|
|
|
|
|
( |
|
|
customLayerData = { |
|
|
dictionary cameraSettings = { |
|
|
dictionary Front = { |
|
|
double3 position = (5, -0.9071989904406321, 0.9766428958999153) |
|
|
double radius = 0.5820317268371582 |
|
|
} |
|
|
dictionary Perspective = { |
|
|
double3 position = (0.10037280277694209, 1.1475395939183257, 1.089754152735402) |
|
|
double3 target = (0.10008539664568462, 1.145969035139312, 1.0884105251240632) |
|
|
} |
|
|
dictionary Right = { |
|
|
double3 position = (0.11860614224119401, -5, 0.9578217649499935) |
|
|
double radius = 0.13614888191223146 |
|
|
} |
|
|
dictionary Top = { |
|
|
double3 position = (0.13447439087292073, -0.9009193732130296, 4.934232393991757) |
|
|
double radius = 0.1446176290512085 |
|
|
} |
|
|
string boundCamera = "/OmniverseKit_Persp" |
|
|
} |
|
|
dictionary omni_layer = { |
|
|
string authoring_layer = "./G1_omnipicker.usda" |
|
|
} |
|
|
dictionary renderSettings = { |
|
|
} |
|
|
} |
|
|
defaultPrim = "G1" |
|
|
metersPerUnit = 1 |
|
|
upAxis = "Z" |
|
|
) |
|
|
|
|
|
def Xform "G1" ( |
|
|
prepend apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"] |
|
|
displayName = "G1" |
|
|
variants = { |
|
|
string Physics = "PhysX" |
|
|
string Sensor = "Sensors" |
|
|
} |
|
|
prepend variantSets = ["Physics", "Sensor"] |
|
|
) |
|
|
{ |
|
|
bool physxArticulation:enabledSelfCollisions = 0 |
|
|
quatd xformOp:orient = (1, 0, 0, 0) |
|
|
double3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0, 0, 0) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
|
|
|
over "base_link" ( |
|
|
delete apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"] |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "visuals" |
|
|
{ |
|
|
quatf xformOp:orient = (1, 0, 0, 0) |
|
|
float3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0, 0, 0.21113469724309647) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
|
|
|
def Camera "Fisheye_Back_01" ( |
|
|
active = true |
|
|
) |
|
|
{ |
|
|
token cameraProjectionType = "fisheyePolynomial" ( |
|
|
allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"] |
|
|
) |
|
|
float2 clippingRange = (0.01, 10000000) |
|
|
float focalLength = 18.147562 |
|
|
float focusDistance = 400 |
|
|
bool omni:kit:cameraLock = 1 |
|
|
custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400) |
|
|
token visibility = "invisible" |
|
|
quatd xformOp:orient = (0.49999999999999933, 0.5000000000000001, 0.5000000000000004, 0.5000000000000001) |
|
|
double3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (-0.30000000447034847, 0.057673270003865684, 1.0630543750437111) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
|
|
|
def Camera "Fisheye_Back_02" ( |
|
|
active = true |
|
|
) |
|
|
{ |
|
|
token cameraProjectionType = "fisheyePolynomial" ( |
|
|
allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"] |
|
|
) |
|
|
float2 clippingRange = (0.01, 10000000) |
|
|
float focalLength = 18.147562 |
|
|
float focusDistance = 400 |
|
|
bool omni:kit:cameraLock = 1 |
|
|
custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400) |
|
|
token visibility = "invisible" |
|
|
quatd xformOp:orient = (0.49999999999999933, 0.5000000000000001, 0.5000000000000004, 0.5000000000000001) |
|
|
double3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (-0.30000000447034836, -0.05767, 1.063054375043722) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
|
|
|
def PhysicsFixedJoint "FixedJoint" |
|
|
{ |
|
|
rel physics:body1 = </G1/base_link> |
|
|
float physics:breakForce = inf |
|
|
float physics:breakTorque = inf |
|
|
point3f physics:localPos0 = (0, 0, 0) |
|
|
point3f physics:localPos1 = (0, 0, 0) |
|
|
quatf physics:localRot0 = (1, 0, 0, 0) |
|
|
quatf physics:localRot1 = (1, 0, 0, 0) |
|
|
} |
|
|
} |
|
|
|
|
|
over "body_link1" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "visuals" |
|
|
{ |
|
|
quatf xformOp:orient = (1, 0, 0, 0) |
|
|
