init

README.md

@@ -1,73 +1,3 @@
----
-license: mit
-viewer: false
----
-
-# PolaRiS Hub
-
-**PolaRiS Hub** is a lightweight collection of reconstructed real-to-sim manipulation environments used for evaluating generalist robot policies in simulation.
-It is designed to be used with the **PolaRiS** evaluation framework.
-
----
-
-Instructions on how to use can be found at the [Github PolaRiS Codebase](https://github.com/arhanjain/polaris/tree/main)
-
-## What’s in the Hub
-
-Each environment in PolaRiS Hub includes:
-
-* A reconstructed scene (mesh + Gaussian splats)
-* Canonical initial conditions
-* A language instruction describing the task
-* Task-specific evaluation metadata (success & progress)
-
-The full hub is currently **< 2GB** and can be downloaded in a single command.
-
----
-
-## Available Environments
-
-| Environment Name            | Task Description                                          |
-| --------------------------- | --------------------------------------------------------- |
-| **DROID-BlockStackKitchen** | Place and stack the blocks on top of the green tray       |
-| **DROID-FoodBussing**       | Put all the foods in the bowl                             |
-| **DROID-PanClean**          | Use the yellow sponge to scrub the blue-handle frying pan |
-| **DROID-MoveLatteCup**      | Put the latte art cup on top of the cutting board         |
-| **DROID-OrganizeTools**     | Put the scissor into the large container                  |
-| **DROID-TapeIntoContainer** | Put the tape into the container                           |
-
----
-
-## Download
-
-```bash
-uvx hf download owhan/PolaRiS-Hub --repo-type=dataset --local-dir ./PolaRiS-Hub
-```
-
----
-
-## Intended Use
-
-* Evaluation of generalist robot policies
-* Real-to-sim benchmarking
-* Zero-shot task evaluation in simulation
-
-## Contributing
-Please consider contributing your environments for broader use by the community, and to grow the means of generalist policy evaluation!
-See [Github codebase](https://github.com/arhanjain/polaris/tree/main) on instruction for contributing.
-
----
-
-## Citation
-
-```bibtex
-@misc{jain2025polarisscalablerealtosimevaluations,
-      title={PolaRiS: Scalable Real-to-Sim Evaluations for Generalist Robot Policies}, 
-      author={Arhan Jain and Mingtong Zhang and Kanav Arora and William Chen and Marcel Torne and Muhammad Zubair Irshad and Sergey Zakharov and Yue Wang and Sergey Levine and Chelsea Finn and Wei-Chiu Ma and Dhruv Shah and Abhishek Gupta and Karl Pertsch},
-      year={2025},
-      eprint={2512.16881},
-      archivePrefix={arXiv},
-      primaryClass={cs.RO},
-      url={https://arxiv.org/abs/2512.16881}, 
-}
-```
+---
+license: mit
+---

block_stack_kitchen/g60_kitchen_table_zed.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68acce1488585b3109fd4075eb16e41781a530952c0bd20cd1d82b8382a971e3
+size 9117

block_stack_kitchen/initial_conditions.json

@@ -5,7 +5,7 @@
             "tray": [
                 0.445054292678833,
                 -0.0029717832803726196,
-                0.09638905733823776,
+                0.08638905733823776,
                 0.8498085737228394,
                 5.960464477539063e-08,
                 0.0,
@@ -6502,4 +6502,4 @@
             ]
         }
     ]
-}
+}

