[] isaac:physics:AccelerationLimit
|
| 105 |
-
float[] isaac:physics:JerkLimit
|
| 106 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 107 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 108 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 109 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 110 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 111 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 112 |
-
}
|
| 113 |
-
}
|
| 114 |
-
|
| 115 |
-
over "J1" (
|
| 116 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 117 |
-
)
|
| 118 |
-
{
|
| 119 |
-
string isaac:nameOverride
|
| 120 |
-
|
| 121 |
-
over "joint_2" (
|
| 122 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 123 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 124 |
-
)
|
| 125 |
-
{
|
| 126 |
-
custom string isaac:nameOverride
|
| 127 |
-
float[] isaac:physics:AccelerationLimit
|
| 128 |
-
float[] isaac:physics:JerkLimit
|
| 129 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 130 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 131 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 132 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 133 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 134 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 135 |
-
}
|
| 136 |
-
}
|
| 137 |
-
|
| 138 |
-
over "J2" (
|
| 139 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 140 |
-
)
|
| 141 |
-
{
|
| 142 |
-
string isaac:nameOverride
|
| 143 |
-
|
| 144 |
-
over "joint_3" (
|
| 145 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 146 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 147 |
-
)
|
| 148 |
-
{
|
| 149 |
-
custom string isaac:nameOverride
|
| 150 |
-
float[] isaac:physics:AccelerationLimit
|
| 151 |
-
float[] isaac:physics:JerkLimit
|
| 152 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 153 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 154 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 155 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 156 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 157 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 158 |
-
}
|
| 159 |
-
}
|
| 160 |
-
|
| 161 |
-
over "J3" (
|
| 162 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 163 |
-
)
|
| 164 |
-
{
|
| 165 |
-
string isaac:nameOverride
|
| 166 |
-
|
| 167 |
-
over "joint_4" (
|
| 168 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 169 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 170 |
-
)
|
| 171 |
-
{
|
| 172 |
-
custom string isaac:nameOverride
|
| 173 |
-
float[] isaac:physics:AccelerationLimit
|
| 174 |
-
float[] isaac:physics:JerkLimit
|
| 175 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 176 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 177 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 178 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 179 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 180 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 181 |
-
}
|
| 182 |
-
}
|
| 183 |
-
|
| 184 |
-
over "J4" (
|
| 185 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 186 |
-
)
|
| 187 |
-
{
|
| 188 |
-
string isaac:nameOverride
|
| 189 |
-
|
| 190 |
-
over "joint_5" (
|
| 191 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 192 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 193 |
-
)
|
| 194 |
-
{
|
| 195 |
-
custom string isaac:nameOverride
|
| 196 |
-
float[] isaac:physics:AccelerationLimit
|
| 197 |
-
float[] isaac:physics:JerkLimit
|
| 198 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 199 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 200 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 201 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 202 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 203 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 204 |
-
}
|
| 205 |
-
}
|
| 206 |
-
|
| 207 |
-
over "J5" (
|
| 208 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 209 |
-
)
|
| 210 |
-
{
|
| 211 |
-
string isaac:nameOverride
|
| 212 |
-
|
| 213 |
-
over "joint_6" (
|
| 214 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 215 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 216 |
-
)
|
| 217 |
-
{
|
| 218 |
-
custom string isaac:nameOverride
|
| 219 |
-
float[] isaac:physics:AccelerationLimit
|
| 220 |
-
float[] isaac:physics:JerkLimit
|
| 221 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 222 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 223 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 224 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 225 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 226 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 227 |
-
}
|
| 228 |
-
}
|
| 229 |
-
|
| 230 |
-
over "J6" (
|
| 231 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 232 |
-
)
|
| 233 |
-
{
|
| 234 |
-
string isaac:nameOverride
|
| 235 |
-
|
| 236 |
-
over "joint_tcp_fixed" (
|
| 237 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 238 |
-
)
|
| 239 |
-
{
|
| 240 |
-
custom string isaac:nameOverride
|
| 241 |
-
float[] isaac:physics:AccelerationLimit
|
| 242 |
-
float[] isaac:physics:JerkLimit
|
| 243 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 244 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 245 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 246 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 247 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 248 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 249 |
-
}
|
| 250 |
-
}
|
| 251 |
-
|
| 252 |
-
over "onrobot_rg6_base_link" (
|
| 253 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 254 |
-
)
|
| 255 |
-
{
|
| 256 |
-
string isaac:nameOverride
|
| 257 |
-
|
| 258 |
-
over "finger_joint" (
|
| 259 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 260 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 261 |
-
)
|
| 262 |
-
{
|
| 263 |
-
custom string isaac:nameOverride (
|
| 264 |
-
displayName = "Name Override"
|
| 265 |
-
doc = "Name override for prim lookup in base name search"
|
| 266 |
-
)
|
| 267 |
-
float[] isaac:physics:AccelerationLimit
|
| 268 |
-
float[] isaac:physics:JerkLimit
|
| 269 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 270 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 271 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 272 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 273 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 274 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 275 |
-
}
|
| 276 |
-
|
| 277 |
-
over "left_inner_knuckle_joint" (
|
| 278 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 279 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 280 |
-
)
|
| 281 |
-
{
|
| 282 |
-
custom string isaac:nameOverride (
|
| 283 |
-
displayName = "Name Override"
|
| 284 |
-
doc = "Name override for prim lookup in base name search"
|
| 285 |
-
)
|
| 286 |
-
float[] isaac:physics:AccelerationLimit
|
| 287 |
-
float[] isaac:physics:JerkLimit
|