float3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0, 0, 0) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
} |
|
|
|
|
|
over "body_link2" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
} |
|
|
|
|
|
over "arm_base_link" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
} |
|
|
|
|
|
over "arm_l_base_link" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
} |
|
|
|
|
|
over "arm_l_link1" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "arm_l_link2" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "arm_l_link3" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "arm_l_link4" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "arm_l_link5" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "arm_l_link6" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "arm_l_end_link" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_l_base_link" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
def Camera "Left_Camera" ( |
|
|
active = true |
|
|
) |
|
|
{ |
|
|
token cameraProjectionType = "pinhole" ( |
|
|
allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"] |
|
|
) |
|
|
float2 clippingRange = (0.01, 10000000) |
|
|
float fisheyeResolutionBudget = 1.5 |
|
|
float focalLength = 1.93 |
|
|
float focusDistance = 400 |
|
|
float horizontalAperture = 3.7601311 |
|
|
bool omni:kit:cameraLock = 1 |
|
|
custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400) |
|
|
float p0 = -0.00036721907 |
|
|
float verticalAperture = 2.1307867 |
|
|
token visibility = "invisible" |
|
|
quatd xformOp:orient = (-0.24763401411015198, -0.6623272567663911, 0.6623272567663911, 0.24763401411015207) |
|
|
double3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (-0.08248, -0.00244, 0.04346) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
|
|
|
def "Cam" ( |
|
|
prepend payload = @./configuration/Cam.usd@ |
|
|
) |
|
|
{ |
|
|
quatf xformOp:orient = (6.123234e-17, 0.70710677, -4.3297803e-17, -0.70710677) |
|
|
double xformOp:rotateX:unitsResolve = 90 |
|
|
float3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (4.0169941095680173e-7, 1.5376787357301858e-7, 0) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:rotateX:unitsResolve"] |
|
|
|
|
|
over "Cam" |
|
|
{ |
|
|
over "cam" |
|
|
{ |
|
|
quatf xformOp:orient = (1, 0, 0, 0) |
|
|
float3 xformOp:scale = (1, 1, 1.02) |
|
|
double3 xformOp:translate = (3.430589146091734e-14, 4.5075054799781356e-14, 0.00022551183775573747) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
} |
|
|
} |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_l_inner_link1" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
vector3f physics:angularVelocity = (0, 0, 0) |
|
|
float physics:mass = 0.025 |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_l_inner_link3" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_l_inner_link4" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
float physics:mass = 0.035 |
|
|
float physxContactReport:threshold = 0 |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
float physxRigidBody:sleepThreshold = 0 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"] |
|
|
instanceable = false |
|
|
) |
|
|
{ |
|
|
rel material:binding = </G1/PhysicsMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
uniform token physics:approximation = "none" |
|
|
float physxContactReport:threshold = 0 |
|
|
int physxConvexDecompositionCollision:hullVertexLimit = 64 |
|
|
int physxConvexDecompositionCollision:maxConvexHulls = 32 |
|
|
int physxConvexDecompositionCollision:voxelResolution = 500000 |
|
|
uniform int physxSDFMeshCollision:sdfResolution = 256 |
|
|
|
|
|
def IsaacContactSensor "Contact_Sensor" |
|
|
{ |
|
|
float4 color = (1, 0, 0, 1) |
|
|
bool enabled = 1 |
|
|
float radius = -1 |
|
|
float sensorPeriod = -1 |
|
|
float2 threshold = (0, 100000) |
|
|
quatd xformOp:orient = (1, 0, 0, 0) |
|
|