block_stack_kitchen/scene.usda

@@ -1,444 +0,0 @@
-#usda 1.0
-(
-    customLayerData = {
-        dictionary cameraSettings = {
-            dictionary Front = {
-                double3 position = (5, 0, 0)
-                double radius = 5
-            }
-            dictionary Perspective = {
-                double3 position = (2.576224831211993, 2.483832514542173, 2.2764495186016065)
-                double3 target = (-2.1708436994439606, -2.418746356854898, -3.0555351752049296)
-            }
-            dictionary Right = {
-                double3 position = (0, -5, 0)
-                double radius = 5
-            }
-            dictionary Top = {
-                double3 position = (0, 0, 5)
-                double radius = 5
-            }
-            string boundCamera = "/OmniverseKit_Persp"
-        }
-        dictionary omni_layer = {
-            string authoring_layer = "./g60_kitchen_table_zed.usd"
-            dictionary locked = {
-            }
-            dictionary muteness = {
-            }
-        }
-        dictionary renderSettings = {
-        }
-    }
-    defaultPrim = "World"
-    endTimeCode = 1000000
-    metersPerUnit = 1
-    startTimeCode = 0
-    timeCodesPerSecond = 60
-    upAxis = "Z"
-)
-
-def Xform "World"
-{
-    def "g60_kitchen_table_zed" (
-        delete payload = @../../assets/g60_kitchen_table_zed/mesh.usdz@
-        prepend payload = @./assets/g60_kitchen_table_zed/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 1
-        quatd xformOp:orient = (0.0069501640146002975, 0.0000020098868016692203, -0.0002891785243121244, -0.9999758055032691)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (-0.23996217709738163, -0.23876804994724557, 7.904800277648001e-14)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxTriangleMeshSimplificationCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "meshSimplification"
-                int physxConvexDecompositionCollision:maxConvexHulls = 207
-            }
-
-            over "Looks"
-            {
-                over "BakeMat"
-                {
-                    over "BakeMat"
-                    {
-                        float inputs:emissive_strength (
-                            customData = {
-                                dictionary omni = {
-                                    dictionary kit = {
-                                        dictionary property = {
-                                            dictionary usd = {
-                                                float2 soft_range_ui = (0, 10000)
-                                            }
-                                        }
-                                    }
-                                }
-                            }
-                        )
-                    }
-                }
-            }
-        }
-    }
-
-    def "tray" (
-        active = true
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = @../../assets/green_tray_csm/mesh.usdz@
-        prepend payload = @./assets/green_tray/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.28, 0.28, 0.28)
-        double3 xformOp:translate = (0.3517783956667713, 0.09136301147498842, 0.05371089447294813)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "wood_cube" (
-        active = true
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = @../../assets/wood_cube_csm/mesh.usdz@
-        prepend payload = @./assets/wood_cube/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.06, 0.06, 0.06)
-        double3 xformOp:translate = (0.41919292386568763, -0.09747371822595585, 0.07723409933417806)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "green_cube" (
-        active = true
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = @../../assets/green_cube_csm/mesh.usdz@
-        prepend payload = @./assets/green_cube/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.06, 0.06, 0.06)
-        double3 xformOp:translate = (0.3208774626255044, -0.11194607066881795, 0.0804820482926792)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "corn" (
-        active = true
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = @../../assets/uw_corn_csm/mesh.usdz@
-        prepend payload = @./assets/uw_corn/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.08, 0.08, 0.08)
-        double3 xformOp:translate = (0.3024292290210789, 0.09045923170297229, 0.1857603951949213)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def Camera "external_cam" (
-        active = true
-        kind = "model"
-    )
-    {
-        float2 clippingRange = (0.01, 10000000)
-        float focalLength = 1.0476
-        float focusDistance = 400
-        float horizontalAperture = 2.5452
-        custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
-        float verticalAperture = 1.4721
-        quatd xformOp:orient = (-0.18638744234988988, -0.08227126821690181, 0.39534108352818365, 0.8956542789687387)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.103138036136151, 0.44065167674638817, 0.49744863088661717)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "OmniverseKitViewportCameraMesh" (
-            always_pick_model = true
-            hide_in_stage_window = true
-            kind = "subcomponent"
-            no_delete = true
-            prepend references = @../../../.venv/lib/python3.10/site-packages/omni/resources/models/camera/camera.usdz@
-        )
-        {
-            bool primvars:doNotCastShadows = 1
-            bool primvars:omni:kit:isGizmo = 1
-            token visibility
-            float3 xformOp:scale = (0.01, 0.01, 0.01)
-            uniform token[] xformOpOrder = ["xformOp:scale"]
-
-            over "CameraModel" (
-                always_pick_model = true
-                hide_in_stage_window = true
-                no_delete = true
-            )
-            {
-                float3[] extent = [(3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38)]
-                bool primvars:doNotCastShadows = 1
-                bool primvars:omni:kit:isGizmo = 1
-            }
-        }
-    }
-
-    def "bowl" (
-        active = true
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = @../../assets/pink_bowl_csm/mesh.usdz@
-        prepend payload = @./assets/pink_bowl/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.13, 0.13, 0.13)
-        double3 xformOp:translate = (0.5336140386925854, 0.11516009020424095, 0.06645985800557358)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "tomato" (
-        active = true
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = @../../assets/tomato_csm/mesh.usdz@
-        prepend payload = @./assets/tomato/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.06, 0.06, 0.06)
-        double3 xformOp:translate = (0.3722157695699017, -0.015744171924207098, 0.1668820572717904)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "plate_" (
-        active = true
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = @../../assets/purple_plate_csm/mesh.usdz@
-        prepend payload = @./assets/purple_plate/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.13, 0.13, 0.13)
-        double3 xformOp:translate = (0.47936457938369215, -0.0038916438062898406, 0.1738220553802526)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "env_light"
-        {
-            token visibility = "invisible"
-        }
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-    }
-}
-
-def Xform "Environment"
-{
-    quatd xformOp:orient = (1, 0, 0, 0)
-    double3 xformOp:scale = (1, 1, 1)
-    double3 xformOp:translate = (0, 0, 0)
-    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-    def DistantLight "defaultLight" (
-        prepend apiSchemas = ["ShapingAPI"]
-    )
-    {
-        float inputs:angle = 1
-        float inputs:intensity = 3000
-        float inputs:shaping:cone:angle = 180
-        float inputs:shaping:cone:softness
-        float inputs:shaping:focus
-        color3f inputs:shaping:focusTint
-        asset inputs:shaping:ies:file
-        quatd xformOp:orient = (0.6532814824381883, 0.2705980500730985, 0.27059805007309845, 0.6532814824381882)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0, 0, 0)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-    }
-}
-
-def "Render" (
-    hide_in_stage_window = true
-    no_delete = true
-)
-{
-    def "OmniverseKit"
-    {
-        def "HydraTextures" (
-            hide_in_stage_window = true
-            no_delete = true
-        )
-        {
-            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
-                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
-                hide_in_stage_window = true
-                no_delete = true
-            )
-            {
-                rel camera = </OmniverseKit_Persp>
-                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
-                token omni:rtx:background:source:type = "domeLight"
-                bool omni:rtx:dlss:frameGeneration = 0
-                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
-                bool omni:rtx:material:db:syncLoads = 1
-                token omni:rtx:post:dlss:execMode = "performance"
-                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
-                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
-                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
-                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
-                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
-                int omni:rtx:realtime:mgpu:tileCount = 2
-                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
-                bool omni:rtx:rt:demoire = 0
-                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
-                bool omni:rtx:scene:hydra:materialSyncLoads = 1
-                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
-                uint omni:rtx:viewTile:limit = 4294967295
-                rel orderedVars = </Render/Vars/LdrColor>
-                custom bool overrideClipRange = 0
-                uniform int2 resolution = (1280, 720)
-            }
-        }
-    }
-
-    def RenderSettings "OmniverseGlobalRenderSettings" (
-        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
-        no_delete = true
-    )
-    {
-        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
-    }
-
-    def "Vars"
-    {
-        def RenderVar "LdrColor" (
-            hide_in_stage_window = true
-            no_delete = true
-        )
-        {
-            uniform string sourceName = "LdrColor"
-        }
-    }
-}
-

food_bussing/g60_corner.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e961ccff3898e6e225cab1613b752e28bc5355a8024441d3148697ec5a199c5
+size 20666