| 288 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 289 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 290 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 291 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 292 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 293 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 294 |
-
}
|
| 295 |
-
|
| 296 |
-
over "right_inner_knuckle_joint" (
|
| 297 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 298 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 299 |
-
)
|
| 300 |
-
{
|
| 301 |
-
custom string isaac:nameOverride (
|
| 302 |
-
displayName = "Name Override"
|
| 303 |
-
doc = "Name override for prim lookup in base name search"
|
| 304 |
-
)
|
| 305 |
-
float[] isaac:physics:AccelerationLimit
|
| 306 |
-
float[] isaac:physics:JerkLimit
|
| 307 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 308 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 309 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 310 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 311 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 312 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 313 |
-
}
|
| 314 |
-
|
| 315 |
-
over "right_outer_knuckle_joint" (
|
| 316 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 317 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 318 |
-
)
|
| 319 |
-
{
|
| 320 |
-
custom string isaac:nameOverride (
|
| 321 |
-
displayName = "Name Override"
|
| 322 |
-
doc = "Name override for prim lookup in base name search"
|
| 323 |
-
)
|
| 324 |
-
float[] isaac:physics:AccelerationLimit
|
| 325 |
-
float[] isaac:physics:JerkLimit
|
| 326 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 327 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 328 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 329 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 330 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 331 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 332 |
-
}
|
| 333 |
-
}
|
| 334 |
-
|
| 335 |
-
over "left_outer_knuckle" (
|
| 336 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 337 |
-
)
|
| 338 |
-
{
|
| 339 |
-
string isaac:nameOverride (
|
| 340 |
-
displayName = "Name Override"
|
| 341 |
-
doc = "Name override for prim lookup in base name search"
|
| 342 |
-
)
|
| 343 |
-
|
| 344 |
-
over "left_inner_finger_joint" (
|
| 345 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 346 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 347 |
-
)
|
| 348 |
-
{
|
| 349 |
-
custom string isaac:nameOverride (
|
| 350 |
-
displayName = "Name Override"
|
| 351 |
-
doc = "Name override for prim lookup in base name search"
|
| 352 |
-
)
|
| 353 |
-
float[] isaac:physics:AccelerationLimit
|
| 354 |
-
float[] isaac:physics:JerkLimit
|
| 355 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 356 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 357 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 358 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 359 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 360 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 361 |
-
}
|
| 362 |
-
}
|
| 363 |
-
|
| 364 |
-
over "left_inner_finger" (
|
| 365 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 366 |
-
)
|
| 367 |
-
{
|
| 368 |
-
string isaac:nameOverride
|
| 369 |
-
}
|
| 370 |
-
|
| 371 |
-
over "left_inner_knuckle" (
|
| 372 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 373 |
-
)
|
| 374 |
-
{
|
| 375 |
-
string isaac:nameOverride
|
| 376 |
-
}
|
| 377 |
-
|
| 378 |
-
over "right_inner_knuckle" (
|
| 379 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 380 |
-
)
|
| 381 |
-
{
|
| 382 |
-
string isaac:nameOverride (
|
| 383 |
-
displayName = "Name Override"
|
| 384 |
-
doc = "Name override for prim lookup in base name search"
|
| 385 |
-
)
|
| 386 |
-
}
|
| 387 |
-
|
| 388 |
-
over "right_outer_knuckle" (
|
| 389 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 390 |
-
)
|
| 391 |
-
{
|
| 392 |
-
string isaac:nameOverride (
|
| 393 |
-
displayName = "Name Override"
|
| 394 |
-
doc = "Name override for prim lookup in base name search"
|
| 395 |
-
)
|
| 396 |
-
|
| 397 |
-
over "right_inner_finger_joint" (
|
| 398 |
-
delete apiSchemas = ["PhysicsJointStateAPI:angular"]
|
| 399 |
-
prepend apiSchemas = ["IsaacJointAPI"]
|
| 400 |
-
)
|
| 401 |
-
{
|
| 402 |
-
custom string isaac:nameOverride (
|
| 403 |
-
displayName = "Name Override"
|
| 404 |
-
doc = "Name override for prim lookup in base name search"
|
| 405 |
-
)
|
| 406 |
-
float[] isaac:physics:AccelerationLimit
|
| 407 |
-
float[] isaac:physics:JerkLimit
|
| 408 |
-
custom int isaac:physics:Rot_X:DofOffset
|
| 409 |
-
custom int isaac:physics:Rot_Y:DofOffset
|
| 410 |
-
custom int isaac:physics:Rot_Z:DofOffset
|
| 411 |
-
custom int isaac:physics:Tr_X:DofOffset
|
| 412 |
-
custom int isaac:physics:Tr_Y:DofOffset
|
| 413 |
-
custom int isaac:physics:Tr_Z:DofOffset
|
| 414 |
-
}
|
| 415 |
-
}
|
| 416 |
-
|
| 417 |
-
over "right_inner_finger" (
|
| 418 |
-
prepend apiSchemas = ["IsaacLinkAPI"]
|
| 419 |
-
)
|
| 420 |
-
{
|
| 421 |
-
string isaac:nameOverride
|
| 422 |
-
}
|
| 423 |
-
}
|
| 424 |
-
|
|
|
|
|
|
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|
denso_cobottapro1300_cobotta_pro_1300/runnables/physics/mujoco.usda
DELETED
|
@@ -1,410 +0,0 @@
|
|
| 1 |
-
#usda 1.0
|
| 2 |
-
(
|
| 3 |
-
defaultPrim = "cobotta_pro_1300"
|
| 4 |
-
)
|
| 5 |
-
|
| 6 |
-
def "cobotta_pro_1300"
|
| 7 |
-
{
|
| 8 |
-
over "base_link"
|
| 9 |
-
{
|
| 10 |
-
over "collisions"
|
| 11 |
-
{
|
| 12 |
-
over "visuals" (
|
| 13 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 14 |
-
)
|
| 15 |
-
{
|
| 16 |
-
uniform token physics:approximation = "convexHull"
|
| 17 |
-
}
|
| 18 |
-
}
|
| 19 |
-
|
| 20 |
-
over "joint_1" (
|
| 21 |
-
prepend apiSchemas = ["MjcJointAPI"]
|
| 22 |
-
)
|
| 23 |
-
{
|
| 24 |
-
}
|
| 25 |
-
}
|
| 26 |
-
|
| 27 |
-
over "J1"
|
| 28 |
-
{
|
| 29 |
-
over "collisions"
|
| 30 |
-
{
|
| 31 |
-
over "visuals_1" (
|
| 32 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 33 |
-
)
|
| 34 |
-
{
|
| 35 |
-
uniform token physics:approximation = "convexHull"
|
| 36 |
-
}
|
| 37 |
-
}
|
| 38 |
-
|
| 39 |
-
over "joint_2" (
|
| 40 |
-
prepend apiSchemas = ["MjcJointAPI"]
|
| 41 |
-
)
|
| 42 |
-
{
|
| 43 |
-
}
|
| 44 |
-
}
|
| 45 |
-
|
| 46 |
-
over "J2"
|
| 47 |
-
{
|
| 48 |
-
over "collisions"
|
| 49 |
-
{
|
| 50 |
-
over "visuals_2" (
|
| 51 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 52 |
-
)
|
| 53 |
-
{
|
| 54 |
-
uniform token physics:approximation = "convexHull"
|
| 55 |
-
}
|
| 56 |
-
}
|
| 57 |
-
|
| 58 |
-
over "joint_3" (
|
| 59 |
-
prepend apiSchemas = ["MjcJointAPI"]
|
| 60 |
-
)
|
| 61 |
-
{
|
| 62 |
-
}
|
| 63 |
-
}
|
| 64 |
-
|
| 65 |
-
over "J3"
|
| 66 |
-
{
|
| 67 |
-
over "collisions"
|
| 68 |
-
{
|
| 69 |
-
over "visuals_3" (
|
| 70 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 71 |
-
)
|
| 72 |
-
{
|
| 73 |
-
uniform token physics:approximation = "convexHull"
|
| 74 |
-
}
|
| 75 |
-
}
|
| 76 |
-
|
| 77 |
-
over "joint_4" (
|
| 78 |
-
prepend apiSchemas = ["MjcJointAPI"]
|
| 79 |
-
)
|
| 80 |
-
{
|
| 81 |
-
}
|
| 82 |
-
}
|
| 83 |
-
|
| 84 |
-
over "J4"
|
| 85 |
-
{
|
| 86 |
-
over "collisions"
|
| 87 |
-
{
|
| 88 |
-