double3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0, 0, 0) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_l_inner_link2" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
float physics:mass = 0.025 |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
uniform token physics:approximation = "convexDecomposition" |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_l_outer_link1" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
float physics:mass = 0.025 |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_l_outer_link3" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_l_outer_link4" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
float physics:mass = 0.035 |
|
|
float physxContactReport:threshold = 0 |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
float physxRigidBody:sleepThreshold = 0 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"] |
|
|
instanceable = false |
|
|
) |
|
|
{ |
|
|
rel material:binding = </G1/PhysicsMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
uniform token physics:approximation = "none" |
|
|
float physxContactReport:threshold = 0 |
|
|
int physxConvexDecompositionCollision:hullVertexLimit = 64 |
|
|
int physxConvexDecompositionCollision:maxConvexHulls = 32 |
|
|
int physxConvexDecompositionCollision:voxelResolution = 500000 |
|
|
uniform int physxSDFMeshCollision:sdfResolution = 256 |
|
|
|
|
|
def IsaacContactSensor "Contact_Sensor" |
|
|
{ |
|
|
float4 color = (1, 0, 0, 1) |
|
|
bool enabled = 1 |
|
|
float radius = -1 |
|
|
float sensorPeriod = -1 |
|
|
float2 threshold = (0, 100000) |
|
|
quatd xformOp:orient = (1, 0, 0, 0) |
|
|
double3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0, 0, 0) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_l_outer_link2" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
float physics:mass = 0.025 |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
uniform token physics:approximation = "convexDecomposition" |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_l_center_link" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
} |
|
|
|
|
|
over "arm_r_base_link" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
} |
|
|
|
|
|
over "arm_r_link1" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "arm_r_link2" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "arm_r_link3" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "arm_r_link4" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "arm_r_link5" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "arm_r_link6" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "arm_r_end_link" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" |
|
|
{ |
|
|
bool physics:collisionEnabled = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_r_base_link" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
def Camera "Right_Camera" ( |
|
|
active = true |
|
|
) |
|
|
{ |
|
|
token cameraProjectionType = "pinhole" ( |
|
|
allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"] |
|
|
) |
|
|
float2 clippingRange = (0.01, 10000000) |
|
|
float fisheyeResolutionBudget = 1.5 |
|
|
float focalLength = 1.93 |
|
|
float focusDistance = 400 |
|
|
float horizontalAperture = 3.7601311 |
|
|
bool omni:kit:cameraLock = 1 |
|
|
custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -0.252056884844326) |
|
|
float p0 = -0.00036721907 |
|
|
float verticalAperture = 2.1307867 |
|
|
token visibility = "invisible" |
|
|
quatd xformOp:orient = (-0.24763401411015198, -0.6623272567663911, -0.6623272567663911, -0.24763401411015207) |
|
|
double3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0.08248, -0.0024400039901093795, 0.04346) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
|
|
|
def "Cam" ( |
|
|
prepend payload = @./configuration/Cam.usd@ |
|
|
) |
|
|
{ |
|
|
quatf xformOp:orient = (0.70710677, 0, 0.70710677, 0) |
|
|
double xformOp:rotateX:unitsResolve = 90 |
|
|