food_bussing/scene.usda

@@ -1,395 +0,0 @@
-#usda 1.0
-(
-    customLayerData = {
-        dictionary cameraSettings = {
-            dictionary Front = {
-                double3 position = (5, 0, 0)
-                double radius = 5
-            }
-            dictionary Perspective = {
-                double3 position = (-0.8991968683259943, 0.46956858580454414, 0.7814993655040655)
-                double3 target = (6.806344155533616, -1.997787530443682, -2.306670209702176)
-            }
-            dictionary Right = {
-                double3 position = (0, -5, 0)
-                double radius = 5
-            }
-            dictionary Top = {
-                double3 position = (0, 0, 5)
-                double radius = 5
-            }
-            string boundCamera = "/OmniverseKit_Persp"
-        }
-        dictionary omni_layer = {
-            string authoring_layer = "./g60_corner.usd"
-            dictionary locked = {
-            }
-            dictionary muteness = {
-            }
-        }
-        dictionary renderSettings = {
-        }
-    }
-    defaultPrim = "World"
-    endTimeCode = 1000000
-    metersPerUnit = 1
-    startTimeCode = 0
-    timeCodesPerSecond = 60
-    upAxis = "Z"
-)
-
-def Xform "World"
-{
-    def "bowl" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = [
-            @../../assets/yellow_bowl_csm/mesh.usdz@,
-            @./assets/yellow_bow/mesh.usdz@
-        ]
-        prepend payload = @./assets/yellow_bowl/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.18, 0.18, 0.18)
-        double3 xformOp:translate = (0.42552608251572016, -0.21786836577456603, 0.014558143884765229)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "g60_corner_charuco_static" (
-        delete payload = @../../assets/g60_corner_charuco_static/mesh.usdz@
-        prepend payload = @./assets/g60_corner_charuco_static/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 1
-        quatd xformOp:orient = (0.5000000000000001, -0.5, -0.49999999999999994, -0.5)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.489, 0.576, 0.424)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-    }
-
-    def "battery1" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = [
-            @../../assets/battery_csm/mesh.usdz@,
-            @./assets/batter/mesh.usdz@
-        ]
-        prepend payload = @./assets/battery/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.07, 0.07, 0.07)
-        double3 xformOp:translate = (0.385111838579175, 0.05145630825998462, 0.009920946206443461)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-            token visibility = "inherited"
-        }
-    }
-
-    def "battery2" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = @../../assets/battery_csm/mesh.usdz@
-        prepend payload = @./assets/battery/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.07, 0.07, 0.07)
-        double3 xformOp:translate = (0.385111838579175, -0.034597096064309545, 0.009920946206443463)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "cup" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = @../../assets/blue_cup_csm/mesh.usdz@
-        prepend payload = @./assets/blue_cup/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.12, 0.12, 0.12)
-        double3 xformOp:translate = (0.5236179232597317, 0.05274643234823769, 0.01804890737800555)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "ice_cream_" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = @../../assets/ice_cream_csm/mesh.usdz@
-        prepend payload = @./assets/ice_cream/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (-0.0020659869, 0, 0, 0.99999785)
-        float3 xformOp:scale = (0.12, 0.12, 0.12)
-        double3 xformOp:translate = (0.43022724986076344, 0.15205697715282424, 0.02001154885077262)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-                quatf xformOp:orient = (1, 0, 0, 0)
-                float3 xformOp:scale = (1, 1, 1)
-                double3 xformOp:translate = (0.08574059315061078, -0.08932253129446349, 0.00035426825197348855)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "grapes" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = @../../assets/grapes_csm/mesh.usdz@
-        prepend payload = @./assets/grapes/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (0.5579786, 0.6196979, 0.3693179, 0.4101691)
-        float3 xformOp:scale = (0.08, 0.08, 0.08)
-        double3 xformOp:translate = (0.4995833039283832, -0.050881497631258196, 0.04123384405184905)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def Camera "external_cam" (
-        kind = "model"
-    )
-    {
-        float2 clippingRange = (0.01, 10000000)
-        float focalLength = 1.0476
-        float focusDistance = 400
-        float horizontalAperture = 2.5452
-        custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
-        float verticalAperture = 1.4721
-        quatd xformOp:orient = (-0.44986872991745575, -0.18803708112047948, 0.33670080535992336, 0.8055387946189337)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.13420423597887238, 0.5066906138424576, 0.5355081079085207)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "OmniverseKitViewportCameraMesh" (
-            always_pick_model = true
-            hide_in_stage_window = true
-            kind = "subcomponent"
-            no_delete = true
-            prepend references = @../../../real2simeval/.venv/lib/python3.10/site-packages/omni/resources/models/camera/camera.usdz@
-        )
-        {
-            bool primvars:doNotCastShadows = 1
-            bool primvars:omni:kit:isGizmo = 1
-            token visibility
-            float3 xformOp:scale = (0.01, 0.01, 0.01)
-            uniform token[] xformOpOrder = ["xformOp:scale"]
-
-            over "CameraModel" (
-                always_pick_model = true
-                hide_in_stage_window = true
-                no_delete = true
-            )
-            {
-                float3[] extent = [(3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38)]
-                bool primvars:doNotCastShadows = 1
-                bool primvars:omni:kit:isGizmo = 1
-            }
-        }
-    }
-}
-
-def Xform "Environment"
-{
-    quatd xformOp:orient = (1, 0, 0, 0)
-    double3 xformOp:scale = (1, 1, 1)
-    double3 xformOp:translate = (0, 0, 0)
-    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-    def DistantLight "defaultLight" (
-        prepend apiSchemas = ["ShapingAPI"]
-    )
-    {
-        float inputs:angle = 1
-        float inputs:intensity = 3000
-        float inputs:shaping:cone:angle = 180
-        float inputs:shaping:cone:softness
-        float inputs:shaping:focus
-        color3f inputs:shaping:focusTint
-        asset inputs:shaping:ies:file
-        quatd xformOp:orient = (0.6532814824381883, 0.2705980500730985, 0.27059805007309845, 0.6532814824381882)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0, 0, 0)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-    }
-}
-
-def Cube "randomization"
-{
-    float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
-    double size = 1
-    token visibility = "invisible"
-    quatd xformOp:orient = (1, 0, 0, 0)
-    double3 xformOp:scale = (0.5077604327123248, 0.6399254249718458, 0.12976292579609355)
-    double3 xformOp:translate = (0.43153426459149524, -0.07503393896679954, 0.09445710006499883)
-    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-}
-
-def "Render" (
-    hide_in_stage_window = true
-    no_delete = true
-)
-{
-    def "OmniverseKit"
-    {
-        def "HydraTextures" (
-            hide_in_stage_window = true
-            no_delete = true
-        )
-        {
-            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
-                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
-                hide_in_stage_window = true
-                no_delete = true
-            )
-            {
-                rel camera = </OmniverseKit_Persp>
-                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
-                token omni:rtx:background:source:type = "domeLight"
-                bool omni:rtx:dlss:frameGeneration = 0
-                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
-                bool omni:rtx:material:db:syncLoads = 1
-                token omni:rtx:post:dlss:execMode = "performance"
-                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
-                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
-                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
-                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
-                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
-                int omni:rtx:realtime:mgpu:tileCount = 2
-                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
-                bool omni:rtx:rt:demoire = 0
-                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
-                bool omni:rtx:scene:hydra:materialSyncLoads = 1
-                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
-                bool omni:rtx:scene:useViewLightingMode
-                uint omni:rtx:viewTile:limit = 4294967295
-                rel orderedVars = </Render/Vars/LdrColor>
-                custom bool overrideClipRange = 0
-                uniform int2 resolution = (1280, 720)
-            }
-        }
-    }
-
-    def RenderSettings "OmniverseGlobalRenderSettings" (
-        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
-        no_delete = true
-    )
-    {
-        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
-    }
-
-    def "Vars"
-    {
-        def RenderVar "LdrColor" (
-            hide_in_stage_window = true
-            no_delete = true
-        )
-        {
-            uniform string sourceName = "LdrColor"
-        }
-    }
-}
-