over "visuals_4" (
|
| 89 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 90 |
-
)
|
| 91 |
-
{
|
| 92 |
-
uniform token physics:approximation = "convexHull"
|
| 93 |
-
}
|
| 94 |
-
}
|
| 95 |
-
|
| 96 |
-
over "joint_5" (
|
| 97 |
-
prepend apiSchemas = ["MjcJointAPI"]
|
| 98 |
-
)
|
| 99 |
-
{
|
| 100 |
-
}
|
| 101 |
-
}
|
| 102 |
-
|
| 103 |
-
over "J5"
|
| 104 |
-
{
|
| 105 |
-
over "collisions"
|
| 106 |
-
{
|
| 107 |
-
over "visuals_5" (
|
| 108 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 109 |
-
)
|
| 110 |
-
{
|
| 111 |
-
uniform token physics:approximation = "convexHull"
|
| 112 |
-
}
|
| 113 |
-
}
|
| 114 |
-
|
| 115 |
-
over "joint_6" (
|
| 116 |
-
prepend apiSchemas = ["MjcJointAPI"]
|
| 117 |
-
)
|
| 118 |
-
{
|
| 119 |
-
}
|
| 120 |
-
}
|
| 121 |
-
|
| 122 |
-
over "J6"
|
| 123 |
-
{
|
| 124 |
-
over "collisions"
|
| 125 |
-
{
|
| 126 |
-
over "visuals_6" (
|
| 127 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 128 |
-
)
|
| 129 |
-
{
|
| 130 |
-
uniform token physics:approximation = "convexHull"
|
| 131 |
-
}
|
| 132 |
-
}
|
| 133 |
-
}
|
| 134 |
-
|
| 135 |
-
over "onrobot_rg6_base_link"
|
| 136 |
-
{
|
| 137 |
-
over "collisions"
|
| 138 |
-
{
|
| 139 |
-
over "collisions" (
|
| 140 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 141 |
-
)
|
| 142 |
-
{
|
| 143 |
-
uniform token physics:approximation = "convexHull"
|
| 144 |
-
}
|
| 145 |
-
}
|
| 146 |
-
|
| 147 |
-
over "finger_joint" (
|
| 148 |
-
prepend apiSchemas = ["MjcJointAPI"]
|
| 149 |
-
)
|
| 150 |
-
{
|
| 151 |
-
}
|
| 152 |
-
|
| 153 |
-
over "left_inner_knuckle_joint" (
|
| 154 |
-
prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
|
| 155 |
-
)
|
| 156 |
-
{
|
| 157 |
-
float drive:angular:physics:damping = 0
|
| 158 |
-
float drive:angular:physics:stiffness = 0
|
| 159 |
-
uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2]
|
| 160 |
-
uniform double[] mjc:solref = [0.005, 1]
|
| 161 |
-
float newton:mimicCoef0 = -0
|
| 162 |
-
float newton:mimicCoef1 = -1
|
| 163 |
-
bool newton:mimicEnabled = 1
|
| 164 |
-
rel newton:mimicJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 165 |
-
}
|
| 166 |
-
|
| 167 |
-
over "right_inner_knuckle_joint" (
|
| 168 |
-
prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
|
| 169 |
-
)
|
| 170 |
-
{
|
| 171 |
-
float drive:angular:physics:damping = 0
|
| 172 |
-
float drive:angular:physics:stiffness = 0
|
| 173 |
-
uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2]
|
| 174 |
-
uniform double[] mjc:solref = [0.005, 1]
|
| 175 |
-
float newton:mimicCoef0 = -0
|
| 176 |
-
float newton:mimicCoef1 = -1
|
| 177 |
-
bool newton:mimicEnabled = 1
|
| 178 |
-
rel newton:mimicJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 179 |
-
}
|
| 180 |
-
|
| 181 |
-
over "right_outer_knuckle_joint" (
|
| 182 |
-
prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
|
| 183 |
-
)
|
| 184 |
-
{
|
| 185 |
-
float drive:angular:physics:damping = 0
|
| 186 |
-
float drive:angular:physics:stiffness = 0
|
| 187 |
-
uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2]
|
| 188 |
-
uniform double[] mjc:solref = [0.005, 1]
|
| 189 |
-
float newton:mimicCoef0 = -0
|
| 190 |
-
float newton:mimicCoef1 = -1
|
| 191 |
-
bool newton:mimicEnabled = 1
|
| 192 |
-
rel newton:mimicJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 193 |
-
}
|
| 194 |
-
}
|
| 195 |
-
|
| 196 |
-
over "left_outer_knuckle"
|
| 197 |
-
{
|
| 198 |
-
over "collisions"
|
| 199 |
-
{
|
| 200 |
-
over "collisions_1" (
|
| 201 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 202 |
-
)
|
| 203 |
-
{
|
| 204 |
-
uniform token physics:approximation = "convexHull"
|
| 205 |
-
}
|
| 206 |
-
}
|
| 207 |
-
|
| 208 |
-
over "left_inner_finger_joint" (
|
| 209 |
-
prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
|
| 210 |
-
)
|
| 211 |
-
{
|
| 212 |
-
float drive:angular:physics:damping = 0
|
| 213 |
-
float drive:angular:physics:stiffness = 0
|
| 214 |
-
uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2]
|
| 215 |
-
uniform double[] mjc:solref = [0.005, 1]
|
| 216 |
-
float newton:mimicCoef0 = -0
|
| 217 |
-
float newton:mimicCoef1 = 1
|
| 218 |
-
bool newton:mimicEnabled = 1
|
| 219 |
-
rel newton:mimicJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 220 |
-
}
|
| 221 |
-
}
|
| 222 |
-
|
| 223 |
-
over "left_inner_finger"
|
| 224 |
-
{
|
| 225 |
-
over "collisions"
|
| 226 |
-
{
|
| 227 |
-
over "collisions_2" (
|
| 228 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 229 |
-
)
|
| 230 |
-
{
|
| 231 |
-
uniform token physics:approximation = "convexHull"
|
| 232 |
-
}
|
| 233 |
-
}
|
| 234 |
-
}
|
| 235 |
-
|
| 236 |
-
over "left_inner_knuckle"
|
| 237 |
-
{
|
| 238 |
-
over "collisions"
|
| 239 |
-
{
|
| 240 |
-
over "collisions_3" (
|
| 241 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 242 |
-
)
|
| 243 |
-
{
|
| 244 |
-
uniform token physics:approximation = "convexHull"
|
| 245 |
-
}
|
| 246 |
-
}
|
| 247 |
-
}
|
| 248 |
-
|
| 249 |
-
over "right_inner_knuckle"
|
| 250 |
-
{
|
| 251 |
-
over "collisions"
|
| 252 |
-
{
|
| 253 |
-
over "collisions_3" (
|
| 254 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 255 |
-
)
|
| 256 |
-
{
|
| 257 |
-
uniform token physics:approximation = "convexHull"
|
| 258 |
-
}
|
| 259 |
-
}
|
| 260 |
-
}
|
| 261 |
-
|
| 262 |
-
over "right_outer_knuckle"
|
| 263 |
-
{
|
| 264 |
-
over "collisions"
|
| 265 |
-
{
|
| 266 |
-
over "collisions_1" (
|
| 267 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 268 |
-
)
|
| 269 |
-
{
|
| 270 |
-
uniform token physics:approximation = "convexHull"
|
| 271 |
-
}
|
| 272 |
-
}
|
| 273 |
-
|
| 274 |
-
over "right_inner_finger_joint" (
|
| 275 |
-
prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
|
| 276 |
-
)
|
| 277 |
-
{
|
| 278 |
-
float drive:angular:physics:damping = 0
|
| 279 |
-
float drive:angular:physics:stiffness = 0
|
| 280 |
-
uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2]
|
| 281 |
-
uniform double[] mjc:solref = [0.005, 1]
|
| 282 |
-
float newton:mimicCoef0 = -0
|
| 283 |
-
float newton:mimicCoef1 = 1
|
| 284 |
-
bool newton:mimicEnabled = 1
|
| 285 |
-
rel newton:mimicJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 286 |
-
}
|
| 287 |
-
}
|
| 288 |
-
|
| 289 |
-
over "right_inner_finger"
|
| 290 |
-
{
|
| 291 |
-
over "collisions"
|
| 292 |
-
{
|
| 293 |
-
over "collisions_2" (
|
| 294 |
-
prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
|
| 295 |
-
)
|
| 296 |
-
{
|
| 297 |
-
uniform token physics:approximation = "convexHull"
|
| 298 |
-
}
|
| 299 |
-
}
|
| 300 |
-
}
|
| 301 |
-
|
| 302 |
-
def "MuJoCoActuators"
|
| 303 |
-
{
|
| 304 |
-
def MjcActuator "act_cobotta_pro_1300_base_link_joint_1" (
|
| 305 |
-
doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
|
| 306 |
-
)
|
| 307 |
-
{
|
| 308 |
-
double[] mjc:biasPrm = [0, -3970584.9868048364, -1985.2925091391742]
|
| 309 |
-
token mjc:biasType = "affine"
|
| 310 |
-
token mjc:ctrlLimited = "false"
|
| 311 |
-
token mjc:forceLimited = "true"
|
| 312 |
-
double mjc:forceRange:max = 60
|
| 313 |
-
double mjc:forceRange:min = -60
|
| 314 |
-
double[] mjc:gainPrm = [1]
|
| 315 |
-
token mjc:gainType = "fixed"
|
| 316 |
-