float3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0, 0, 0) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:rotateX:unitsResolve"] |
|
|
|
|
|
over "Cam" |
|
|
{ |
|
|
over "cam" |
|
|
{ |
|
|
quatf xformOp:orient = (1, 0, 0, 0) |
|
|
float3 xformOp:scale = (1, 1, 1.02) |
|
|
double3 xformOp:translate = (3.430589146091734e-14, 4.5075054799781356e-14, 0.00022551183775573747) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
} |
|
|
} |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_r_inner_link1" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_r_inner_link3" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_r_inner_link4" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
float physics:mass = 0.035 |
|
|
float physxContactReport:threshold = 0 |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
float physxRigidBody:sleepThreshold = 0 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI"] |
|
|
instanceable = false |
|
|
) |
|
|
{ |
|
|
rel material:binding = </G1/PhysicsMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
uniform token physics:approximation = "none" |
|
|
float physxContactReport:threshold = 0 |
|
|
|
|
|
def IsaacContactSensor "Contact_Sensor" |
|
|
{ |
|
|
float4 color = (1, 0, 0, 1) |
|
|
bool enabled = 1 |
|
|
float radius = -1 |
|
|
float sensorPeriod = -1 |
|
|
float2 threshold = (0, 100000) |
|
|
quatd xformOp:orient = (1, 0, 0, 0) |
|
|
double3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0, 0, 0) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_r_inner_link2" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
float physics:mass = 0.025 |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
uniform token physics:approximation = "convexDecomposition" |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_r_outer_link1" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_r_outer_link3" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_r_outer_link4" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
float physics:mass = 0.035 |
|
|
float physxContactReport:threshold = 0 |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
float physxRigidBody:sleepThreshold = 0 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxTriangleMeshSimplificationCollisionAPI", "PhysxSDFMeshCollisionAPI", "PhysxContactReportAPI"] |
|
|
instanceable = false |
|
|
) |
|
|
{ |
|
|
rel material:binding = </G1/PhysicsMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
uniform token physics:approximation = "none" |
|
|
float physxContactReport:threshold = 0 |
|
|
|
|
|
def IsaacContactSensor "Contact_Sensor" |
|
|
{ |
|
|
float4 color = (1, 0, 0, 1) |
|
|
bool enabled = 1 |
|
|
float radius = -1 |
|
|
float sensorPeriod = -1 |
|
|
float2 threshold = (0, 100000) |
|
|
quatd xformOp:orient = (1, 0, 0, 0) |
|
|
double3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0, 0, 0) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_r_outer_link2" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
float physics:mass = 0.025 |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "collisions" ( |
|
|
prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"] |
|
|
) |
|
|
{ |
|
|
rel material:binding:physics = </G1/GripperMaterial> ( |
|
|
bindMaterialAs = "weakerThanDescendants" |
|
|
) |
|
|
uniform token physics:approximation = "convexDecomposition" |
|
|
} |
|
|
} |
|
|
|
|
|
over "gripper_r_center_link" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
} |
|
|
|
|
|
over "head_link1" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
} |
|
|
|
|
|
over "head_link2" ( |
|
|
prepend apiSchemas = ["PhysxRigidBodyAPI"] |
|
|
) |
|
|
{ |
|
|
bool physxRigidBody:disableGravity = 1 |
|
|
|
|
|
over "visuals" |
|
|
{ |
|
|
quatf xformOp:orient = (1, 0, 0, 0) |
|
|
float3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0.039525628306619376, -0.01962560545893477, 8.262606048342261e-10) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