move_latte_cup/princeton_env_1.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58462889ed76fdea8fad8c3e00b0b5d48072fe5d6bb29ac9dd56886b413e8ae0
+size 14348

move_latte_cup/scene.usda

@@ -1,286 +0,0 @@
-#usda 1.0
-(
-    customLayerData = {
-        dictionary cameraSettings = {
-            dictionary Front = {
-                double3 position = (5, 0, 0)
-                double radius = 5
-            }
-            dictionary Perspective = {
-                double3 position = (-0.9970037874192557, 1.230469905250405, 1.5236834147476161)
-                double3 target = (6.761703038894627, -5.385407048156424, -5.178499535642528)
-            }
-            dictionary Right = {
-                double3 position = (0, -5, 0)
-                double radius = 5
-            }
-            dictionary Top = {
-                double3 position = (0, 0, 5)
-                double radius = 5
-            }
-            string boundCamera = "/OmniverseKit_Persp"
-        }
-        dictionary omni_layer = {
-            string authoring_layer = "./princeton_env_1.usd"
-            dictionary locked = {
-            }
-            dictionary muteness = {
-            }
-        }
-        int refinementOverrideImplVersion = 0
-        dictionary renderSettings = {
-        }
-    }
-    defaultPrim = "World"
-    endTimeCode = 1000000
-    metersPerUnit = 1
-    startTimeCode = 0
-    timeCodesPerSecond = 60
-    upAxis = "Z"
-)
-
-def Xform "World"
-{
-    def Mesh "Plane" (
-        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-    )
-    {
-        float3[] extent = [(-0.5, -0.5, 0), (0.5, 0.5, 0)]
-        int[] faceVertexCounts = [4]
-        int[] faceVertexIndices = [0, 1, 3, 2]
-        normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)] (
-            interpolation = "faceVarying"
-        )
-        uniform token physics:approximation = "convexDecomposition"
-        bool physics:collisionEnabled = 1
-        point3f[] points = [(-0.5, -0.5, 0), (0.5, -0.5, 0), (-0.5, 0.5, 0), (0.5, 0.5, 0)]
-        texCoord2f[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1)] (
-            interpolation = "faceVarying"
-        )
-        uniform token subdivisionScheme = "none"
-        token visibility = "inherited"
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1.5, 1)
-        double3 xformOp:translate = (0.5733436174442147, -0.1819908126531135, 0.027477459091945294)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-    }
-
-    def "cuttingboard_eval" (
-        delete payload = @../../assets/cuttingboard_eval/mesh.usd@
-        prepend payload = @./assets/cuttingboard_eval/mesh.usd@
-    )
-    {
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.45471049958577026, -0.180505348408468, 0.14329105966329259)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                quatf xformOp:orient = (1, 0, 0, 0)
-                float3 xformOp:scale = (1, 1, 1)
-                double3 xformOp:translate = (-0.04132880747091572, 0.0705066737170289, -0.0003508305920725818)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-    }
-
-    def "latteartcup_eval" (
-        delete payload = @../../assets/latteartcup_eval/mesh.usd@
-        prepend payload = @./assets/latteartcup_eval/mesh.usd@
-    )
-    {
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.6542510275715706, -0.30076297869788315, 0.12330198101848916)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                quatf xformOp:orient = (1, 0, 0, 0)
-                float3 xformOp:scale = (1, 1, 1)
-                double3 xformOp:translate = (-0.03050521107948967, 0.20821803759691504, -7.1266557100102546e-9)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-    }
-
-    def "coke_eval" (
-        delete payload = @../../assets/coke_eval/mesh.usd@
-        prepend payload = @./assets/coke_eval/mesh.usd@
-    )
-    {
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.6801107133255605, -0.10206733249862565, 0.12591785111461729)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                quatf xformOp:orient = (1, 0, 0, 0)
-                float3 xformOp:scale = (1, 1, 1)
-                double3 xformOp:translate = (-0.023999116823688382, 0.10894071243848213, 0.1908593868825696)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-    }
-
-    def "cleaner_eval" (
-        delete payload = @../../assets/cleaner_eval/mesh.usd@
-        prepend payload = @./assets/cleaner_eval/mesh.usd@
-    )
-    {
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.6732833898725151, -0.029656703945114327, 0.1115361781066837)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                quatf xformOp:orient = (1, 0, 0, 0)
-                float3 xformOp:scale = (1, 1, 1)
-                double3 xformOp:translate = (0.033925403707463, 0.2788373771643068, -9.54420567578218e-9)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-    }
-
-    def "princeton_env_1" (
-        delete payload = [
-            @../../assets/knife_into_bowl/mesh.usd@,
-            @./assets/knife_into_bowl/mesh.usd@
-        ]
-        prepend payload = @./assets/princeton_env_1/mesh.usd@
-    )
-    {
-        bool physics:kinematicEnabled = 1
-        bool physxRigidBody:disableGravity = 0
-        token visibility = "inherited"
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0, 0, 0)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxTriangleMeshSimplificationCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "none"
-                int physxConvexDecompositionCollision:hullVertexLimit = 24
-                int physxConvexDecompositionCollision:maxConvexHulls = 285
-                int physxConvexHullCollision:hullVertexLimit = 16
-                float physxTriangleMeshSimplificationCollision:metric = 1
-                token visibility = "inherited"
-                quatf xformOp:orient = (1, 0, 0, 0)
-                float3 xformOp:scale = (1, 1, 1)
-                double3 xformOp:translate = (0, 0, 0)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-    }
-}
-
-def Xform "Environment"
-{
-    quatd xformOp:orient = (1, 0, 0, 0)
-    double3 xformOp:scale = (1, 1, 1)
-    double3 xformOp:translate = (0, 0, 0)
-    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-}
-
-def "Render" (
-    hide_in_stage_window = true
-    no_delete = true
-)
-{
-    def "OmniverseKit"
-    {
-        def "HydraTextures" (
-            hide_in_stage_window = true
-            no_delete = true
-        )
-        {
-            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
-                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
-                hide_in_stage_window = true
-                no_delete = true
-            )
-            {
-                rel camera = </OmniverseKit_Persp>
-                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
-                token omni:rtx:background:source:type = "domeLight"
-                bool omni:rtx:dlss:frameGeneration = 0
-                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
-                bool omni:rtx:material:db:syncLoads = 1
-                token omni:rtx:post:dlss:execMode = "performance"
-                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
-                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
-                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
-                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
-                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
-                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
-                bool omni:rtx:rt:demoire = 0
-                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
-                bool omni:rtx:scene:hydra:materialSyncLoads = 1
-                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
-                uint omni:rtx:viewTile:limit = 4294967295
-                rel orderedVars = </Render/Vars/LdrColor>
-                custom bool overrideClipRange = 0
-                uniform int2 resolution = (1280, 720)
-            }
-        }
-    }
-
-    def RenderSettings "OmniverseGlobalRenderSettings" (
-        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
-        no_delete = true
-    )
-    {
-        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
-    }
-
-    def "Vars"
-    {
-        def RenderVar "LdrColor" (
-            hide_in_stage_window = true
-            no_delete = true
-        )
-        {
-            uniform string sourceName = "LdrColor"
-        }
-    }
-}
-
-def Cube "randomization"
-{
-    float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
-    double size = 1
-    token visibility = "invisible"
-    quatd xformOp:orient = (1, 0, 0, 0)
-    double3 xformOp:scale = (0.5, 0.7, 0.1)
-    double3 xformOp:translate = (0.5169871142304825, -0.09289639050129977, 0.11753823702810473)
-    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-}
-