rel mjc:target = </cobotta_pro_1300/base_link/joint_1>
|
| 317 |
-
}
|
| 318 |
-
|
| 319 |
-
def MjcActuator "act_cobotta_pro_1300_J1_joint_2" (
|
| 320 |
-
doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
|
| 321 |
-
)
|
| 322 |
-
{
|
| 323 |
-
double[] mjc:biasPrm = [0, -4536093.435352404, -2268.0466040218544]
|
| 324 |
-
token mjc:biasType = "affine"
|
| 325 |
-
token mjc:ctrlLimited = "false"
|
| 326 |
-
token mjc:forceLimited = "true"
|
| 327 |
-
double mjc:forceRange:max = 60
|
| 328 |
-
double mjc:forceRange:min = -60
|
| 329 |
-
double[] mjc:gainPrm = [1]
|
| 330 |
-
token mjc:gainType = "fixed"
|
| 331 |
-
rel mjc:target = </cobotta_pro_1300/J1/joint_2>
|
| 332 |
-
}
|
| 333 |
-
|
| 334 |
-
def MjcActuator "act_cobotta_pro_1300_J2_joint_3" (
|
| 335 |
-
doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
|
| 336 |
-
)
|
| 337 |
-
{
|
| 338 |
-
double[] mjc:biasPrm = [0, -30818769.54651234, -15409.38411580948]
|
| 339 |
-
token mjc:biasType = "affine"
|
| 340 |
-
token mjc:ctrlLimited = "false"
|
| 341 |
-
token mjc:forceLimited = "true"
|
| 342 |
-
double mjc:forceRange:max = 60
|
| 343 |
-
double mjc:forceRange:min = -60
|
| 344 |
-
double[] mjc:gainPrm = [1]
|
| 345 |
-
token mjc:gainType = "fixed"
|
| 346 |
-
rel mjc:target = </cobotta_pro_1300/J2/joint_3>
|
| 347 |
-
}
|
| 348 |
-
|
| 349 |
-
def MjcActuator "act_cobotta_pro_1300_J3_joint_4" (
|
| 350 |
-
doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
|
| 351 |
-
)
|
| 352 |
-
{
|
| 353 |
-
double[] mjc:biasPrm = [0, -5898056.190966451, -2949.0282668390114]
|
| 354 |
-
token mjc:biasType = "affine"
|
| 355 |
-
token mjc:ctrlLimited = "false"
|
| 356 |
-
token mjc:forceLimited = "true"
|
| 357 |
-
double mjc:forceRange:max = 60
|
| 358 |
-
double mjc:forceRange:min = -60
|
| 359 |
-
double[] mjc:gainPrm = [1]
|
| 360 |
-
token mjc:gainType = "fixed"
|
| 361 |
-
rel mjc:target = </cobotta_pro_1300/J3/joint_4>
|
| 362 |
-
}
|
| 363 |
-
|
| 364 |
-
def MjcActuator "act_cobotta_pro_1300_J4_joint_5" (
|
| 365 |
-
doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
|
| 366 |
-
)
|
| 367 |
-
{
|
| 368 |
-
double[] mjc:biasPrm = [0, -4572465.5123845525, -2286.2328296304704]
|
| 369 |
-
token mjc:biasType = "affine"
|
| 370 |
-
token mjc:ctrlLimited = "false"
|
| 371 |
-
token mjc:forceLimited = "true"
|
| 372 |
-
double mjc:forceRange:max = 60
|
| 373 |
-
double mjc:forceRange:min = -60
|
| 374 |
-
double[] mjc:gainPrm = [1]
|
| 375 |
-
token mjc:gainType = "fixed"
|
| 376 |
-
rel mjc:target = </cobotta_pro_1300/J4/joint_5>
|
| 377 |
-
}
|
| 378 |
-
|
| 379 |
-
def MjcActuator "act_cobotta_pro_1300_J5_joint_6" (
|
| 380 |
-
doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
|
| 381 |
-
)
|
| 382 |
-
{
|
| 383 |
-
double[] mjc:biasPrm = [0, -4056199.2053422597, -2028.0995449696918]
|
| 384 |
-
token mjc:biasType = "affine"
|
| 385 |
-
token mjc:ctrlLimited = "false"
|
| 386 |
-
token mjc:forceLimited = "true"
|
| 387 |
-
double mjc:forceRange:max = 60
|
| 388 |
-
double mjc:forceRange:min = -60
|
| 389 |
-
double[] mjc:gainPrm = [1]
|
| 390 |
-
token mjc:gainType = "fixed"
|
| 391 |
-
rel mjc:target = </cobotta_pro_1300/J5/joint_6>
|
| 392 |
-
}
|
| 393 |
-
|
| 394 |
-
def MjcActuator "act_cobotta_pro_1300_onrobot_rg6_base_link_finger_joint" (
|
| 395 |
-
doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
|
| 396 |
-
)
|
| 397 |
-
{
|
| 398 |
-
double[] mjc:biasPrm = [0, -3960226.984164737, -1980.1133679368502]
|
| 399 |
-
token mjc:biasType = "affine"
|
| 400 |
-
token mjc:ctrlLimited = "false"
|
| 401 |
-
token mjc:forceLimited = "true"
|
| 402 |
-
double mjc:forceRange:max = 60000
|
| 403 |
-
double mjc:forceRange:min = -60000
|
| 404 |
-
double[] mjc:gainPrm = [1]
|
| 405 |
-
token mjc:gainType = "fixed"
|
| 406 |
-
rel mjc:target = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 407 |
-
}
|
| 408 |
-
}
|
| 409 |
-
}
|
| 410 |
-
|
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|
denso_cobottapro1300_cobotta_pro_1300/runnables/physics/newton.usda
DELETED
|
@@ -1,387 +0,0 @@
|
|
| 1 |
-
#usda 1.0
|
| 2 |
-
(
|
| 3 |
-
defaultPrim = "cobotta_pro_1300"
|
| 4 |
-
)
|
| 5 |
-
|
| 6 |
-
over "cobotta_pro_1300" (
|
| 7 |
-
prepend apiSchemas = ["NewtonArticulationRootAPI"]
|
| 8 |
-
)
|
| 9 |
-
{
|
| 10 |
-
bool newton:selfCollisionEnabled = 0
|
| 11 |
-
|
| 12 |
-
over "world"
|
| 13 |
-
{
|
| 14 |
-
over "joint_w"
|
| 15 |
-
{
|
| 16 |
-
bool physics:jointEnabled = 0
|
| 17 |
-
}
|
| 18 |
-
}
|
| 19 |
-
|
| 20 |
-
over "base_link"
|
| 21 |
-
{
|
| 22 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 23 |
-
|
| 24 |
-
over "collisions"
|
| 25 |
-
{
|
| 26 |
-
over "visuals" (
|
| 27 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 28 |
-
)
|
| 29 |
-
{
|
| 30 |
-
uniform int newton:maxHullVertices = 64
|
| 31 |
-
uniform token physics:approximation = "convexHull"
|
| 32 |
-
}
|
| 33 |
-
}
|
| 34 |
-
|
| 35 |
-
over "joint_1" (
|
| 36 |
-
prepend apiSchemas = ["NewtonJointAPI"]
|
| 37 |
-
)
|
| 38 |
-
{
|
| 39 |
-
float drive:angular:physics:damping = 0
|
| 40 |
-
float drive:angular:physics:stiffness = 39.2699
|
| 41 |
-
float newton:damping = 1.308997
|
| 42 |
-
float newton:velocityLimit = 57.29578
|
| 43 |
-
float physics:lowerLimit = -200
|
| 44 |
-
float physics:upperLimit = 200
|
| 45 |
-
}
|
| 46 |
-
}
|
| 47 |
-
|
| 48 |
-
over "J1"
|
| 49 |
-
{
|
| 50 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 51 |
-
|
| 52 |
-
over "collisions"
|
| 53 |
-
{
|
| 54 |
-
over "visuals_1" (
|
| 55 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 56 |
-
)
|
| 57 |
-
{
|
| 58 |
-
uniform int newton:maxHullVertices = 64
|
| 59 |
-
uniform token physics:approximation = "convexHull"
|
| 60 |
-
}
|
| 61 |
-
}
|
| 62 |
-
|
| 63 |
-
over "joint_2" (
|
| 64 |
-
prepend apiSchemas = ["NewtonJointAPI"]
|
| 65 |
-
)
|
| 66 |
-
{
|
| 67 |
-
float drive:angular:physics:damping = 0
|
| 68 |
-
float drive:angular:physics:maxForce = 350
|
| 69 |
-
float drive:angular:physics:stiffness = 500
|
| 70 |
-
float newton:damping = 6.955117
|
| 71 |
-
float newton:velocityLimit = 57.29578
|
| 72 |
-
}
|
| 73 |
-
}
|
| 74 |
-
|
| 75 |
-
over "J2"
|
| 76 |
-
{
|
| 77 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 78 |
-
|
| 79 |
-
over "collisions"
|
| 80 |
-
{
|
| 81 |
-
over "visuals_2" (
|
| 82 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 83 |
-
)
|
| 84 |
-
{
|
| 85 |
-
uniform int newton:maxHullVertices = 64
|
| 86 |
-
uniform token physics:approximation = "convexHull"
|
| 87 |
-
}
|
| 88 |
-
}
|
| 89 |
-
|
| 90 |
-
over "joint_3" (
|
| 91 |
-
prepend apiSchemas = ["NewtonJointAPI"]
|
| 92 |
-
)
|
| 93 |
-
{
|
| 94 |
-
float drive:angular:physics:damping = 0
|
| 95 |
-
float drive:angular:physics:stiffness = 39.2699
|
| 96 |
-
float newton:damping = 1.308997
|
| 97 |
-
float newton:velocityLimit = 57.29578
|
| 98 |
-
}
|
| 99 |
-
}
|
| 100 |
-
|
| 101 |
-
over "J3"
|
| 102 |
-
{
|
| 103 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 104 |
-
|
| 105 |
-
over "collisions"
|
| 106 |
-
{
|
| 107 |
-
over "visuals_3" (
|
| 108 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 109 |
-
)
|
| 110 |
-
{
|
| 111 |
-
uniform int newton:maxHullVertices = 64
|
| 112 |
-