|
|
|
def Camera "Head_Camera" ( |
|
|
active = true |
|
|
) |
|
|
{ |
|
|
token cameraSensorType = "camera" ( |
|
|
allowedTokens = ["camera", "radar", "lidar", "rtxsensor"] |
|
|
) |
|
|
float2 clippingRange = (0.01, 10000000) |
|
|
float focalLength = 1.93 |
|
|
float focusDistance = 400 |
|
|
float horizontalAperture = 3.896 |
|
|
bool omni:kit:cameraLock = 1 |
|
|
float verticalAperture = 2.453 |
|
|
token visibility = "invisible" |
|
|
quatd xformOp:orient = (6.123233995736766e-17, 0.7071067811865476, -4.329780281177467e-17, -0.7071067811865476) |
|
|
double3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0.0858, -0.04119, 0) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
|
|
|
def Camera "Fisheye_Camera_01" ( |
|
|
active = true |
|
|
) |
|
|
{ |
|
|
token cameraProjectionType = "fisheyePolynomial" ( |
|
|
allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"] |
|
|
) |
|
|
float2 clippingRange = (0.01, 10000000) |
|
|
float focalLength = 1.93 |
|
|
float focusDistance = 400 |
|
|
float fthetaPolyB = 0.00245 |
|
|
float fthetaPolyC = 0 |
|
|
float horizontalAperture = 3.896 |
|
|
bool omni:kit:cameraLock = 1 |
|
|
float verticalAperture = 2.453 |
|
|
token visibility = "invisible" |
|
|
quatd xformOp:orient = (0.0751616554826484, 0.9377050893657665, 0.030613207309336917, -0.33782054771858294) |
|
|
double3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0.07625208730182864, 0.01962537929559538, 0.047878739498311895) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
|
|
|
def Camera "Fisheye_Camera_02" ( |
|
|
active = true |
|
|
) |
|
|
{ |
|
|
token cameraProjectionType = "fisheyePolynomial" ( |
|
|
allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"] |
|
|
) |
|
|
float2 clippingRange = (0.01, 10000000) |
|
|
float focalLength = 1.93 |
|
|
float focusDistance = 400 |
|
|
float fthetaPolyB = 0.00245 |
|
|
float fthetaPolyC = 0 |
|
|
float horizontalAperture = 3.896 |
|
|
bool omni:kit:cameraLock = 1 |
|
|
float verticalAperture = 2.453 |
|
|
token visibility = "invisible" |
|
|
quatd xformOp:orient = (-0.07386098599114474, -0.35900989056451804, -0.17965850209084597, 0.9128960925821417) |
|
|
double3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0.07625090899974629, 0.019624617386816645, -0.05772210537580889) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
} |
|
|
|
|
|
def Camera "Top_Camera" ( |
|
|
kind = "model" |
|
|
) |
|
|
{ |
|
|
token cameraProjectionType = "fisheyePolynomial" ( |
|
|
allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"] |
|
|
) |
|
|
float2 clippingRange = (0.01, 10000000) |
|
|
float focalLength = 1.93 |
|
|
float focusDistance = 400 |
|
|
float horizontalAperture = 3.896 |
|
|
bool omni:kit:cameraLock = 1 |
|
|
float verticalAperture = 2.453 |
|
|
token visibility = "invisible" |
|
|
quatd xformOp:orient = (0.14097441837755495, 0.6929114036896132, 0.14097441837755503, -0.6929114036896132) |
|
|
double3 xformOp:scale = (1, 1, 1) |
|
|
double3 xformOp:translate = (0.09148739595212874, -0.07523617103289082, -0.0000051337173225556625) |
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] |
|
|
|
|
|
over "OmniverseKitViewportCameraMesh" ( |
|
|
always_pick_model = true |
|
|
hide_in_stage_window = true |
|
|
kind = "subcomponent" |
|
|
no_delete = true |
|
|
prepend references = @../../../sim/isaacsim/kit/resources/models/camera/camera.usd@ |
|
|
) |
|
|
{ |
|
|
bool primvars:doNotCastShadows = 1 |
|
|
bool primvars:omni:kit:isGizmo = 1 |
|
|
token visibility |
|
|
float3 xformOp:scale = (0.01, 0.01, 0.01) |
|
|
uniform token[] xformOpOrder = ["xformOp:scale"] |
|
|
|
|
|
over "CameraModel" ( |
|
|
always_pick_model = true |
|
|
hide_in_stage_window = true |
|
|
no_delete = true |
|
|
) |
|
|
{ |
|
|
float3[] extent = [(3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38)] |
|
|
bool primvars:doNotCastShadows = 1 |
