#usda 1.0 ( customLayerData = { dictionary cameraSettings = { dictionary Front = { double3 position = (0, 0, 0) double radius = 5 double3 target = (-8.881784197001252e-16, -1.1102230246251565e-15, 2.220446049250313e-15) } dictionary Perspective = { double3 position = (-0.5257117358255264, 1.408603367008454, 1.1693002655300635) double3 target = (56.34973537657701, -78.37735201236646, -65.1986316932382) } dictionary Right = { double3 position = (0, 0, -11.036801114468414) double radius = 5 double3 target = (0, 0, -11.036801114468414) } dictionary Top = { double3 position = (0, 0, 0) double radius = 5 } string boundCamera = "/OmniverseKit_Persp" } dictionary metricsAssembler = { dictionary "/world/Container_A04_71x56x38cm_PR_V_NVD_01" = { } dictionary "/world/Container_B13_40x30x27cm_PR_V_NVD_01" = { } dictionary "/world/Container_B18_40x30x40cm_PR_V_NVD_01" = { } dictionary "/world/Container_J01_126x120x133cm_PR_V_NVD_01" = { } dictionary "/world/P_Glassware_Short" = { } dictionary "/world/Tote_A02_82x60x51cm_PR_V_NVD_01" = { } dictionary "/world/Tote_A04_80x60x22cm_PR_V_NVD_01" = { } dictionary "/world/WorkStationCart_A01_01" = { } dictionary "/world/bin/Tote_B09_60x40x15cm_PR_V_NVD_01" = { } dictionary "/world/rubiks_cube" = { } int version = 1 } dictionary omni_layer = { string authoring_layer = "./objects_around_table.usda" dictionary locked = { } dictionary muteness = { } } dictionary renderSettings = { } } defaultPrim = "world" endTimeCode = 0 kilogramsPerUnit = 1 metersPerUnit = 1 startTimeCode = -1 upAxis = "Z" ) def Xform "world" { 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 Scope "Looks" { def Material "Oak" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/Base/Wood/Oak.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "Oak" bool inputs:project_uvw = 1 ( customData = { bool default = 0 } displayGroup = "UV" displayName = "Enable Project UVW Coordinates" doc = "When enabled, UV coordinates will be generated by projecting them from a coordinate system" hidden = false ) bool inputs:world_or_object = 0 ( customData = { bool default = 0 } displayGroup = "UV" displayName = "Enable World Space" doc = "When enabled, uses world space for projection, otherwise object space is used" hidden = false ) token outputs:out ( renderType = "material" ) } } def Material "RustedMetal" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/Base/Metals/RustedMetal.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "RustedMetal" bool inputs:project_uvw = 1 ( customData = { bool default = 0 } displayGroup = "UV" displayName = "Enable Project UVW Coordinates" doc = "When enabled, UV coordinates will be generated by projecting them from a coordinate system" hidden = false ) bool inputs:world_or_object = 0 ( customData = { bool default = 0 } displayGroup = "UV" displayName = "Enable World Space" doc = "When enabled, uses world space for projection, otherwise object space is used" hidden = false ) token outputs:out ( renderType = "material" ) } } def Material "Plastic_ABS" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/Base/Plastics/Plastic_ABS.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "Plastic_ABS" bool inputs:project_uvw = 1 ( customData = { bool default = 0 } displayGroup = "UV" displayName = "Enable Project UVW Coordinates" doc = "When enabled, UV coordinates will be generated by projecting them from a coordinate system" hidden = false ) bool inputs:world_or_object = 0 ( customData = { bool default = 0 } displayGroup = "UV" displayName = "Enable World Space" doc = "When enabled, uses world space for projection, otherwise object space is used" hidden = false ) token outputs:out ( renderType = "material" ) } } def Material "plastic_blue" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/2023_1/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "plastic_blue" token outputs:out ( renderType = "material" ) } } def Material "plastic_sky_blue" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/2023_1/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "plastic_sky_blue" token outputs:out ( renderType = "material" ) } } def Material "plastic_light_blue" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/2023_1/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "plastic_light_blue" token outputs:out ( renderType = "material" ) } } def Material "plastic_sky_blue_01" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/2023_1/vMaterials_2/Plastic/Plastic_Thick_Translucent_Flakes.