uniform token physics:approximation = "convexHull"
|
| 113 |
-
}
|
| 114 |
-
}
|
| 115 |
-
|
| 116 |
-
over "joint_4" (
|
| 117 |
-
prepend apiSchemas = ["NewtonJointAPI"]
|
| 118 |
-
)
|
| 119 |
-
{
|
| 120 |
-
float drive:angular:physics:damping = 0
|
| 121 |
-
float drive:angular:physics:stiffness = 39.2699
|
| 122 |
-
float newton:damping = 1.308997
|
| 123 |
-
float newton:velocityLimit = 57.29578
|
| 124 |
-
float physics:lowerLimit = -150
|
| 125 |
-
float physics:upperLimit = 150
|
| 126 |
-
}
|
| 127 |
-
}
|
| 128 |
-
|
| 129 |
-
over "J4"
|
| 130 |
-
{
|
| 131 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 132 |
-
|
| 133 |
-
over "collisions"
|
| 134 |
-
{
|
| 135 |
-
over "visuals_4" (
|
| 136 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 137 |
-
)
|
| 138 |
-
{
|
| 139 |
-
uniform int newton:maxHullVertices = 64
|
| 140 |
-
uniform token physics:approximation = "convexHull"
|
| 141 |
-
}
|
| 142 |
-
}
|
| 143 |
-
|
| 144 |
-
over "joint_5" (
|
| 145 |
-
prepend apiSchemas = ["NewtonJointAPI"]
|
| 146 |
-
)
|
| 147 |
-
{
|
| 148 |
-
float drive:angular:physics:damping = 0
|
| 149 |
-
float drive:angular:physics:stiffness = 39.2699
|
| 150 |
-
float newton:damping = 1.308997
|
| 151 |
-
float newton:velocityLimit = 57.29578
|
| 152 |
-
}
|
| 153 |
-
}
|
| 154 |
-
|
| 155 |
-
over "J5"
|
| 156 |
-
{
|
| 157 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 158 |
-
|
| 159 |
-
over "collisions"
|
| 160 |
-
{
|
| 161 |
-
over "visuals_5" (
|
| 162 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 163 |
-
)
|
| 164 |
-
{
|
| 165 |
-
uniform int newton:maxHullVertices = 64
|
| 166 |
-
uniform token physics:approximation = "convexHull"
|
| 167 |
-
}
|
| 168 |
-
}
|
| 169 |
-
|
| 170 |
-
over "joint_6" (
|
| 171 |
-
prepend apiSchemas = ["NewtonJointAPI"]
|
| 172 |
-
)
|
| 173 |
-
{
|
| 174 |
-
float drive:angular:physics:damping = 0
|
| 175 |
-
float drive:angular:physics:stiffness = 39.2699
|
| 176 |
-
float newton:damping = 1.308997
|
| 177 |
-
float newton:velocityLimit = 57.29578
|
| 178 |
-
float physics:lowerLimit = -170
|
| 179 |
-
float physics:upperLimit = 170
|
| 180 |
-
}
|
| 181 |
-
}
|
| 182 |
-
|
| 183 |
-
over "J6"
|
| 184 |
-
{
|
| 185 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 186 |
-
|
| 187 |
-
over "collisions"
|
| 188 |
-
{
|
| 189 |
-
over "visuals_6" (
|
| 190 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 191 |
-
)
|
| 192 |
-
{
|
| 193 |
-
uniform int newton:maxHullVertices = 64
|
| 194 |
-
uniform token physics:approximation = "convexHull"
|
| 195 |
-
}
|
| 196 |
-
}
|
| 197 |
-
}
|
| 198 |
-
|
| 199 |
-
over "onrobot_rg6_base_link"
|
| 200 |
-
{
|
| 201 |
-
float3 physics:diagonalInertia = (0.001, 0.001, 0.001)
|
| 202 |
-
|
| 203 |
-
over "collisions"
|
| 204 |
-
{
|
| 205 |
-
over "collisions" (
|
| 206 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 207 |
-
)
|
| 208 |
-
{
|
| 209 |
-
uniform int newton:maxHullVertices = 64
|
| 210 |
-
uniform token physics:approximation = "convexHull"
|
| 211 |
-
}
|
| 212 |
-
}
|
| 213 |
-
|
| 214 |
-
over "finger_joint" (
|
| 215 |
-
prepend apiSchemas = ["NewtonJointAPI"]
|
| 216 |
-
)
|
| 217 |
-
{
|
| 218 |
-
float drive:angular:physics:damping = 0
|
| 219 |
-
float drive:angular:physics:maxForce = 19.2
|
| 220 |
-
float drive:angular:physics:stiffness = 6.2832
|
| 221 |
-
float newton:damping = 0.20944
|
| 222 |
-
float newton:velocityLimit = 114.59156
|
| 223 |
-
}
|
| 224 |
-
|
| 225 |
-
over "left_inner_knuckle_joint" (
|
| 226 |
-
prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
|
| 227 |
-
)
|
| 228 |
-
{
|
| 229 |
-
float drive:angular:physics:damping = 0
|
| 230 |
-
float drive:angular:physics:stiffness = 0
|
| 231 |
-
float newton:mimicCoef0 = -0
|
| 232 |
-
float newton:mimicCoef1 = -1
|
| 233 |
-
bool newton:mimicEnabled = 1
|
| 234 |
-
rel newton:mimicJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 235 |
-
float newton:velocityLimit = 114.59156
|
| 236 |
-
}
|
| 237 |
-
|
| 238 |
-
over "right_inner_knuckle_joint" (
|
| 239 |
-
prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
|
| 240 |
-
)
|
| 241 |
-
{
|
| 242 |
-
float drive:angular:physics:damping = 0
|
| 243 |
-
float drive:angular:physics:stiffness = 0
|
| 244 |
-
float newton:mimicCoef0 = -0
|
| 245 |
-
float newton:mimicCoef1 = -1
|
| 246 |
-
bool newton:mimicEnabled = 1
|
| 247 |
-
rel newton:mimicJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 248 |
-
float newton:velocityLimit = 114.59156
|
| 249 |
-
}
|
| 250 |
-
|
| 251 |
-
over "right_outer_knuckle_joint" (
|
| 252 |
-
prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
|
| 253 |
-
)
|
| 254 |
-
{
|
| 255 |
-
float drive:angular:physics:damping = 0
|
| 256 |
-
float drive:angular:physics:stiffness = 0
|
| 257 |
-
float newton:mimicCoef0 = -0
|
| 258 |
-
float newton:mimicCoef1 = -1
|
| 259 |
-
bool newton:mimicEnabled = 1
|
| 260 |
-
rel newton:mimicJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 261 |
-
float newton:velocityLimit = 114.59156
|
| 262 |
-
}
|
| 263 |
-
}
|
| 264 |
-
|
| 265 |
-
over "left_outer_knuckle"
|
| 266 |
-
{
|
| 267 |
-
float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
|
| 268 |
-
|
| 269 |
-
over "collisions"
|
| 270 |
-
{
|
| 271 |
-
over "collisions_1" (
|
| 272 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 273 |
-
)
|
| 274 |
-
{
|
| 275 |
-
uniform int newton:maxHullVertices = 64
|
| 276 |
-
uniform token physics:approximation = "convexHull"
|
| 277 |
-
}
|
| 278 |
-
}
|
| 279 |
-
|
| 280 |
-
over "left_inner_finger_joint" (
|
| 281 |
-
prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
|
| 282 |
-
)
|
| 283 |
-
{
|
| 284 |
-
float drive:angular:physics:damping = 0
|
| 285 |
-
float drive:angular:physics:stiffness = 0
|
| 286 |
-
float newton:mimicCoef0 = -0
|
| 287 |
-
float newton:mimicCoef1 = 1
|
| 288 |
-
bool newton:mimicEnabled = 1
|
| 289 |
-
rel newton:mimicJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 290 |
-
float newton:velocityLimit = 114.59156
|
| 291 |
-
}
|
| 292 |
-
}
|
| 293 |
-
|
| 294 |
-
over "left_inner_finger"
|
| 295 |
-
{
|
| 296 |
-
float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
|
| 297 |
-
|
| 298 |
-
over "collisions"
|
| 299 |
-
{
|
| 300 |
-
over "collisions_2" (
|
| 301 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 302 |
-
)
|
| 303 |
-
{
|
| 304 |
-
uniform int newton:maxHullVertices = 64
|
| 305 |
-
uniform token physics:approximation = "convexHull"
|
| 306 |
-
}
|
| 307 |
-
}
|
| 308 |
-
}
|
| 309 |
-
|
| 310 |
-
over "left_inner_knuckle"
|
| 311 |
-
{
|
| 312 |
-
float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
|
| 313 |
-
|
| 314 |
-
over "collisions"
|
| 315 |
-
{
|
| 316 |
-
over "collisions_3" (
|
| 317 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 318 |
-
)
|
| 319 |
-
{
|
| 320 |
-
uniform int newton:maxHullVertices = 64
|
| 321 |
-
uniform token physics:approximation = "convexHull"
|
| 322 |
-
}
|
| 323 |
-
}
|
| 324 |
-
}
|
| 325 |
-
|
| 326 |
-
over "right_inner_knuckle"
|
| 327 |
-
{
|
| 328 |
-
float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
|
| 329 |
-
|
| 330 |
-
over "collisions"
|
| 331 |
-
{
|
| 332 |
-
over "collisions_3" (
