Upload folder using huggingface_hub

.gitattributes

@@ -58,3 +58,10 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+robots/GR1/configuration/GR1T2_fourier_hand_6dof_base.usd filter=lfs diff=lfs merge=lfs -text
+robots/GR1/robotiq_2f85/parts/Defeatured_2F_85_PAD_OPEN_basestep_JFX.usd filter=lfs diff=lfs merge=lfs -text
+robots/GR1/robotiq_2f85/parts/Defeatured_2F_85_PAD_OPEN_finger2step_JFP.usd filter=lfs diff=lfs merge=lfs -text
+robots/GR1/robotiq_2f85/parts/Defeatured_2F_85_PAD_OPEN_finger3step_JFL.usd filter=lfs diff=lfs merge=lfs -text
+robots/GR1/robotiq_2f85/parts/Defeatured_2F_85_PAD_OPEN_finger4step_JFH.usd filter=lfs diff=lfs merge=lfs -text
+robots/reachy2/configuration/reachy2_base.usd filter=lfs diff=lfs merge=lfs -text
+tasks/ycb/010_potted_meat_can_physics.usd filter=lfs diff=lfs merge=lfs -text

CREDITS.md

@@ -0,0 +1,41 @@
+# Credits and attribution
+
+The TAVIS asset bundle redistributes third-party 3-D models and
+meshes. Each upstream source is acknowledged below, and all assets
+are redistributed under their original upstream licenses.
+
+## Robot models
+
+* **Fourier GR1T2 (`robots/GR1/`).** Humanoid torso model published
+  by [Fourier Intelligence](https://www.fftai.com/) for the GR-1
+  series. The version shipped here is the URDF/USD adaptation
+  distributed with NVIDIA IsaacLab assets, with TAVIS-specific edits
+  for parallel-gripper attachment and joint observation/action
+  layout.
+
+* **Pollen Reachy 2 (`robots/reachy2/`).** Open-source humanoid model
+  by [Pollen Robotics](https://www.pollen-robotics.com/), available
+  at https://github.com/pollen-robotics/reachy2-sdk and the official
+  Reachy 2 USD distribution. The version shipped here was rebuilt
+  from the official source with TAVIS-specific edits to the gripper
+  mechanism and material assignments.
+
+* **Robotiq 2F-85 (`robots/GR1/robotiq_2f85/`).** Two-finger parallel
+  gripper model from [Robotiq](https://robotiq.com/). Distributed via
+  NVIDIA IsaacLab assets.
+
+## Task objects
+
+* **YCB objects (`tasks/ycb/`).** Standardised manipulation objects
+  from the [Yale-CMU-Berkeley Object and Model Set](https://www.ycbbenchmarks.com/)
+  (Calli et al., 2015). Physics-baked USD versions distributed via
+  NVIDIA IsaacLab assets.
+
+* **`tasks/packing_table.usd`.** Generic table prop, derived from
+  NVIDIA IsaacLab examples.
+
+## Licensing notes
+
+Each upstream source carries its own license terms; consult those
+before commercial use. The TAVIS-specific edits to the above assets
+are released under the MIT License, the same as the TAVIS code.

README.md

@@ -0,0 +1,31 @@
+---
+license: mit
+tags:
+  - robotics
+  - imitation-learning
+  - simulation-assets
+pretty_name: TAVIS Robot and Task Assets
+---
+
+# TAVIS robot and task assets
+
+USD models, meshes, and textures for the TAVIS benchmark -- the robot
+articulations (Fourier GR1T2, Pollen Reachy 2, Robotiq 2F-85
+grippers) and the task assets (YCB objects, packing table) used by
+the eight TAVIS tasks.
+
+This bundle is fetched at runtime by
+[`tavis.download_assets`](https://huggingface.co/tavis-benchmark)
+on the first construction of a `make_tavis_env(...)` environment.
+
+## Versioning
+
+The asset bundle's version is tracked separately from the code
+(`tavis._version.__assets_version__`). The downloader pulls
+`main` by default; once a tagged release exists, set
+`HF_REVISION` in `tavis/download_assets.py` to pin.
+
+## Licensing & attribution
+
+See `CREDITS.md` for per-asset attribution. All third-party content
+is redistributed under the original upstream licenses.