organize_tools/princeton_env_2.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:341fa8c3dfae372ea9c2c5b0f9d26f9a826f17abf70333cd3a83f281fc0d3ce3
+size 5160

organize_tools/scene.usda

@@ -1,247 +0,0 @@
-#usda 1.0
-(
-    customLayerData = {
-        dictionary cameraSettings = {
-            dictionary Front = {
-                double3 position = (5, 0, 0)
-                double radius = 5
-            }
-            dictionary Perspective = {
-                double3 position = (1.3732965483188189, -1.0292757564568673, 0.7081322296414695)
-                double3 target = (-2.179443121642586, 2.836372753970135, -1.065565989111552)
-            }
-            dictionary Right = {
-                double3 position = (0, -5, 0)
-                double radius = 5
-            }
-            dictionary Top = {
-                double3 position = (0, 0, 5)
-                double radius = 5
-            }
-            string boundCamera = "/OmniverseKit_Persp"
-        }
-        dictionary omni_layer = {
-            string authoring_layer = "./princeton_env_2.usd"
-            dictionary locked = {
-            }
-            dictionary muteness = {
-            }
-        }
-        int refinementOverrideImplVersion = 0
-        dictionary renderSettings = {
-        }
-    }
-    defaultPrim = "World"
-    endTimeCode = 1000000
-    metersPerUnit = 1
-    startTimeCode = 0
-    timeCodesPerSecond = 60
-    upAxis = "Z"
-)
-
-def Xform "World"
-{
-    token visibility = "inherited"
-
-    def "container_00" (
-        delete payload = @../../assets/container_00/mesh.usd@
-        prepend payload = @./assets/container_00/mesh.usd@
-    )
-    {
-        token visibility = "inherited"
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.869080252583182, -0.20250619640083167, 0.14476258666169595)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-            }
-        }
-    }
-
-    def "container_01" (
-        delete payload = @../../assets/container_01/mesh.usd@
-        prepend payload = @./assets/container_01/mesh.usd@
-    )
-    {
-        token visibility = "inherited"
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.6805066204255155, -0.2104109425515579, 0.0830626850093904)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                quatf xformOp:orient = (1, 0, 0, 0)
-                float3 xformOp:scale = (1, 1, 1)
-                double3 xformOp:translate = (-0.8596178838257429, 0.47334219922796605, -1.6201824326600445e-8)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-    }
-
-    def "scissor" (
-        delete payload = @../../assets/scissor/mesh.usd@
-        prepend payload = @./assets/scissor/mesh.usd@
-    )
-    {
-        float physics:mass = 0.2
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1.2, 1.2, 1.2)
-        double3 xformOp:translate = (0.47367935020492635, 0.008480527112721958, 0.20958048058047396)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-            }
-        }
-    }
-
-    def "tape" (
-        delete payload = @../../assets/tape/mesh.usd@
-        prepend payload = @./assets/tape/mesh.usd@
-    )
-    {
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.840408118120672, -0.1766861334390354, 0.22018023809242637)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-    }
-
-    def "princeton_env_2" (
-        delete payload = @../../assets/organize_tools/mesh.usd@
-        prepend payload = @./assets/princeton_env_2/mesh.usd@
-    )
-    {
-        bool physics:kinematicEnabled = 1
-        token visibility = "inherited"
-
-        over "geometry"
-        {
-            token visibility = "inherited"
-
-            over "mesh" (
-                prepend apiSchemas = ["PhysxTriangleMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "none"
-            }
-        }
-    }
-}
-
-def Xform "Environment"
-{
-    quatd xformOp:orient = (1, 0, 0, 0)
-    double3 xformOp:scale = (1, 1, 1)
-    double3 xformOp:translate = (0, 0, 0)
-    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-    def DistantLight "defaultLight" (
-        prepend apiSchemas = ["ShapingAPI"]
-    )
-    {
-        float inputs:angle = 1
-        float inputs:intensity = 3000
-        float inputs:shaping:cone:angle = 180
-        float inputs:shaping:cone:softness
-        float inputs:shaping:focus
-        color3f inputs:shaping:focusTint
-        asset inputs:shaping:ies:file
-        quatd xformOp:orient = (0.6532814824381883, 0.2705980500730985, 0.27059805007309845, 0.6532814824381882)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0, 0, 0)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-    }
-}
-
-def "Render" (
-    hide_in_stage_window = true
-    no_delete = true
-)
-{
-    def "OmniverseKit"
-    {
-        def "HydraTextures" (
-            hide_in_stage_window = true
-            no_delete = true
-        )
-        {
-            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
-                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
-                hide_in_stage_window = true
-                no_delete = true
-            )
-            {
-                rel camera = </OmniverseKit_Persp>
-                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
-                token omni:rtx:background:source:type = "domeLight"
-                bool omni:rtx:dlss:frameGeneration = 0
-                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
-                bool omni:rtx:material:db:syncLoads = 1
-                token omni:rtx:post:dlss:execMode = "performance"
-                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
-                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
-                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
-                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
-                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
-                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
-                bool omni:rtx:rt:demoire = 0
-                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
-                bool omni:rtx:scene:hydra:materialSyncLoads = 1
-                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
-                uint omni:rtx:viewTile:limit = 4294967295
-                rel orderedVars = </Render/Vars/LdrColor>
-                custom bool overrideClipRange = 0
-                uniform int2 resolution = (1280, 720)
-            }
-        }
-    }
-
-    def RenderSettings "OmniverseGlobalRenderSettings" (
-        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
-        no_delete = true
-    )
-    {
-        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
-    }
-
-    def "Vars"
-    {
-        def RenderVar "LdrColor" (
-            hide_in_stage_window = true
-            no_delete = true
-        )
-        {
-            uniform string sourceName = "LdrColor"
-        }
-    }
-}
-
-def Cube "randomization"
-{
-    float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
-    double size = 1
-    token visibility = "invisible"
-    quatd xformOp:orient = (1, 0, 0, 0)
-    double3 xformOp:scale = (0.8, 0.6, 0.2)
-    double3 xformOp:translate = (0.5204276771596219, -0.08919256247013718, 0.10078689712140268)
-    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-}
-