|
| 333 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 334 |
-
)
|
| 335 |
-
{
|
| 336 |
-
uniform int newton:maxHullVertices = 64
|
| 337 |
-
uniform token physics:approximation = "convexHull"
|
| 338 |
-
}
|
| 339 |
-
}
|
| 340 |
-
}
|
| 341 |
-
|
| 342 |
-
over "right_outer_knuckle"
|
| 343 |
-
{
|
| 344 |
-
float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
|
| 345 |
-
|
| 346 |
-
over "collisions"
|
| 347 |
-
{
|
| 348 |
-
over "collisions_1" (
|
| 349 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 350 |
-
)
|
| 351 |
-
{
|
| 352 |
-
uniform int newton:maxHullVertices = 64
|
| 353 |
-
uniform token physics:approximation = "convexHull"
|
| 354 |
-
}
|
| 355 |
-
}
|
| 356 |
-
|
| 357 |
-
over "right_inner_finger_joint" (
|
| 358 |
-
prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
|
| 359 |
-
)
|
| 360 |
-
{
|
| 361 |
-
float drive:angular:physics:damping = 0
|
| 362 |
-
float drive:angular:physics:stiffness = 0
|
| 363 |
-
float newton:mimicCoef0 = -0
|
| 364 |
-
float newton:mimicCoef1 = 1
|
| 365 |
-
bool newton:mimicEnabled = 1
|
| 366 |
-
rel newton:mimicJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 367 |
-
float newton:velocityLimit = 114.59156
|
| 368 |
-
}
|
| 369 |
-
}
|
| 370 |
-
|
| 371 |
-
over "right_inner_finger"
|
| 372 |
-
{
|
| 373 |
-
float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
|
| 374 |
-
|
| 375 |
-
over "collisions"
|
| 376 |
-
{
|
| 377 |
-
over "collisions_2" (
|
| 378 |
-
prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
|
| 379 |
-
)
|
| 380 |
-
{
|
| 381 |
-
uniform int newton:maxHullVertices = 64
|
| 382 |
-
uniform token physics:approximation = "convexHull"
|
| 383 |
-
}
|
| 384 |
-
}
|
| 385 |
-
}
|
| 386 |
-
}
|
| 387 |
-
|
|
|
|
|
|
|
|
|
|
|
|
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|
denso_cobottapro1300_cobotta_pro_1300/runnables/physics/physx.usda
DELETED
|
@@ -1,368 +0,0 @@
|
|
| 1 |
-
#usda 1.0
|
| 2 |
-
(
|
| 3 |
-
customLayerData = {
|
| 4 |
-
}
|
| 5 |
-
defaultPrim = "cobotta_pro_1300"
|
| 6 |
-
endTimeCode = 0
|
| 7 |
-
metersPerUnit = 1
|
| 8 |
-
startTimeCode = -1
|
| 9 |
-
timeCodesPerSecond = 60
|
| 10 |
-
upAxis = "Z"
|
| 11 |
-
)
|
| 12 |
-
|
| 13 |
-
over "cobotta_pro_1300" (
|
| 14 |
-
prepend apiSchemas = ["PhysxArticulationAPI"]
|
| 15 |
-
)
|
| 16 |
-
{
|
| 17 |
-
bool physxArticulation:enabledSelfCollisions = 0
|
| 18 |
-
int physxArticulation:solverPositionIterationCount = 32
|
| 19 |
-
int physxArticulation:solverVelocityIterationCount = 16
|
| 20 |
-
|
| 21 |
-
over "world"
|
| 22 |
-
{
|
| 23 |
-
over "joint_w"
|
| 24 |
-
{
|
| 25 |
-
bool physics:jointEnabled = 0
|
| 26 |
-
}
|
| 27 |
-
}
|
| 28 |
-
|
| 29 |
-
over "base_link"
|
| 30 |
-
{
|
| 31 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 32 |
-
|
| 33 |
-
over "joint_1" (
|
| 34 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
|
| 35 |
-
)
|
| 36 |
-
{
|
| 37 |
-
float physxJoint:jointFriction = 0
|
| 38 |
-
float physxJoint:maxJointVelocity = 57.29578
|
| 39 |
-
float state:angular:physics:position = -0.00036950686
|
| 40 |
-
float state:angular:physics:velocity = 0.0024680663
|
| 41 |
-
}
|
| 42 |
-
|
| 43 |
-
over "collisions"
|
| 44 |
-
{
|
| 45 |
-
over "visuals"
|
| 46 |
-
{
|
| 47 |
-
token physics:approximation = "convexHull"
|
| 48 |
-
}
|
| 49 |
-
}
|
| 50 |
-
}
|
| 51 |
-
|
| 52 |
-
over "J1"
|
| 53 |
-
{
|
| 54 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 55 |
-
|
| 56 |
-
over "joint_2" (
|
| 57 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
|
| 58 |
-
)
|
| 59 |
-
{
|
| 60 |
-
float physxJoint:jointFriction = 0
|
| 61 |
-
float physxJoint:maxJointVelocity = 57.29578
|
| 62 |
-
float state:angular:physics:position = -0.0017718695
|
| 63 |
-
float state:angular:physics:velocity = 0.021232184
|
| 64 |
-
}
|
| 65 |
-
|
| 66 |
-
over "collisions"
|
| 67 |
-
{
|
| 68 |
-
over "visuals_1"
|
| 69 |
-
{
|
| 70 |
-
token physics:approximation = "convexHull"
|
| 71 |
-
}
|
| 72 |
-
}
|
| 73 |
-
}
|
| 74 |
-
|
| 75 |
-
over "J2"
|
| 76 |
-
{
|
| 77 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 78 |
-
|
| 79 |
-
over "joint_3" (
|
| 80 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
|
| 81 |
-
)
|
| 82 |
-
{
|
| 83 |
-
float physxJoint:jointFriction = 0
|
| 84 |
-
float physxJoint:maxJointVelocity = 57.29578
|
| 85 |
-
float state:angular:physics:position = -0.0014088966
|
| 86 |
-
float state:angular:physics:velocity = 0.015929602
|
| 87 |
-
}
|
| 88 |
-
|
| 89 |
-
over "collisions"
|
| 90 |
-
{
|
| 91 |
-
over "visuals_2"
|
| 92 |
-
{
|
| 93 |
-
token physics:approximation = "convexHull"
|
| 94 |
-
}
|
| 95 |
-
}
|
| 96 |
-
}
|
| 97 |
-
|
| 98 |
-
over "J3"
|
| 99 |
-
{
|
| 100 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 101 |
-
|
| 102 |
-
over "joint_4" (
|
| 103 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
|
| 104 |
-
)
|
| 105 |
-
{
|
| 106 |
-
float physics:lowerLimit = -220
|
| 107 |
-
float physics:upperLimit = 220
|
| 108 |
-
float physxJoint:jointFriction = 0
|
| 109 |
-
float physxJoint:maxJointVelocity = 57.29578
|
| 110 |
-
float state:angular:physics:position = -0.0006828282
|
| 111 |
-
float state:angular:physics:velocity = 0.004669779
|
| 112 |
-
}
|
| 113 |
-
|
| 114 |
-
over "collisions"
|
| 115 |
-
{
|
| 116 |
-
over "visuals_3"
|
| 117 |
-
{
|
| 118 |
-
token physics:approximation = "convexHull"
|
| 119 |
-
}
|
| 120 |
-
}
|
| 121 |
-
}
|
| 122 |
-
|
| 123 |
-
over "J4"
|
| 124 |
-
{
|
| 125 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 126 |
-
|
| 127 |
-
over "joint_5" (
|
| 128 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
|
| 129 |
-
)
|
| 130 |
-
{
|
| 131 |
-
float physxJoint:jointFriction = 0
|
| 132 |
-
float physxJoint:maxJointVelocity = 57.29578
|
| 133 |
-
float state:angular:physics:position = -0.0001276916
|
| 134 |
-
float state:angular:physics:velocity = 0.0014486824
|
| 135 |
-
}
|
| 136 |
-
|
| 137 |
-
over "collisions"
|
| 138 |
-
{
|
| 139 |
-
over "visuals_4"
|
| 140 |
-
{
|
| 141 |
-
token physics:approximation = "convexHull"
|
| 142 |
-
}
|
| 143 |
-
}
|
| 144 |
-
}
|
| 145 |
-
|
| 146 |
-
over "J5"
|
| 147 |
-
{
|
| 148 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 149 |
-
|
| 150 |
-
over "joint_6" (
|
| 151 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
|
| 152 |
-
)
|
| 153 |
-
{
|
| 154 |
-
float physxJoint:jointFriction = 0
|
| 155 |
-
float physxJoint:maxJointVelocity = 57.29578
|
| 156 |
-
float state:angular:physics:position = 0.0000017366441
|
| 157 |
-
float state:angular:physics:velocity = -0.000017651531
|
| 158 |
-
}
|
| 159 |
-
|
| 160 |
-
over "collisions"
|
| 161 |
-
{
|
| 162 |
-
over "visuals_5"
|
| 163 |
-
{
|
| 164 |
-
token physics:approximation = "convexHull"
|
| 165 |
-
}
|
| 166 |
-
}
|
| 167 |
-
}
|
| 168 |
-
|
| 169 |
-
over "onrobot_rg6_base_link"
|
| 170 |
-
{
|
| 171 |
-
float3 physics:diagonalInertia = (0.001, 0.001, 0.001)
|
| 172 |
-
|
| 173 |
-
over "finger_joint" (
|
| 174 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
|
| 175 |
-
)
|
| 176 |
-
{
|
| 177 |
-
float physxJoint:jointFriction = 0
|
| 178 |
-
float physxJoint:maxJointVelocity = 114.59156
|
| 179 |
-
float state:angular:physics:position = -0.000120430406