robots/GR1/configuration/GR1T2_fourier_hand_6dof_base.usd

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+size 6636816

robots/GR1/robotiq_2f85/.collect.mapping.json

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+    ]
+}

robots/GR1/robotiq_2f85/parts/Defeatured_2F_85_PAD_OPEN_basestep_JFX.usd

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robots/GR1/robotiq_2f85/parts/Defeatured_2F_85_PAD_OPEN_finger2step_JFP.usd

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+size 230153

robots/GR1/robotiq_2f85/parts/Defeatured_2F_85_PAD_OPEN_finger3step_JFL.usd

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robots/GR1/robotiq_2f85/parts/Defeatured_2F_85_PAD_OPEN_finger4step_JFH.usd

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robots/GR1/robotiq_2f85/payloads/Robotiq_2F_85_base.usda

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+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, 0, 0)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (0.3325151412817676, -0.06577883782265716, 0.1450584783772143)
+                double3 target = (-0.09111595175595266, -0.0526367604204857, 0.017091644740517692)
+            }
+            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 = "./Robotiq_2F_85_base.usda"
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "Robotiq_2F_85"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+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
+                string omni:rtx:material:db:rtSensorNameToIdMap = "DefaultMaterial:0;AsphaltStandardMaterial:1;AsphaltWeatheredMaterial:2;VegetationGrassMaterial:3;WaterStandardMaterial:4;GlassStandardMaterial:5;FiberGlassMaterial:6;MetalAlloyMaterial:7;MetalAluminumMaterial:8;MetalAluminumOxidizedMaterial:9;PlasticStandardMaterial:10;RetroMarkingsMaterial:11;RetroSignMaterial:12;RubberStandardMaterial:13;SoilClayMaterial:14;ConcreteRoughMaterial:15;ConcreteSmoothMaterial:16;OakTreeBarkMaterial:17;FabricStandardMaterial:18;PlexiGlassStandardMaterial:19;MetalSilverMaterial:20"
+                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
+                int omni:rtx:pt:clampSpp = 64
+                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
+                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                int omni:rtx:pt:maxVolumeBounces = 4
+                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                int omni:rtx:pt:samplesPerIteration = 64
+                int omni:rtx:pt:samplesPerPixel = 64
+                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 Xform "Robotiq_2F_85" (
+    kind = "assembly"
+)
+{
+    def Xform "Robotiq_2F_85" (
+        kind = "assembly"
+    )
+    {
+        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 Xform "base_link" (
+            kind = "group"
+        )
+        {
+            quatd 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 "visuals" (
+                delete apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/base_link>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "left_outer_knuckle" (
+            kind = "group"
+        )
+        {
+            quatd 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 "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/outer_knuckle>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "left_outer_finger" (
+            kind = "group"
+        )
+        {
+            quatd 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 "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/outer_finger>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "left_inner_finger" (
+            kind = "group"
+        )
+        {
+            quatd 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 "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/inner_finger>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "left_inner_knuckle" (
+            kind = "group"
+        )
+        {
+            quatd 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 "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/inner_knuckle>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "right_outer_knuckle" (
+            kind = "group"
+        )
+        {
+            quatd 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 "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/outer_knuckle>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "right_outer_finger" (
+            kind = "group"
+        )
+        {
+            quatd 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 "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/outer_finger>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "right_inner_finger" (
+            kind = "group"
+        )
+        {
+            quatd 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 "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/inner_finger>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "right_inner_knuckle" (
+            kind = "group"
+        )
+        {
+            quatd 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 "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/inner_knuckle>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+}
+
+def Scope "Meshes"
+{
+    token visibility = "invisible"
+
+    def Xform "base_link" (
+        kind = "group"
+    )
+    {
+        quatd 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 "Defeatured_2F_85_PAD_OPEN_basestep_01" (
+            instanceable = false
+            kind = "subcomponent"
+            prepend references = @../parts/Defeatured_2F_85_PAD_OPEN_basestep_JFX.usd@
+        )
+        {
+            quatd 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 "inner_finger" (
+        kind = "group"
+    )
+    {
+        quatd 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 "Defeatured_2F_85_PAD_OPEN_finger4step_01" (
+            instanceable = false
+            kind = "subcomponent"
+            prepend references = @../parts/Defeatured_2F_85_PAD_OPEN_finger4step_JFH.usd@
+        )
+        {
+            quatd 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 "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" (
+            instanceable = false
+            kind = "subcomponent"
+            prepend references = @../parts/Defeatured_2F_85_PAD_OPEN_fingertipsstep_JFD.usd@
+        )
+        {
+            quatd 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 "inner_knuckle" (
+        kind = "group"
+    )
+    {
+        quatd 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 "Defeatured_2F_85_PAD_OPEN_finger3step_01" (
+            instanceable = false
+            kind = "subcomponent"
+            prepend references = @../parts/Defeatured_2F_85_PAD_OPEN_finger3step_JFL.usd@
+        )
+        {
+            quatd 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 "outer_finger" (
+        kind = "group"
+    )
+    {
+        quatd 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 "Defeatured_2F_85_PAD_OPEN_finger2step_01" (
+            instanceable = false
+            kind = "subcomponent"
+            prepend references = @../parts/Defeatured_2F_85_PAD_OPEN_finger2step_JFP.usd@
+        )
+        {
+            quatd 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 "outer_knuckle" (
+        kind = "group"
+    )
+    {
+        quatd 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 "Defeatured_2F_85_PAD_OPEN_Finger1step_01" (
+            instanceable = false
+            kind = "subcomponent"
+            prepend references = @../parts/Defeatured_2F_85_PAD_OPEN_Finger1step_JFT.usd@
+        )
+        {
+            quatd 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"]
+        }
+    }
+}
+