pan_clean/g60_stovetop_zed.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdc04f7fd3f2183f52f05d772f72dc23d8f81654d1835cbcc1172dfadc279610
+size 22111

pan_clean/scene.usda

@@ -1,511 +0,0 @@
-#usda 1.0
-(
-    customLayerData = {
-        dictionary cameraSettings = {
-            dictionary Front = {
-                double3 position = (5, 0, 0)
-                double radius = 5
-            }
-            dictionary Perspective = {
-                double3 position = (-0.07138214092940195, -0.09716557241281987, 0.4283116149823686)
-                double3 target = (8.434661981859273, 0.9409247038995735, -2.825089969135002)
-            }
-            dictionary Right = {
-                double3 position = (0, -5, 0)
-                double radius = 5
-            }
-            dictionary Top = {
-                double3 position = (0, 0, 5)
-                double radius = 5
-            }
-            string boundCamera = "/OmniverseKit_Persp"
-        }
-        dictionary omni_layer = {
-            string authoring_layer = "./g60_stovetop_zed.usd"
-            dictionary locked = {
-            }
-            dictionary muteness = {
-            }
-        }
-        dictionary renderSettings = {
-        }
-    }
-    defaultPrim = "World"
-    endTimeCode = 1000000
-    metersPerUnit = 1
-    startTimeCode = 0
-    timeCodesPerSecond = 60
-    upAxis = "Z"
-)
-
-def Xform "World"
-{
-    def "g60_stovetop_zed" (
-        delete payload = @../../assets/g60_stovetop_zed/mesh.usdz@
-        prepend payload = @./assets/g60_stovetop_zed/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 1
-        token visibility = "inherited"
-        quatd xformOp:orient = (0.7071064795895878, -0.0006530868395427553, -0.019865941309410242, -0.7068276624297403)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (-0.45103556079025986, -0.1482748388774022, -0.24865949384794325)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxTriangleMeshSimplificationCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "meshSimplification"
-                int physxConvexDecompositionCollision:hullVertexLimit = 54
-                int physxConvexDecompositionCollision:maxConvexHulls = 560
-            }
-        }
-
-        def Mesh "platform" (
-            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
-        )
-        {
-            float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
-            int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
-            int[] faceVertexIndices = [0, 1, 3, 2, 4, 6, 7, 5, 6, 2, 3, 7, 4, 5, 1, 0, 4, 0, 2, 6, 5, 7, 3, 1]
-            normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0)] (
-                interpolation = "faceVarying"
-            )
-            uniform token physics:approximation = "convexHull"
-            bool physics:collisionEnabled = 1
-            point3f[] points = [(-0.5, -0.5, 0.5), (0.5, -0.5, 0.5), (-0.5, 0.5, 0.5), (0.5, 0.5, 0.5), (-0.5, -0.5, -0.5), (0.5, -0.5, -0.5), (-0.5, 0.5, -0.5), (0.5, 0.5, -0.5)]
-            texCoord2f[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (1, 0), (1, 1), (0, 1), (0, 0), (0, 1), (0, 0), (1, 0), (1, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (1, 0), (1, 1), (0, 1), (0, 0)] (
-                interpolation = "faceVarying"
-            )
-            uniform token subdivisionScheme = "none"
-            token visibility = "invisible"
-            quatd xformOp:orient = (0.7182686971224698, -0.019852643939537014, 0.0009770747865718978, -0.6954818449014045)
-            double3 xformOp:scale = (-0.48493653535842896, -0.20045053958892822, -0.011997459456324577)
-            double3 xformOp:translate = (-0.09933528088058152, 1.1388705440519802, 0.27774866028421513)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-        }
-    }
-
-    def "pan" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = [
-            @../../assets/frying_pan_csm/mesh.usdz@,
-            @./assets/frying_pan_csm/mesh.usdz@
-        ]
-        prepend payload = @./assets/frying_pan/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 1
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (0.19625393, 0, 0, -0.9805531)
-        float3 xformOp:scale = (0.35, 0.35, 0.35)
-        double3 xformOp:translate = (0.5631938515485317, 0.21159406034871397, 0.05608738411494982)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "mustard" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = [
-            @../../assets/mustard_csm/mesh.usdz@,
-            @./assets/mustard_csm/mesh.usdz@,
-            @./assets/mustar/mesh.usdz@
-        ]
-        prepend payload = @./assets/mustard/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.13, 0.13, 0.13)
-        double3 xformOp:translate = (0.8041243640229532, 0.014150611333146025, 0.07775862496797399)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxTriangleMeshSimplificationCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-                int physxConvexDecompositionCollision:hullVertexLimit = 64
-                int physxConvexDecompositionCollision:maxConvexHulls = 101
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "ketchup" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = [
-            @../../assets/ketchup_csm/mesh.usdz@,
-            @./assets/ketchup_csm/mesh.usdz@
-        ]
-        prepend payload = @./assets/ketchup/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.13, 0.13, 0.13)
-        double3 xformOp:translate = (0.807515098100678, -0.09009033510583345, 0.07616884049541071)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "sponge" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = [
-            @../../assets/sponge_csm/mesh.usdz@,
-            @./assets/sponge_csm/mesh.usdz@
-        ]
-        prepend payload = @./assets/sponge/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.09, 0.07, 0.09)
-        double3 xformOp:translate = (0.5294183970681007, -0.022660877717386577, 0.06433805102708207)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "pepper" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = [
-            @../../assets/bell_pepper_csm/mesh.usdz@,
-            @./assets/bell_pepper_csm/mesh.usdz@,
-            @./assets/bell_peppe/mesh.usdz@
-        ]
-        prepend payload = @./assets/bell_pepper/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.08, 0.08, 0.08)
-        double3 xformOp:translate = (0.6868054606124152, -0.09376765412594976, 0.07364526317467109)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "sushi" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = [
-            @../../assets/sushi_csm/mesh.usdz@,
-            @./assets/sushi_csm/mesh.usdz@
-        ]
-        prepend payload = @./assets/sushi/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.08, 0.08, 0.08)