|
| 180 |
-
float state:angular:physics:velocity = 0.0011970663
|
| 181 |
-
}
|
| 182 |
-
|
| 183 |
-
over "left_inner_knuckle_joint" (
|
| 184 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
|
| 185 |
-
)
|
| 186 |
-
{
|
| 187 |
-
float drive:angular:physics:damping = 0
|
| 188 |
-
float drive:angular:physics:stiffness = 0
|
| 189 |
-
float physxJoint:jointFriction = 0
|
| 190 |
-
float physxJoint:maxJointVelocity = 114.59156
|
| 191 |
-
float physxMimicJoint:rotX:dampingRatio = 1
|
| 192 |
-
float physxMimicJoint:rotX:gearing = 1
|
| 193 |
-
float physxMimicJoint:rotX:naturalFrequency = 50
|
| 194 |
-
float physxMimicJoint:rotX:offset = 0
|
| 195 |
-
rel physxMimicJoint:rotX:referenceJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 196 |
-
float state:angular:physics:position = 7.581299e-9
|
| 197 |
-
float state:angular:physics:velocity = -7.553153e-8
|
| 198 |
-
}
|
| 199 |
-
|
| 200 |
-
over "right_inner_knuckle_joint" (
|
| 201 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
|
| 202 |
-
)
|
| 203 |
-
{
|
| 204 |
-
float drive:angular:physics:damping = 0
|
| 205 |
-
float drive:angular:physics:stiffness = 0
|
| 206 |
-
float physxJoint:jointFriction = 0
|
| 207 |
-
float physxJoint:maxJointVelocity = 114.59156
|
| 208 |
-
float physxMimicJoint:rotX:dampingRatio = 1
|
| 209 |
-
float physxMimicJoint:rotX:gearing = 1
|
| 210 |
-
float physxMimicJoint:rotX:naturalFrequency = 50
|
| 211 |
-
float physxMimicJoint:rotX:offset = 0
|
| 212 |
-
rel physxMimicJoint:rotX:referenceJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 213 |
-
float state:angular:physics:position = -7.859843e-9
|
| 214 |
-
float state:angular:physics:velocity = 7.8301575e-8
|
| 215 |
-
}
|
| 216 |
-
|
| 217 |
-
over "right_outer_knuckle_joint" (
|
| 218 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
|
| 219 |
-
)
|
| 220 |
-
{
|
| 221 |
-
float drive:angular:physics:damping = 0
|
| 222 |
-
float drive:angular:physics:stiffness = 0
|
| 223 |
-
float physxJoint:jointFriction = 0
|
| 224 |
-
float physxJoint:maxJointVelocity = 114.59156
|
| 225 |
-
float physxMimicJoint:rotX:dampingRatio = 1
|
| 226 |
-
float physxMimicJoint:rotX:gearing = 1
|
| 227 |
-
float physxMimicJoint:rotX:naturalFrequency = 50
|
| 228 |
-
float physxMimicJoint:rotX:offset = 0
|
| 229 |
-
rel physxMimicJoint:rotX:referenceJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 230 |
-
float state:angular:physics:position = 0.00012030155
|
| 231 |
-
float state:angular:physics:velocity = -0.0011995337
|
| 232 |
-
}
|
| 233 |
-
|
| 234 |
-
over "collisions"
|
| 235 |
-
{
|
| 236 |
-
over "collisions"
|
| 237 |
-
{
|
| 238 |
-
token physics:approximation = "convexHull"
|
| 239 |
-
}
|
| 240 |
-
}
|
| 241 |
-
}
|
| 242 |
-
|
| 243 |
-
over "left_outer_knuckle"
|
| 244 |
-
{
|
| 245 |
-
float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
|
| 246 |
-
|
| 247 |
-
over "left_inner_finger_joint" (
|
| 248 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
|
| 249 |
-
)
|
| 250 |
-
{
|
| 251 |
-
float drive:angular:physics:damping = 0
|
| 252 |
-
float drive:angular:physics:stiffness = 0
|
| 253 |
-
float physxJoint:jointFriction = 0
|
| 254 |
-
float physxJoint:maxJointVelocity = 114.59156
|
| 255 |
-
float physxMimicJoint:rotX:dampingRatio = 1
|
| 256 |
-
float physxMimicJoint:rotX:gearing = -1
|
| 257 |
-
float physxMimicJoint:rotX:naturalFrequency = 50
|
| 258 |
-
float physxMimicJoint:rotX:offset = 0
|
| 259 |
-
rel physxMimicJoint:rotX:referenceJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 260 |
-
float state:angular:physics:position = -1.4611061e-10
|
| 261 |
-
float state:angular:physics:velocity = 0.0000036318731
|
| 262 |
-
}
|
| 263 |
-
|
| 264 |
-
over "collisions"
|
| 265 |
-
{
|
| 266 |
-
over "collisions_1"
|
| 267 |
-
{
|
| 268 |
-
token physics:approximation = "convexHull"
|
| 269 |
-
}
|
| 270 |
-
}
|
| 271 |
-
}
|
| 272 |
-
|
| 273 |
-
over "right_outer_knuckle"
|
| 274 |
-
{
|
| 275 |
-
float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
|
| 276 |
-
|
| 277 |
-
over "right_inner_finger_joint" (
|
| 278 |
-
prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
|
| 279 |
-
)
|
| 280 |
-
{
|
| 281 |
-
float drive:angular:physics:damping = 0
|
| 282 |
-
float drive:angular:physics:stiffness = 0
|
| 283 |
-
float physxJoint:jointFriction = 0
|
| 284 |
-
float physxJoint:maxJointVelocity = 114.59156
|
| 285 |
-
float physxMimicJoint:rotX:dampingRatio = 1
|
| 286 |
-
float physxMimicJoint:rotX:gearing = -1
|
| 287 |
-
float physxMimicJoint:rotX:naturalFrequency = 50
|
| 288 |
-
float physxMimicJoint:rotX:offset = 0
|
| 289 |
-
rel physxMimicJoint:rotX:referenceJoint = </cobotta_pro_1300/onrobot_rg6_base_link/finger_joint>
|
| 290 |
-
float state:angular:physics:position = 1.4329441e-8
|
| 291 |
-
float state:angular:physics:velocity = 0.0000013184534
|
| 292 |
-
}
|
| 293 |
-
|
| 294 |
-
over "collisions"
|
| 295 |
-
{
|
| 296 |
-
over "collisions_1"
|
| 297 |
-
{
|
| 298 |
-
token physics:approximation = "convexHull"
|
| 299 |
-
}
|
| 300 |
-
}
|
| 301 |
-
}
|
| 302 |
-
|
| 303 |
-
over "J6"
|
| 304 |
-
{
|
| 305 |
-
float3 physics:diagonalInertia = (0.01, 0.01, 0.01)
|
| 306 |
-
|
| 307 |
-
over "collisions"
|
| 308 |
-
{
|
| 309 |
-
over "visuals_6"
|
| 310 |
-
{
|
| 311 |
-
token physics:approximation = "convexHull"
|
| 312 |
-
}
|
| 313 |
-
}
|
| 314 |
-
}
|
| 315 |
-
|
| 316 |
-
over "left_inner_finger"
|
| 317 |
-
{
|
| 318 |
-
float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
|
| 319 |
-
|
| 320 |
-
over "collisions"
|
| 321 |
-
{
|
| 322 |
-
over "collisions_2"
|
| 323 |
-
{
|
| 324 |
-
token physics:approximation = "convexHull"
|
| 325 |
-
}
|
| 326 |
-
}
|
| 327 |
-
}
|
| 328 |
-
|
| 329 |
-
over "left_inner_knuckle"
|
| 330 |
-
{
|
| 331 |
-
float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
|
| 332 |
-
|
| 333 |
-
over "collisions"
|
| 334 |
-
{
|
| 335 |
-
over "collisions_3"
|
| 336 |
-
{
|
| 337 |
-
token physics:approximation = "convexHull"
|
| 338 |
-
}
|
| 339 |
-
}
|
| 340 |
-
}
|
| 341 |
-
|
| 342 |
-
over "right_inner_knuckle"
|
| 343 |
-
{
|
| 344 |
-
float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
|
| 345 |
-
|
| 346 |
-
over "collisions"
|
| 347 |
-
{
|
| 348 |
-
over "collisions_3"
|
| 349 |
-
{
|
| 350 |
-
token physics:approximation = "convexHull"
|
| 351 |
-
}
|
| 352 |
-
}
|
| 353 |
-
}
|
| 354 |
-
|
| 355 |
-
over "right_inner_finger"
|
| 356 |
-
{
|
| 357 |
-
float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
|
| 358 |
-
|
| 359 |
-
over "collisions"
|
| 360 |
-
{
|
| 361 |
-
over "collisions_2"
|
| 362 |
-
{
|
| 363 |
-
token physics:approximation = "convexHull"
|
| 364 |
-
}
|
| 365 |
-
}
|
| 366 |
-
}
|
| 367 |
-
}
|
| 368 |
-
|
|
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|
denso_cobottapro900_cobotta_pro_900/.metadata/cobotta_pro_900_benchmark.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
denso_cobottapro900_cobotta_pro_900/.metadata/cobotta_pro_900_validation.json
DELETED
|
@@ -1,221 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"simready_usd/cobotta_pro_900.usda": {
|
| 3 |
-
"features_summary": {
|
| 4 |
-
"CAP000_Core.Isaac.0-1-0": {