|
|
bool primvars:omni:kit:isGizmo = 1 |
|
|
} |
|
|
} |
|
|
} |
|
|
} |
|
|
|
|
|
over "joints" |
|
|
{ |
|
|
over "idx01_body_joint1" |
|
|
{ |
|
|
float drive:linear:physics:damping = 1000 |
|
|
float drive:linear:physics:maxForce = inf |
|
|
float drive:linear:physics:stiffness = 10000 |
|
|
float drive:linear:physics:targetPosition = 0 |
|
|
float physxJoint:maxJointVelocity = 0.1 |
|
|
float state:linear:physics:position = 0 |
|
|
float state:linear:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx02_body_joint2" |
|
|
{ |
|
|
float drive:angular:physics:damping = 1000 |
|
|
float drive:angular:physics:maxForce = 100 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float drive:angular:physics:targetPosition = 0 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx11_head_joint1" |
|
|
{ |
|
|
float drive:angular:physics:damping = 50 |
|
|
float drive:angular:physics:stiffness = 500 |
|
|
float drive:angular:physics:targetPosition = 0 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx12_head_joint2" |
|
|
{ |
|
|
float drive:angular:physics:damping = 50 |
|
|
float drive:angular:physics:stiffness = 500 |
|
|
float drive:angular:physics:targetPosition = 0 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx21_arm_l_joint1" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx61_arm_r_joint1" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx22_arm_l_joint2" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx62_arm_r_joint2" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx23_arm_l_joint3" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx63_arm_r_joint3" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx24_arm_l_joint4" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx64_arm_r_joint4" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx25_arm_l_joint5" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx65_arm_r_joint5" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx26_arm_l_joint6" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx66_arm_r_joint6" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx27_arm_l_joint7" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx67_arm_r_joint7" |
|
|
{ |
|
|
float drive:angular:physics:damping = 500 |
|
|
float drive:angular:physics:stiffness = 10000 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx31_gripper_l_inner_joint1" ( |
|
|
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"] |
|
|
prepend apiSchemas = ["PhysxMimicJointAPI:rotX"] |
|
|
) |
|
|
{ |
|
|
float drive:angular:physics:damping = 0 |
|
|
float drive:angular:physics:maxForce = inf |
|
|
float drive:angular:physics:stiffness = 0 |
|
|
float drive:angular:physics:targetPosition = 0 |
|
|
uniform token drive:angular:physics:type = "force" |
|
|
uniform token physics:axis = "Z" |
|
|
float physics:breakForce = 3.4028235e38 |
|
|
bool physics:jointEnabled = 1 |
|
|
float physics:JointEquivalentInertia = 0.001 |
|
|
point3f physics:localPos0 = (0, -0.019499995, 0.0565) |
|
|
point3f physics:localPos1 = (0, 0, 0) |
|
|
quatf physics:localRot0 = (-0.70710677, 1.04530146e-16, -0.70710677, 8.6595606e-17) |
|
|
quatf physics:localRot1 = (6.123234e-17, 0, 0, 1) |
|
|
float physics:lowerLimit = 0 |
|
|
float physics:upperLimit = 57.353077 |
|
|
float physxJoint:maxJointVelocity = 120 |
|
|
float physxMimicJoint:rotX:gearing = -1 |
|
|
rel physxMimicJoint:rotX:referenceJoint = </G1/joints/idx41_gripper_l_outer_joint1> |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over PhysicsSphericalJoint "idx39_gripper_l_inner_joint2" ( |
|
|
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] |
|
|
) |
|
|
{ |
|
|
float drive:angular:physics:damping = 0 |
|
|
float drive:angular:physics:maxForce = 0 |
|
|
float drive:angular:physics:stiffness = 0 |
|
|
rel physics:body0 = </G1/gripper_l_inner_link2> |
|
|
rel physics:body1 = </G1/gripper_l_base_link> |
|
|
uniform bool physics:excludeFromArticulation = 1 |
|
|
bool physics:jointEnabled = 1 |
|
|
point3f physics:localPos0 = (2.220446e-16, 2.7755576e-17, 0) |
|
|
point3f physics:localPos1 = (2.8028984e-8, -0.021633008, 0.07386994) |
|
|
quatf physics:localRot0 = (-3.1429528e-10, 3.208232e-8, 1, -1.03406055e-10) |
|
|
quatf physics:localRot1 = (-0.004648374, 0.70709157, -0.0046482733, -0.70709145) |
|
|
float physxJoint:maxJointVelocity = 1000000 |
|
|
} |
|
|
|
|
|
over "idx41_gripper_l_outer_joint1" ( |
|
|
delete apiSchemas = ["PhysicsDriveAPI:angular"] |
|
|
prepend apiSchemas = ["PhysicsDriveAPI:angular"] |
|
|
) |
|
|
{ |
|
|
float drive:angular:physics:damping = 10 |
|
|
float drive:angular:physics:maxForce = inf |
|
|
float drive:angular:physics:stiffness = 100 |
|
|
float drive:angular:physics:targetPosition = 0 |
|
|
float drive:angular:physics:targetVelocity = 0 |
|
|
uniform token drive:angular:physics:type = "acceleration" |
|
|
bool physics:jointEnabled = 1 |
|
|
float physics:JointEquivalentInertia = 0.001 |
|
|
quatf physics:localRot0 = (-1.6081226e-16, -0.70710677, 0, 0.70710677) |
|
|
float physics:upperLimit = 57.353077 |
|
|
float physxJoint:maxJointVelocity = 120 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over PhysicsSphericalJoint "idx49_gripper_l_outer_joint2" ( |
|
|
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] |
|
|
) |
|
|
{ |
|
|
float drive:angular:physics:damping = 0 |
|
|
float drive:angular:physics:maxForce = 0 |
|
|
float drive:angular:physics:stiffness = 0 |
|
|
rel physics:body0 = </G1/gripper_l_outer_link2> |
|
|
rel physics:body1 = </G1/gripper_l_base_link> |
|
|
uniform bool physics:excludeFromArticulation = 1 |
|
|
bool physics:jointEnabled = 1 |
|
|
point3f physics:localPos0 = (1.110223e-16, 1.3877788e-17, 1.110223e-16) |
|
|
point3f physics:localPos1 = (3.8344396e-8, 0.021632975, 0.07386994) |
|
|
quatf physics:localRot0 = (-3.1429528e-10, 3.208232e-8, 1, -1.03406055e-10) |
|
|
quatf physics:localRot1 = (-0.004648374, 0.70709157, -0.0046482733, -0.70709145) |
|
|
float physxJoint:maxJointVelocity = 1000000 |
|
|
} |
|
|
|
|
|
over "idx71_gripper_r_inner_joint1" ( |
|
|
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"] |
|
|
prepend apiSchemas = ["PhysxMimicJointAPI:rotX"] |
|
|
) |
|
|
{ |
|
|
float drive:angular:physics:damping = 10 |
|
|
float drive:angular:physics:maxForce = inf |
|
|
float drive:angular:physics:stiffness = 100 |
|
|
float drive:angular:physics:targetPosition = 0 |
|
|
quatf physics:localRot0 = (0.70710677, -1.7934538e-17, 0.70710677, 0) |
|
|
quatf physics:localRot1 = (6.123234e-17, 0, 0, 1) |
|
|
float physics:lowerLimit = 0 |
|
|
float physics:upperLimit = 57.353077 |
|
|
float physxJoint:maxJointVelocity = 120 |
|
|
float physxMimicJoint:rotX:gearing = -1 |
|
|
rel physxMimicJoint:rotX:referenceJoint = </G1/joints/idx81_gripper_r_outer_joint1> |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over PhysicsSphericalJoint "idx79_gripper_r_inner_joint2" ( |
|
|
delete apiSchemas = ["PhysicsDriveAPI:angular", "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 = </G1/gripper_r_inner_link2> |
|
|
rel physics:body1 = </G1/gripper_r_base_link> |
|
|
uniform bool physics:excludeFromArticulation = 1 |
|
|
bool physics:jointEnabled = 1 |
|
|
point3f physics:localPos0 = (0, 0, 0) |
|
|
point3f physics:localPos1 = (0, -0.02174, 0.0739) |
|
|
quatf physics:localRot0 = (1, 0, 0, 0) |
|
|
quatf physics:localRot1 = (-1.6081226e-16, -0.70710677, 0, 0.70710677) |
|
|
float physxJoint:maxJointVelocity = 1000000 |
|
|
} |
|
|
|
|
|
over "idx81_gripper_r_outer_joint1" |
|
|
{ |
|
|
float drive:angular:physics:damping = 10 |
|
|
float drive:angular:physics:maxForce = inf |
|
|
float drive:angular:physics:stiffness = 100 |
|
|
float drive:angular:physics:targetPosition = 0 |
|
|
uniform token drive:angular:physics:type = "acceleration" |
|
|