-        double3 xformOp:translate = (0.6696102360067572, 0.010349063118418574, 0.0753967120161282)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "coke" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = [
-            @../../assets/coke_csm/mesh.usdz@,
-            @./assets/coke_csm/mesh.usdz@
-        ]
-        prepend payload = @./assets/coke/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 0
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.09, 0.09, 0.09)
-        double3 xformOp:translate = (0.6152954439272693, -0.09741169061982272, 0.08228446415535723)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def "mug" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
-        delete payload = [
-            @../../assets/blue_mug_csm/mesh.usdz@,
-            @./assets/blue_mug_csm/mesh.usdz@
-        ]
-        prepend payload = @./assets/blue_mug/mesh.usdz@
-    )
-    {
-        bool physics:kinematicEnabled = 1
-        bool physics:rigidBodyEnabled = 1
-        quatf xformOp:orient = (1, 0, 0, 0)
-        float3 xformOp:scale = (0.09, 0.09, 0.09)
-        double3 xformOp:translate = (0.5183660226463038, 0.4163992332634181, -0.045273515484170024)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "mesh"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                bool physics:collisionEnabled = 1
-                quatf xformOp:orient = (1, 0, 0, 0)
-                float3 xformOp:scale = (1, 1, 1)
-                double3 xformOp:translate = (0, 0, 0)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-
-        over "env_light" (
-            active = false
-        )
-        {
-        }
-    }
-
-    def Camera "external_cam" (
-        kind = "model"
-    )
-    {
-        float2 clippingRange = (0.01, 10000000)
-        float focalLength = 1.0476
-        float focusDistance = 400
-        float horizontalAperture = 2.5452
-        custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
-        float verticalAperture = 1.4721
-        quatd xformOp:orient = (-0.4211824302119951, -0.2336669335513614, 0.4251479824119222, 0.766325203615602)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.1132860923533613, 0.48292959665334745, 0.404185346166213)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "OmniverseKitViewportCameraMesh" (
-            always_pick_model = true
-            hide_in_stage_window = true
-            kind = "subcomponent"
-            no_delete = true
-            prepend references = @../../../real2simeval/.venv/lib/python3.10/site-packages/omni/resources/models/camera/camera.usdz@
-        )
-        {
-            bool primvars:doNotCastShadows = 1
-            bool primvars:omni:kit:isGizmo = 1
-            token visibility
-            float3 xformOp:scale = (0.01, 0.01, 0.01)
-            uniform token[] xformOpOrder = ["xformOp:scale"]
-
-            over "CameraModel" (
-                always_pick_model = true
-                hide_in_stage_window = true
-                no_delete = true
-            )
-            {
-                float3[] extent = [(3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38)]
-                bool primvars:doNotCastShadows = 1
-                bool primvars:omni:kit:isGizmo = 1
-            }
-        }
-    }
-}
-
-def Xform "Environment"
-{
-    quatd xformOp:orient = (1, 0, 0, 0)
-    double3 xformOp:scale = (1, 1, 1)
-    double3 xformOp:translate = (0, 0, 0)
-    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-    def DistantLight "defaultLight" (
-        prepend apiSchemas = ["ShapingAPI"]
-    )
-    {
-        float inputs:angle = 1
-        float inputs:intensity = 3000
-        float inputs:shaping:cone:angle = 180
-        float inputs:shaping:cone:softness
-        float inputs:shaping:focus
-        color3f inputs:shaping:focusTint
-        asset inputs:shaping:ies:file
-        quatd xformOp:orient = (0.6532814824381883, 0.2705980500730985, 0.27059805007309845, 0.6532814824381882)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0, 0, 0)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-    }
-}
-
-def "Render" (
-    hide_in_stage_window = true
-    no_delete = true
-)
-{
-    def "OmniverseKit"
-    {
-        def "HydraTextures" (
-            hide_in_stage_window = true
-            no_delete = true
-        )
-        {
-            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
-                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
-                hide_in_stage_window = true
-                no_delete = true
-            )
-            {
-                rel camera = </OmniverseKit_Persp>
-                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
-                token omni:rtx:background:source:type = "domeLight"
-                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
-                token omni:rtx:post:dlss:execMode = "performance"
-                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
-                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
-                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
-                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
-                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
-                int omni:rtx:realtime:mgpu:tileCount = 2
-                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
-                bool omni:rtx:rt:demoire = 0
-                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
-                bool omni:rtx:scene:useViewLightingMode
-                uint omni:rtx:viewTile:limit = 4294967295
-                rel orderedVars = </Render/Vars/LdrColor>
-                custom bool overrideClipRange = 0
-                uniform int2 resolution = (1280, 720)
-            }
-        }
-    }
-
-    def RenderSettings "OmniverseGlobalRenderSettings" (
-        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
-        no_delete = true
-    )
-    {
-        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
-    }
-
-    def "Vars"
-    {
-        def RenderVar "LdrColor" (
-            hide_in_stage_window = true
-            no_delete = true
-        )
-        {
-            uniform string sourceName = "LdrColor"
-        }
-    }
-}
-
-def Cube "randomization"
-{
-    float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
-    double size = 1
-    token visibility = "invisible"
-    quatd xformOp:orient = (0.9998642816087409, 0, 0, 0.01647477960509822)
-    double3 xformOp:scale = (0.45487351158510064, 0.19854888648906402, -0.03295921717856301)
-    double3 xformOp:translate = (0.657245497442882, -0.037179210661166036, 0.08189476771652525)
-    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-}
-

tape_into_container/lab_bench.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34ece5189a8e7cc3ee8247d0a6a9f67359e05253d4bcae972f61b41120107091
+size 7874