|
| 5 |
-
"blocking_failure": false,
|
| 6 |
-
"dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
|
| 7 |
-
"passed": true,
|
| 8 |
-
"version": "0-1-0"
|
| 9 |
-
},
|
| 10 |
-
"CAP000_Core.MuJoCo.0-1-0": {
|
| 11 |
-
"blocking_failure": false,
|
| 12 |
-
"dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
|
| 13 |
-
"passed": true,
|
| 14 |
-
"version": "0-1-0"
|
| 15 |
-
},
|
| 16 |
-
"CAP000_Core.Newton.0-1-0": {
|
| 17 |
-
"blocking_failure": false,
|
| 18 |
-
"dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
|
| 19 |
-
"passed": true,
|
| 20 |
-
"version": "0-1-0"
|
| 21 |
-
},
|
| 22 |
-
"CAP000_Core.OpenUSD.0-1-0": {
|
| 23 |
-
"blocking_failure": false,
|
| 24 |
-
"dependencies": "[]",
|
| 25 |
-
"passed": true,
|
| 26 |
-
"version": "0-1-0"
|
| 27 |
-
},
|
| 28 |
-
"CAP000_Core.PhysX.0-1-0": {
|
| 29 |
-
"blocking_failure": false,
|
| 30 |
-
"dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
|
| 31 |
-
"passed": true,
|
| 32 |
-
"version": "0-1-0"
|
| 33 |
-
},
|
| 34 |
-
"CAP003_RigidBody.MuJoCo.0-1-0": {
|
| 35 |
-
"blocking_failure": false,
|
| 36 |
-
"dependencies": "[]",
|
| 37 |
-
"passed": true,
|
| 38 |
-
"version": "0-1-0"
|
| 39 |
-
},
|
| 40 |
-
"CAP004_Multibody.MuJoCo.0-1-0": {
|
| 41 |
-
"blocking_failure": false,
|
| 42 |
-
"dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']",
|
| 43 |
-
"passed": true,
|
| 44 |
-
"version": "0-1-0"
|
| 45 |
-
},
|
| 46 |
-
"CAP004_Multibody.RobotMuJoCo.0-1-0": {
|
| 47 |
-
"blocking_failure": false,
|
| 48 |
-
"dependencies": "[]",
|
| 49 |
-
"passed": true,
|
| 50 |
-
"version": "0-1-0"
|
| 51 |
-
},
|
| 52 |
-
"CAP021_RobotCore.Isaac.0-3-0": {
|
| 53 |
-
"blocking_failure": false,
|
| 54 |
-
"dependencies": "[]",
|
| 55 |
-
"passed": true,
|
| 56 |
-
"version": "0-3-0"
|
| 57 |
-
},
|
| 58 |
-
"CAP022_DrivenJoints.MuJoCo.0-1-0": {
|
| 59 |
-
"blocking_failure": false,
|
| 60 |
-
"dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']",
|
| 61 |
-
"passed": true,
|
| 62 |
-
"version": "0-1-0"
|
| 63 |
-
},
|
| 64 |
-
"CAP023_RobotMaterials.Isaac.0-1-0": {
|
| 65 |
-
"blocking_failure": false,
|
| 66 |
-
"dependencies": "[]",
|
| 67 |
-
"passed": true,
|
| 68 |
-
"version": "0-1-0"
|
| 69 |
-
},
|
| 70 |
-
"CAP024_BaseArticulation.MuJoCo.0-1-0": {
|
| 71 |
-
"blocking_failure": false,
|
| 72 |
-
"dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
|
| 73 |
-
"passed": true,
|
| 74 |
-
"version": "0-1-0"
|
| 75 |
-
},
|
| 76 |
-
"CAP024_BaseArticulation.Newton.0-1-0": {
|
| 77 |
-
"blocking_failure": false,
|
| 78 |
-
"dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
|
| 79 |
-
"passed": true,
|
| 80 |
-
"version": "0-1-0"
|
| 81 |
-
},
|
| 82 |
-
"CAP024_BaseArticulation.OpenUSD.0-1-0": {
|
| 83 |
-
"blocking_failure": false,
|
| 84 |
-
"dependencies": "[]",
|
| 85 |
-
"passed": true,
|
| 86 |
-
"version": "0-1-0"
|
| 87 |
-
},
|
| 88 |
-
"CAP024_BaseArticulation.PhysX.0-1-0": {
|
| 89 |
-
"blocking_failure": false,
|
| 90 |
-
"dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
|
| 91 |
-
"passed": true,
|
| 92 |
-
"version": "0-1-0"
|
| 93 |
-
},
|
| 94 |
-
"CAP025_RosBridge.Ros.0-1-0": {
|
| 95 |
-
"blocking_failure": false,
|
| 96 |
-
"dependencies": "[]",
|
| 97 |
-
"optional requirements": "['com.nvidia.simready.ROS.001']",
|
| 98 |
-
"passed": false,
|
| 99 |
-
"version": "0-1-0"
|
| 100 |
-
},
|
| 101 |
-
"CAP031_SelfContainedPackage.OpenUSD.0-1-0": {
|
| 102 |
-
"blocking_failure": false,
|
| 103 |
-
"dependencies": "[]",
|
| 104 |
-
"passed": true,
|
| 105 |
-
"version": "0-1-0"
|
| 106 |
-
},
|
| 107 |
-
"CAP033_SimReadyPackage.OpenUSD.0-4-0": {
|
| 108 |
-
"blocking_failure": false,
|
| 109 |
-
"dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']",
|
| 110 |
-
"passed": true,
|
| 111 |
-
"version": "0-4-0"
|
| 112 |
-
},
|
| 113 |
-
"CAP100_IsaacComposition.Isaac.0-3-0": {
|
| 114 |
-
"blocking_failure": false,
|
| 115 |
-
"dependencies": "[]",
|
| 116 |
-
"passed": true,
|
| 117 |
-
"version": "0-3-0"
|
| 118 |
-
},
|
| 119 |
-
"FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": {
|
| 120 |
-
"blocking_failure": false,
|
| 121 |
-
"dependencies": "[]",
|
| 122 |
-
"passed": true,
|
| 123 |
-
"version": "1-0-1"
|
| 124 |
-
},
|
| 125 |
-
"FET003_RigidBody.Newton.0-1-0": {
|
| 126 |
-
"blocking_failure": false,
|
| 127 |
-
"dependencies": "[]",
|
| 128 |
-
"passed": true,
|
| 129 |
-
"version": "0-1-0"
|
| 130 |
-
},
|
| 131 |
-
"FET003_RigidBody.OpenUSD.0-2-0": {
|
| 132 |
-
"blocking_failure": false,
|
| 133 |
-
"dependencies": "[]",
|
| 134 |
-
"passed": true,
|
| 135 |
-
"version": "0-2-0"
|
| 136 |
-
},
|
| 137 |
-
"FET003_RigidBody.PhysX.0-4-0": {
|
| 138 |
-
"blocking_failure": false,
|
| 139 |
-
"dependencies": "[]",
|
| 140 |
-
"passed": true,
|
| 141 |
-
"version": "0-4-0"
|
| 142 |
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denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json
DELETED
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denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json
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denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.packaging.bom.json
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| 86 |
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| 94 |
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| 99 |
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| 103 |
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{
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| 120 |
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{
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| 127 |
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| 128 |
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| 132 |
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{
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| 135 |
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"relative_path": "payloads/robot.usda",
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| 136 |
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| 140 |
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{
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| 143 |
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| 144 |
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| 148 |
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| 150 |
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{
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| 151 |
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"relative_path": "runnables/physics/newton.usda",
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| 152 |
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| 156 |
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{
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| 159 |
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"relative_path": "runnables/physics/physx.usda",
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| 160 |
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| 166 |
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| 167 |
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