robots/GR1/robotiq_2f85/payloads/Robotiq_2F_85_phyisics_loop.usda

@@ -0,0 +1,465 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, 0, 0)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (0.3325151412817676, -0.06577883782265716, 0.1450584783772143)
+                double3 target = (-0.09089549906464967, -0.05264359940464019, 0.016363401350471374)
+            }
+            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 = "./Robotiq_2F_85_phyisics_loop.usda"
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "Robotiq_2F_85"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    subLayers = [
+        @./Robotiq_2F_85_base.usda@
+    ]
+    upAxis = "Z"
+)
+
+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
+                string omni:rtx:material:db:rtSensorNameToIdMap = "DefaultMaterial:0;AsphaltStandardMaterial:1;AsphaltWeatheredMaterial:2;VegetationGrassMaterial:3;WaterStandardMaterial:4;GlassStandardMaterial:5;FiberGlassMaterial:6;MetalAlloyMaterial:7;MetalAluminumMaterial:8;MetalAluminumOxidizedMaterial:9;PlasticStandardMaterial:10;RetroMarkingsMaterial:11;RetroSignMaterial:12;RubberStandardMaterial:13;SoilClayMaterial:14;ConcreteRoughMaterial:15;ConcreteSmoothMaterial:16;OakTreeBarkMaterial:17;FabricStandardMaterial:18;PlexiGlassStandardMaterial:19;MetalSilverMaterial:20"
+                bool omni:rtx:material:db:syncLoads = 1
+                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:ecoMode:enabled
+                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 Xform "Robotiq_2F_85" (
+    kind = "assembly"
+)
+{
+    over Xform "Robotiq_2F_85" (
+        prepend apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]
+        kind = "assembly"
+    )
+    {
+        bool physxArticulation:enabledSelfCollisions = 0
+
+        def Scope "Joints"
+        {
+            def PhysicsRevoluteJoint "finger_joint" (
+                prepend apiSchemas = ["PhysxJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0.0002
+                float drive:angular:physics:maxForce = 16.5
+                float drive:angular:physics:stiffness = 0.17
+                float drive:angular:physics:targetPosition = 0
+                float drive:angular:physics:targetVelocity = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/base_link>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_knuckle>
+                point3f physics:localPos0 = (0, -0.0306, 0.05466)
+                point3f physics:localPos1 = (0, -0.0306, 0.05466)
+                quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5)
+                quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5)
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 75
+                float physxJoint:maxJointVelocity = 130
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "right_outer_knuckle_joint" (
+                delete apiSchemas = ["PhysicsDriveAPI:angular"]
+                prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 5000
+                float drive:angular:physics:maxForce = 5
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/base_link>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_knuckle>
+                point3f physics:localPos0 = (0, 0.0306, 0.05466)
+                point3f physics:localPos1 = (0, 0.0306, 0.05466)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 75
+                float physxJoint:maxJointVelocity = 130
+                float physxMimicJoint:rotZ:dampingRatio = 0.01
+                float physxMimicJoint:rotZ:gearing = -1
+                float physxMimicJoint:rotZ:naturalFrequency = 5000
+                rel physxMimicJoint:rotZ:referenceJoint = </Robotiq_2F_85/Robotiq_2F_85/Joints/finger_joint>
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "right_outer_finger_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_knuckle>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_finger>
+                point3f physics:localPos0 = (0, 0.06213, 0.0509)
+                point3f physics:localPos1 = (0, 0.06213, 0.0509)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 180
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "right_inner_finger_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0.00001
+                float drive:angular:physics:maxForce = 0.5
+                float drive:angular:physics:stiffness = 0.0002
+                float drive:angular:physics:targetPosition = 45
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_finger>