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "plastic_sky_blue" token outputs:out ( renderType = "material" ) } } def Material "Plastic_Clear" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/2023_1/Base/Plastics/Plastic_Clear.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "Plastic_Clear" token outputs:out ( renderType = "material" ) } } def Material "plastic_white" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/2023_1/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "plastic_white" token outputs:out ( renderType = "material" ) } } def Material "plastic_white_01" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/2023_1/vMaterials_2/Plastic/Plastic_Thick_Translucent_Flakes.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "plastic_white" token outputs:out ( renderType = "material" ) } } def Material "Plastic" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/2023_1/Base/Plastics/Plastic.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "Plastic" token outputs:out ( renderType = "material" ) } } def Material "plastic_light_gray" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/2023_1/vMaterials_2/Plastic/Plastic_Thick_Translucent_Flakes.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "plastic_light_gray" token outputs:out ( renderType = "material" ) } } def Material "plastic_white_02" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/2023_1/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "plastic_white" token outputs:out ( renderType = "material" ) } } def Material "Black_Matte" { token outputs:mdl:displacement.connect = token outputs:mdl:surface.connect = token outputs:mdl:volume.connect = def Shader "Shader" { uniform token info:implementationSource = "sourceAsset" uniform asset info:mdl:sourceAsset = @../materials/2023_1/vMaterials_2/Paint/Carpaint/Carpaint_Solid.mdl@ uniform token info:mdl:sourceAsset:subIdentifier = "Black_Matte" token outputs:out ( renderType = "material" ) } } } def "bowl" ( prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"] prepend payload = @../objects/ycb/bowl.usd@ ) { vector3f physics:angularVelocity = (0, 0, 0) bool physics:kinematicEnabled = 0 bool physics:rigidBodyEnabled = 1 vector3f physics:velocity = (0, 0, -49.13141) quatf xformOp:orient = (-0.70632356, 0.70788914, 0, 0) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0.5317624807357788, 0.13779696822166443, -123.10004425048828) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] over "_24_bowl" ( active = false prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] ) { uniform token physics:approximation = "convexDecomposition" bool physics:collisionEnabled = 1 float physxConvexDecompositionCollision:errorPercentage = 1.5 int physxConvexDecompositionCollision:maxConvexHulls = 256 bool physxConvexDecompositionCollision:shrinkWrap = 1 quatf xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (0.01, 0.01, 0.01) double3 xformOp:translate = (0.14415032471685485, 0.0003017930598069596, -0.1363080790423454) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } } def "banana" ( prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI", "PhysicsMassAPI"] prepend payload = @../objects/ycb/banana.usd@ ) { vector3f physics:angularVelocity = (0, 0, 0) bool physics:kinematicEnabled = 0 float physics:mass = 0.118 bool physics:rigidBodyEnabled = 1 vector3f physics:velocity = (0, 0, -49.13141) quatf xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0.5188158750534058, -0.140828937292099, -123.09932708740234) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] over "_11_banana" ( active = false prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"] ) { rel material:binding:physics = ( bindMaterialAs = "weakerThanDescendants" ) uniform token physics:approximation = "convexDecomposition" bool physics:collisionEnabled = 1 float physxConvexDecompositionCollision:errorPercentage = 1 int physxConvexDecompositionCollision:maxConvexHulls = 256 bool physxConvexDecompositionCollision:shrinkWrap = 1 } } def Material "PhysicsMaterial" ( prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"] ) { float physics:dynamicFriction = 2 float physics:staticFriction = 2 uniform token physxMaterial:frictionCombineMode = "max" } def "table" ( prepend payload = @../fixtures/table_oak.usd@ ) { vector3f physics:angularVelocity = (0.0037894282, 0.0036861477, 0.00063268724) vector3f physics:velocity = (0.000027089793, -0.00003234579, -0.00007118285) quatf xformOp:orient = (1, -0.0000015984358, -0.0000016610952, 