tape_into_container/scene.usda

@@ -1,274 +0,0 @@
-#usda 1.0
-(
-    customLayerData = {
-        dictionary cameraSettings = {
-            dictionary Front = {
-                double3 position = (5, 0, 0)
-                double radius = 5
-            }
-            dictionary Perspective = {
-                double3 position = (-0.6158840166190865, 0.07261649127584897, 1.0350955416674774)
-                double3 target = (3.9146732026813296, -0.5000732632369538, -3.534874227045883)
-            }
-            dictionary Right = {
-                double3 position = (0, -5, 0)
-                double radius = 5
-            }
-            dictionary Top = {
-                double3 position = (0, 0, 5)
-                double radius = 5
-            }
-            string boundCamera = "/OmniverseKit_Persp"
-        }
-        dictionary metricsAssembler = {
-            dictionary "/World/fuse_post_simplified" = {
-            }
-            int version = 1
-        }
-        dictionary omni_layer = {
-            string authoring_layer = "./lab_bench.usd"
-            dictionary locked = {
-            }
-            dictionary muteness = {
-            }
-        }
-        dictionary renderSettings = {
-        }
-    }
-    defaultPrim = "World"
-    endTimeCode = 1000000
-    metersPerUnit = 1
-    startTimeCode = 0
-    timeCodesPerSecond = 60
-    upAxis = "Z"
-)
-
-def Xform "World"
-{
-    def "tape_00" (
-        delete payload = [
-            @../assets/tape_00/mesh.usd@,
-            @../../assets/tape_00/mesh.usd@
-        ]
-        prepend payload = @./assets/tape_00/mesh.usd@
-    )
-    {
-        float physics:mass = 0.05
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.3822483446264099, 0.1604611901718318, 0.12136276658690792)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                quatf xformOp:orient = (1, 0, 0, 0)
-                float3 xformOp:scale = (1, 1, 1)
-                double3 xformOp:translate = (-0.17614772875422635, -0.058861162226646835, 1.296204163422685)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-    }
-
-    def "lab_bench" (
-        delete payload = [
-            @../assets/lab_bench/mesh.usd@,
-            @../../assets/lab_bench/mesh.usd@
-        ]
-        prepend payload = @./assets/lab_bench/mesh.usd@
-    )
-    {
-        bool physics:kinematicEnabled = 1
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxTriangleMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "none"
-            }
-        }
-    }
-
-    def "wrench" (
-        delete payload = [
-            @../assets/wrench/mesh.usd@,
-            @../../assets/wrench/mesh.usd@
-        ]
-        prepend payload = @./assets/wrench/mesh.usd@
-    )
-    {
-        float physics:mass = 0.1
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.5042372952961356, -0.11081426529984865, 0.12350797493131171)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-                quatf xformOp:orient = (1, 0, 0, 0)
-                float3 xformOp:scale = (1, 1, 1)
-                double3 xformOp:translate = (0.1488788967146859, 8.617619728923387e-9, 0.25176281785700083)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-    }
-
-    def Mesh "Plane" (
-        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
-    )
-    {
-        float3[] extent = [(-0.5, -0.5, 0), (0.5, 0.5, 0)]
-        int[] faceVertexCounts = [4]
-        int[] faceVertexIndices = [0, 1, 3, 2]
-        normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)] (
-            interpolation = "faceVarying"
-        )
-        uniform token physics:approximation = "none"
-        bool physics:collisionEnabled = 1
-        point3f[] points = [(-0.5, -0.5, 0), (0.5, -0.5, 0), (-0.5, 0.5, 0), (0.5, 0.5, 0)]
-        texCoord2f[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1)] (
-            interpolation = "faceVarying"
-        )
-        uniform token subdivisionScheme = "none"
-        token visibility = "invisible"
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.3339602670940411, -0.6346977394473231, -0.01549538559757943)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-    }
-
-    def "container_02" (
-        delete payload = [
-            @../assets/container_02/mesh.usd@,
-            @../../assets/container_02/mesh.usd@
-        ]
-        prepend payload = @./assets/container_02/mesh.usd@
-    )
-    {
-        quatd xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0.44215725465121536, 0.10966270076795323, 0.09355609544023435)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        over "geometry"
-        {
-            over "mesh" (
-                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexDecomposition"
-            }
-        }
-    }
-}
-
-def Xform "Environment"
-{
-    quatd xformOp:orient = (1, 0, 0, 0)
-    double3 xformOp:scale = (1, 1, 1)
-    double3 xformOp:translate = (0, 0, 0)
-    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-    def DistantLight "defaultLight" (
-        prepend apiSchemas = ["ShapingAPI"]
-    )
-    {
-        float inputs:angle = 1
-        float inputs:intensity = 3000
-        float inputs:shaping:cone:angle = 180
-        float inputs:shaping:cone:softness
-        float inputs:shaping:focus
-        color3f inputs:shaping:focusTint
-        asset inputs:shaping:ies:file
-        quatd xformOp:orient = (0.6532814824381883, 0.2705980500730985, 0.27059805007309845, 0.6532814824381882)
-        double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0, 0, 0)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-    }
-}
-
-def "Render" (
-    hide_in_stage_window = true
-    no_delete = true
-)
-{
-    def "OmniverseKit"
-    {
-        def "HydraTextures" (
-            hide_in_stage_window = true
-            no_delete = true
-        )
-        {
-            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
-                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
-                hide_in_stage_window = true
-                no_delete = true
-            )
-            {
-                rel camera = </OmniverseKit_Persp>
-                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
-                token omni:rtx:background:source:type = "domeLight"
-                bool omni:rtx:dlss:frameGeneration = 0
-                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
-                bool omni:rtx:material:db:syncLoads = 1
-                token omni:rtx:post:dlss:execMode = "performance"
-                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
-                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
-                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
-                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
-                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
-                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
-                bool omni:rtx:rt:demoire = 0
-                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
-                bool omni:rtx:scene:hydra:materialSyncLoads = 1
-                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
-                uint omni:rtx:viewTile:limit = 4294967295
-                rel orderedVars = </Render/Vars/LdrColor>
-                custom bool overrideClipRange = 0
-                uniform int2 resolution = (1280, 720)
-            }
-        }
-    }
-
-    def RenderSettings "OmniverseGlobalRenderSettings" (
-        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
-        no_delete = true
-    )
-    {
-        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
-    }
-
-    def "Vars"
-    {
-        def RenderVar "LdrColor" (
-            hide_in_stage_window = true
-            no_delete = true
-        )
-        {
-            uniform string sourceName = "LdrColor"
-        }
-    }
-}
-
-def Cube "randomization"
-{
-    float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
-    double size = 1
-    token visibility = "invisible"
-    quatd xformOp:orient = (1, 0, 0, 0)
-    double3 xformOp:scale = (0.4, 0.6, 0.1)
-    double3 xformOp:translate = (0.44748980564118185, 0.043237698856200685, 0.0678177900688649)
-    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-}
-