+                point3f physics:localPos0 = (0, 0.06776, 0.09809)
+                point3f physics:localPos1 = (0, 0.06776, 0.09809)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = -inf
+                float physics:upperLimit = inf
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "right_inner_knuckle_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/base_link>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_knuckle>
+                uniform bool physics:excludeFromArticulation = 1
+                point3f physics:localPos0 = (0, 0.0127, 0.06118)
+                point3f physics:localPos1 = (0, 0.0127, 0.06118)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = -inf
+                float physics:upperLimit = inf
+            }
+
+            def PhysicsRevoluteJoint "right_inner_finger_knuckle_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_knuckle>
+                point3f physics:localPos0 = (0, 0.04986, 0.1046)
+                point3f physics:localPos1 = (0, 0.04986, 0.1046)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "left_outer_finger_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_knuckle>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_finger>
+                point3f physics:localPos0 = (0, -0.06213, 0.0509)
+                point3f physics:localPos1 = (0, -0.06213, 0.0509)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 180
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "left_inner_finger_knuckle_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_knuckle>
+                point3f physics:localPos0 = (0, -0.04986, 0.1046)
+                point3f physics:localPos1 = (0, -0.04986, 0.1046)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = -inf
+                float physics:upperLimit = inf
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "left_inner_finger_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0.00001
+                float drive:angular:physics:maxForce = 0.5
+                float drive:angular:physics:stiffness = 0.0002
+                float drive:angular:physics:targetPosition = 45
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_finger>
+                point3f physics:localPos0 = (0, -0.06776, 0.09809)
+                point3f physics:localPos1 = (0, -0.06776, 0.09809)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = -inf
+                float physics:upperLimit = inf
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "left_inner_knuckle_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/base_link>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_knuckle>
+                uniform bool physics:excludeFromArticulation = 1
+                point3f physics:localPos0 = (0, -0.0127, 0.06118)
+                point3f physics:localPos1 = (0, -0.0127, 0.06118)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = -inf
+                float physics:upperLimit = inf
+            }
+        }
+
+        over "base_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+            kind = "group"
+        )
+        {
+        }
+
+        over "left_outer_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "left_outer_finger" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+            kind = "group"
+        )
+        {
+        }
+
+        over "left_inner_finger" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "left_inner_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "right_outer_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "right_outer_finger" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+            kind = "group"
+        )
+        {
+        }
+
+        over "right_inner_finger" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+            kind = "group"
+        )
+        {
+        }
+
+        over "right_inner_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+            kind = "group"
+        )
+        {
+        }
+    }
+}
+
+over "Meshes"
+{
+    over "base_link"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_basestep_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_basestep" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "inner_finger"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "inner_knuckle"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "outer_finger"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "outer_knuckle"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+}
+

robots/GR1/robotiq_2f85/payloads/Robotiq_2F_85_phyisics_mimic.usda

@@ -0,0 +1,488 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, 0, 0)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (0.3079713379476172, -0.06501742873710555, 0.1375984233865475)
+                double3 target = (-0.09089549906464955, -0.052643599404640196, 0.016363401350471415)
+            }
+            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 = "./Robotiq_2F_85_phyisics_mimic.usda"
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "Robotiq_2F_85"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    subLayers = [
+        @./Robotiq_2F_85_base.usda@
+    ]
+    upAxis = "Z"
+)
+
+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
+                string omni:rtx:material:db:rtSensorNameToIdMap = "DefaultMaterial:0;AsphaltStandardMaterial:1;AsphaltWeatheredMaterial:2;VegetationGrassMaterial:3;WaterStandardMaterial:4;GlassStandardMaterial:5;FiberGlassMaterial:6;MetalAlloyMaterial:7;MetalAluminumMaterial:8;MetalAluminumOxidizedMaterial:9;PlasticStandardMaterial:10;RetroMarkingsMaterial:11;RetroSignMaterial:12;RubberStandardMaterial:13;SoilClayMaterial:14;ConcreteRoughMaterial:15;ConcreteSmoothMaterial:16;OakTreeBarkMaterial:17;FabricStandardMaterial:18;PlexiGlassStandardMaterial:19;MetalSilverMaterial:20"
+                bool omni:rtx:material:db:syncLoads = 1
+                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:ecoMode:enabled
+                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 Xform "Robotiq_2F_85" (
+    kind = "assembly"
+)
+{
+    over Xform "Robotiq_2F_85" (
+        prepend apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]
+        kind = "assembly"
+    )
+    {
+        bool physxArticulation:enabledSelfCollisions = 0
+        int physxArticulation:solverPositionIterationCount = 64
+
+        def Scope "Joints"
+        {
+            def PhysicsRevoluteJoint "finger_joint" (
+                prepend apiSchemas = ["PhysxJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0.0002
+                float drive:angular:physics:maxForce = 26
+                float drive:angular:physics:stiffness = 3
+                float drive:angular:physics:targetPosition = 0
+                float drive:angular:physics:targetVelocity = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/base_link>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_knuckle>
+                point3f physics:localPos0 = (0, -0.0306, 0.05466)
+                point3f physics:localPos1 = (0, -0.0306, 0.05466)
+                quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5)
+                quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5)
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 47
+                float physxJoint:armature = 0.0001
+                float physxJoint:maxJointVelocity = 146.46
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "right_outer_knuckle_joint" (
+                active = true
+                delete apiSchemas = ["PhysicsDriveAPI:angular"]
+                prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:maxForce = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/base_link>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_knuckle>
+                point3f physics:localPos0 = (0, 0.0306, 0.05466)
+                point3f physics:localPos1 = (0, 0.0306, 0.05466)
+                quatf physics:localRot0 = (0.5, -0.5, 0.5, -0.5)
+                quatf physics:localRot1 = (0.5, -0.5, 0.5, -0.5)
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 47
+                float physxJoint:armature = 0.0001
+                float physxJoint:maxJointVelocity = 10000
+                float physxMimicJoint:rotZ:dampingRatio = 0
+                float physxMimicJoint:rotZ:gearing = -1
+                float physxMimicJoint:rotZ:naturalFrequency = 0
+                rel physxMimicJoint:rotZ:referenceJoint = </Robotiq_2F_85/Robotiq_2F_85/Joints/finger_joint>
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "right_inner_finger_joint" (
+                active = true
+                delete apiSchemas = ["PhysicsDriveAPI:angular"]
+                prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:maxForce = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:targetPosition = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_finger>
+                point3f physics:localPos0 = (0, 0.06776, 0.09809)
+                point3f physics:localPos1 = (0, 0.06776, 0.09809)
+                quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5)
+                quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5)
+                float physics:lowerLimit = -180
+                float physics:upperLimit = 180
+                float physxJoint:maxJointVelocity = 10000
+                float physxMimicJoint:rotX:dampingRatio = 0
+                float physxMimicJoint:rotX:gearing = -1
+                float physxMimicJoint:rotX:naturalFrequency = 0
+                rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_85/Robotiq_2F_85/Joints/finger_joint>
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "right_inner_finger_knuckle_joint" (
+                active = true
+                delete apiSchemas = ["PhysicsDriveAPI:angular"]
+                prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:targetPosition = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_knuckle>
+                point3f physics:localPos0 = (0, 0.04986, 0.1046)
+                point3f physics:localPos1 = (0, 0.04986, 0.1046)
+                quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5)
+                quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5)
+                float physics:lowerLimit = -180
+                float physics:upperLimit = 180
+                float physxJoint:maxJointVelocity = 10000
+                float physxMimicJoint:rotX:dampingRatio = 0
+                float physxMimicJoint:rotX:gearing = 1
+                float physxMimicJoint:rotX:naturalFrequency = 0
+                rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_85/Robotiq_2F_85/Joints/finger_joint>
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "left_inner_finger_knuckle_joint" (
+                active = true
+                delete apiSchemas = ["PhysicsDriveAPI:angular"]
+                prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_knuckle>
+                point3f physics:localPos0 = (0, -0.04986, 0.1046)
+                point3f physics:localPos1 = (0, -0.04986, 0.1046)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = -180
+                float physics:upperLimit = 180
+                float physxJoint:maxJointVelocity = 10000
+                float physxMimicJoint:rotX:dampingRatio = 0
+                float physxMimicJoint:rotX:gearing = 1
+                float physxMimicJoint:rotX:naturalFrequency = 0
+                rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_85/Robotiq_2F_85/Joints/finger_joint>
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "left_inner_finger_joint" (
+                active = true
+                delete apiSchemas = ["PhysicsDriveAPI:angular"]
+                prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:maxForce = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:targetPosition = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_finger>
+                point3f physics:localPos0 = (0, -0.06776, 0.09809)
+                point3f physics:localPos1 = (0, -0.06776, 0.09809)
+                quatf physics:localRot0 = (0.5, -0.5, -0.5, 0.5)
+                quatf physics:localRot1 = (0.5, -0.5, -0.5, 0.5)
+                float physics:lowerLimit = -180
+                float physics:upperLimit = 180
+                float physxJoint:maxJointVelocity = 10000
+                float physxMimicJoint:rotX:dampingRatio = 0
+                float physxMimicJoint:rotX:gearing = 1
+                float physxMimicJoint:rotX:naturalFrequency = 0
+                rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_85/Robotiq_2F_85/Joints/finger_joint>
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+        }
+
+        over "base_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+            kind = "group"
+        )
+        {
+        }
+
+        over "left_outer_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "left_outer_finger" (
+            delete apiSchemas = ["PhysicsMassAPI"]
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            kind = "group"
+        )
+        {
+            point3f physics:centerOfMass = (0.000005531254, -0.06595047, 0.06895309)
+            float3 physics:diagonalInertia = (0.0000132201985, 0.0000042931024, 0.000010880907)
+            float physics:mass = 0.039179202
+            quatf physics:principalAxes = (0.76604444, -0.64278764, 0, 0)
+
+            def PhysicsFixedJoint "FixedJoint"
+            {
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_knuckle>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_finger>
+                float physics:breakForce = 3.4028235e38
+                float physics:breakTorque = 3.4028235e38
+                point3f physics:localPos0 = (7.4505797e-9, 7.45058e-9, 3.87445e-9)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (1, -5.531774e-8, -4.2146855e-8, 2.370759e-8)
+                quatf physics:localRot1 = (1, 0, 0, 0)
+            }
+        }
+
+        over "left_inner_finger" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (1.2590098e-8, -0.05424156, 0.11390199)
+            float3 physics:diagonalInertia = (0.000011577923, 0.00000896224, 0.0000039778333)
+            float physics:mass = 0.039254718
+            quatf physics:principalAxes = (0.9914449, -0.13052619, 0, 0)
+        }
+
+        over "left_inner_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (-2.005321e-10, -0.03222066, 0.083420366)
+            float3 physics:diagonalInertia = (0.000011838778, 0.0000044877793, 0.00000800488)
+            float physics:mass = 0.027306942
+            quatf physics:principalAxes = (0.9063078, -0.42261827, 0, 0)
+        }
+
+        over "right_outer_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "right_outer_finger" (
+            delete apiSchemas = ["PhysicsMassAPI"]
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            kind = "group"
+        )
+        {
+            point3f physics:centerOfMass = (-0.000005531254, 0.06595047, 0.06895309)
+            float3 physics:diagonalInertia = (0.0000132201985, 0.0000042931024, 0.000010880907)
+            float physics:mass = 0.039179202
+            quatf physics:principalAxes = (0.76604444, 0.64278764, 0, 0)
+
+            def PhysicsFixedJoint "FixedJoint"
+            {
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_knuckle>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_finger>
+                float physics:breakForce = 3.4028235e38
+                float physics:breakTorque = 3.4028235e38
+                point3f physics:localPos0 = (3.725291e-9, -7.45058e-9, -3.4324326e-9)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (1, -5.5317734e-8, 4.2146844e-8, -2.634178e-9)
+                quatf physics:localRot1 = (1, 0, 0, 0)
+            }
+        }
+
+        over "right_inner_finger" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            kind = "group"
+        )
+        {
+            point3f physics:centerOfMass = (-1.2590098e-8, 0.05424156, 0.11390199)
+            float3 physics:diagonalInertia = (0.000011577923, 0.00000896224, 0.0000039778333)
+            float physics:mass = 0.039254718
+            quatf physics:principalAxes = (0.9914449, 0.13052619, 0, 0)
+        }
+
+        over "right_inner_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            kind = "group"
+        )
+        {
+            point3f physics:centerOfMass = (2.005321e-10, 0.03222066, 0.083420366)
+            float3 physics:diagonalInertia = (0.000011838778, 0.0000044877793, 0.00000800488)
+            float physics:mass = 0.027306942
+            quatf physics:principalAxes = (0.9063078, 0.42261827, 0, 0)
+        }
+    }
+}
+
+over "Meshes"
+{
+    over "base_link"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_basestep_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_basestep" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "inner_finger"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "inner_knuckle"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "outer_finger"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "outer_knuckle"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    def PhysicsCollisionGroup "CollisionGroup"
+    {
+        rel collection:colliders:includes = </Meshes>
+        rel physics:filteredGroups
+    }
+
+    def PhysicsCollisionGroup "CollisionGroup_01"
+    {
+        rel collection:colliders:includes = </Robotiq_2F_85>
+        rel physics:filteredGroups = </Meshes/CollisionGroup>
+    }
+}
+