0.00000471689) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0.5472126603126526, -0.00007303908932954073, -0.3470013439655304) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } def "franka_table" ( prepend payload = @../fixtures/franka_table.usd@ ) { quatd xformOp:orient = (6.123233995736766e-17, 0, 0, 1) double3 xformOp:translate = (-0.087, 0, 0) } def Xform "GroundPlane" { token visibility = "invisible" quatf xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0, 0, -0.697) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] def Mesh "CollisionMesh" { uniform bool doubleSided = 0 int[] faceVertexCounts = [4] int[] faceVertexIndices = [0, 1, 2, 3] normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)] point3f[] points = [(-25, -25, 0), (25, -25, 0), (25, 25, 0), (-25, 25, 0)] color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] texCoord2f[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1)] ( interpolation = "varying" ) } def Plane "CollisionPlane" ( prepend apiSchemas = ["PhysicsCollisionAPI"] ) { uniform token axis = "Z" uniform token purpose = "guide" } } def "alphabet_soup_can" ( prepend payload = @../objects/hot3d/soup_can.usd@ ) { vector3f physics:angularVelocity = (0.03151839, -0.00954569, 0.0019700227) vector3f physics:velocity = (-0.0000010659396, -0.000018027351, -0.000041555613) quatf xformOp:orient = (0.99999684, 0.0024620506, 0.00048172893, 0.00002623765) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0.6396018862724304, 0.3415576219558716, 0.08489856868982315) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] over "obj_000001_Mesh" { quatf xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0, 0, -0.04035631994319522) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } } def "milk_carton" ( prepend payload = @../objects/hope/milk_carton.usd@ ) { vector3f physics:angularVelocity = (-0.015138114, -0.010363296, -0.0012773228) vector3f physics:velocity = (-0.000002463084, 0.00002487929, -0.000021848828) quatf xformOp:orient = (0.99994224, -0.010379337, -0.0027810829, 0.00019701415) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0.3623560965061188, 0.31454890966415405, 0.15223421156406403) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] over "obj_000014_Mesh" { quatf xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0, 0, -0.055119341583012516) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } } def "orange_juice_carton" ( prepend payload = @../objects/hope/orange_juice_carton.usd@ ) { vector3f physics:angularVelocity = (-0.021876212, 0.008812511, -0.0019335841) vector3f physics:velocity = (0.000015988428, 0.000025572477, -0.000028919429) quatf xformOp:orient = (0.99998546, -0.0012183253, 0.0043587214, 0.0029242032) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0.39458540081977844, -0.25560301542282104, 0.22666937112808228) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] over "obj_000017_Mesh" { quatf xformOp:orient = (1, 0, 0, 0) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0, 0, -0.12839656637381974) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } } def "smartphone" ( prepend payload = @../objects/hot3d/smartphone.usd@ ) { vector3f physics:angularVelocity = (-0.049742613, 0.029746538, -0.003133774) vector3f physics:velocity = (0.000002644871, 0.000002574976, -0.00003258139) quatf xformOp:orient = (0.0028313089, -0.00027982803, 0.99999565, -0.0007403401) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0.6958954334259033, -0.03976857289671898, 0.007956158369779587) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } def "rubiks_cube" ( prepend payload = @../objects/hot3d/rubiks_cube.usd@ ) { vector3f physics:angularVelocity = (-0.020807987, 0.005889619, -0.0023648015) vector3f physics:velocity = (0.000005963128, 0.0000071359195, -0.000012796372) quatf xformOp:orient = (0.99999946, -0.00050730817, 0.00088164955, 0.0000022500753) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0.7489990592002869, 0.12092402577400208, 0.034104786813259125) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } def "mug" ( prepend payload = @../objects/hot3d/mug.usd@ ) { vector3f physics:angularVelocity = (-0.05164867, 0.029506411, 0.003799705) vector3f physics:velocity = (0.00002453824, 0.000038360955, -0.000027302653) quatf xformOp:orient = (0.9999938, -0.0024011412, 0.00091387297, 0.0023984297) float3 xformOp:scale = (1, 1, 1) double3 xformOp:translate = (0.27348268032073975, -0.0766787976026535, 0.0030350498855113983) uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } }