diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..0f1f4ec987e7de6ac25af359ba688c19923c7d2a 100644 --- a/.gitattributes +++ b/.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 diff --git a/CREDITS.md b/CREDITS.md new file mode 100644 index 0000000000000000000000000000000000000000..05c29b1559a6035ad95724dbfad4fdb3691935c0 --- /dev/null +++ b/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. diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..21763e33dc96749d41ba5d0b8ed96dc24be02bd4 --- /dev/null +++ b/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. diff --git a/robots/GR1/GR1T2_robotiq85.usd b/robots/GR1/GR1T2_robotiq85.usd new file mode 100644 index 0000000000000000000000000000000000000000..dd43f561f9eda68628eced468d4a05570fcae421 Binary files /dev/null and b/robots/GR1/GR1T2_robotiq85.usd differ diff --git a/robots/GR1/configuration/GR1T2_fourier_hand_6dof_base.usd b/robots/GR1/configuration/GR1T2_fourier_hand_6dof_base.usd new file mode 100644 index 0000000000000000000000000000000000000000..6e94c30f6990b16830613b265ef7b0106af41bca --- /dev/null +++ b/robots/GR1/configuration/GR1T2_fourier_hand_6dof_base.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a05b0d770fc774de5642c00e6f179d1eec2b05e02889cc7a93aed3970b4be6ac +size 6636816 diff --git a/robots/GR1/configuration/GR1T2_fourier_hand_6dof_physics.usd b/robots/GR1/configuration/GR1T2_fourier_hand_6dof_physics.usd new file mode 100644 index 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0000000000000000000000000000000000000000..72295c447dcd69ac7c8ce7b24153412f2d7f6c0b --- /dev/null +++ b/robots/GR1/robotiq_2f85/payloads/Robotiq_2F_85_base.usda @@ -0,0 +1,448 @@ +#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 = + 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 = + custom bool overrideClipRange = 0 + uniform int2 resolution = (1280, 720) + } + } + } + + def RenderSettings "OmniverseGlobalRenderSettings" ( + prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"] + no_delete = true + ) + { + rel products = + } + + 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 = + ) + { + 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 = + ) + { + 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 = + ) + { + 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 = + ) + { + 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 = + ) + { + 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 = + ) + { + 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 = + ) + { + 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 = + ) + { + 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 = + ) + { + 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"] + } + } +} + diff --git a/robots/GR1/robotiq_2f85/payloads/Robotiq_2F_85_phyisics_loop.usda b/robots/GR1/robotiq_2f85/payloads/Robotiq_2F_85_phyisics_loop.usda new file mode 100644 index 0000000000000000000000000000000000000000..696460db34f3183b5bbfd71c83329bc96971d2e2 --- /dev/null +++ b/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 = + 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 = + custom bool overrideClipRange = 0 + uniform int2 resolution = (1280, 720) + } + } + } + + def RenderSettings "OmniverseGlobalRenderSettings" ( + prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"] + no_delete = true + ) + { + rel products = + } + + 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 = + rel physics:body1 = + 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 = + rel physics:body1 = + 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 = + 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 = + rel physics:body1 = + 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 = + rel physics:body1 = + 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 = + rel physics:body1 = + 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 = + rel physics:body1 = + 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 = + rel physics:body1 = + 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 = + rel physics:body1 = + 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 = + rel physics:body1 = + 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 = + rel physics:body1 = + 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 + } + } + } +} + diff --git a/robots/GR1/robotiq_2f85/payloads/Robotiq_2F_85_phyisics_mimic.usda b/robots/GR1/robotiq_2f85/payloads/Robotiq_2F_85_phyisics_mimic.usda new file mode 100644 index 0000000000000000000000000000000000000000..2ec75466831b8605904bb248845589887b28750d --- /dev/null +++ b/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 = + 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 = + custom bool overrideClipRange = 0 + uniform int2 resolution = (1280, 720) + } + } + } + + def RenderSettings "OmniverseGlobalRenderSettings" ( + prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"] + no_delete = true + ) + { + rel products = + } + + 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 = + rel physics:body1 = + 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 = + rel physics:body1 = + 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 = + 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 = + rel physics:body1 = + 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 = + 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 = + rel physics:body1 = + 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 = + 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 = + rel physics:body1 = + 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 = + 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 = + rel physics:body1 = + 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 = + 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 = + rel physics:body1 = + 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 = + rel physics:body1 = + 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 = + rel physics:filteredGroups + } + + def PhysicsCollisionGroup "CollisionGroup_01" + { + rel collection:colliders:includes = + rel physics:filteredGroups = + } +} + diff --git a/robots/GR1/textures/renderXLowTextures/GR1T2FourierIntelligence_GR1T2_albedo.1001.png b/robots/GR1/textures/renderXLowTextures/GR1T2FourierIntelligence_GR1T2_albedo.1001.png new file mode 100644 index 0000000000000000000000000000000000000000..9030b3574b0d9bb206bbe717ae7f4ddfb6ae5705 --- /dev/null +++ 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