quatf physics:localRot0 = (-1.6081226e-16, -0.70710677, 0, 0.70710677) |
|
|
float physics:lowerLimit = 0 |
|
|
float physics:upperLimit = 57.353077 |
|
|
float physxJoint:maxJointVelocity = 120 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over PhysicsSphericalJoint "idx89_gripper_r_outer_joint2" ( |
|
|
delete apiSchemas = ["PhysicsDriveAPI:angular", "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 = </G1/gripper_r_outer_link2> |
|
|
rel physics:body1 = </G1/gripper_r_base_link> |
|
|
uniform bool physics:excludeFromArticulation = 1 |
|
|
bool physics:jointEnabled = 1 |
|
|
point3f physics:localPos0 = (0, 0, 0) |
|
|
point3f physics:localPos1 = (0, 0.02174, 0.0739) |
|
|
quatf physics:localRot0 = (1, 2.4653501e-10, 1.3083376e-10, -1.9890669e-8) |
|
|
quatf physics:localRot1 = (-1.6081226e-16, 0.70710677, 0, 0.70710677) |
|
|
float physxJoint:maxJointVelocity = 1000000 |
|
|
} |
|
|
|
|
|
over "idx32_gripper_l_inner_joint3" |
|
|
{ |
|
|
float drive:angular:physics:damping = 0 |
|
|
float drive:angular:physics:maxForce = inf |
|
|
float drive:angular:physics:stiffness = 2 |
|
|
uniform token physics:axis = "Z" |
|
|
bool physics:jointEnabled = 1 |
|
|
quatf physics:localRot0 = (6.123234e-17, 0, 0, -1) |
|
|
quatf physics:localRot1 = (6.123234e-17, 0, 0, -1) |
|
|
float physics:lowerLimit = 1 |
|
|
float physics:upperLimit = 180 |
|
|
float physxJoint:maxJointVelocity = 1000000 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx42_gripper_l_outer_joint3" |
|
|
{ |
|
|
float drive:angular:physics:damping = 0 |
|
|
float drive:angular:physics:maxForce = inf |
|
|
float drive:angular:physics:stiffness = 2 |
|
|
uniform token physics:axis = "Z" |
|
|
bool physics:jointEnabled = 1 |
|
|
float physics:lowerLimit = 1 |
|
|
float physics:upperLimit = 180 |
|
|
float physxJoint:maxJointVelocity = 1000000 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx72_gripper_r_inner_joint3" |
|
|
{ |
|
|
float drive:angular:physics:damping = 0 |
|
|
float drive:angular:physics:maxForce = inf |
|
|
float drive:angular:physics:stiffness = 2 |
|
|
bool physics:jointEnabled = 1 |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = -1 |
|
|
float physxJoint:maxJointVelocity = 1000000 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx82_gripper_r_outer_joint3" |
|
|
{ |
|
|
float drive:angular:physics:damping = 0 |
|
|
float drive:angular:physics:maxForce = inf |
|
|
float drive:angular:physics:stiffness = 2 |
|
|
float drive:angular:physics:targetPosition = 0 |
|
|
bool physics:jointEnabled = 1 |
|
|
float physics:lowerLimit = 1 |
|
|
float physics:upperLimit = 180 |
|
|
float physxJoint:maxJointVelocity = 1000000 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx33_gripper_l_inner_joint4" |
|
|
{ |
|
|
float drive:angular:physics:damping = 0 |
|
|
float drive:angular:physics:maxForce = inf |
|
|
float drive:angular:physics:stiffness = 0.001 |
|
|
bool physics:jointEnabled = 1 |
|
|
quatf physics:localRot0 = (6.123234e-17, 0, 0, 1) |
|
|
quatf physics:localRot1 = (6.123234e-17, 0, 0, 1) |
|
|
float physics:lowerLimit = -20 |
|
|
float physics:upperLimit = 4 |
|
|
float physxJoint:maxJointVelocity = 1000000 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx43_gripper_l_outer_joint4" |
|
|
{ |
|
|
float drive:angular:physics:damping = 0 |
|
|
float drive:angular:physics:maxForce = inf |
|
|
float drive:angular:physics:stiffness = 0.001 |
|
|
bool physics:jointEnabled = 1 |
|
|
float physics:lowerLimit = -20 |
|
|
float physics:upperLimit = 4 |
|
|
float physxJoint:maxJointVelocity = 1000000 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx73_gripper_r_inner_joint4" ( |
|
|
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"] |
|
|
prepend apiSchemas = ["PhysicsDriveAPI:angular"] |
|
|
) |
|
|
{ |
|
|
float drive:angular:physics:damping = 0 |
|
|
float drive:angular:physics:maxForce = inf |
|
|
float drive:angular:physics:stiffness = 0.001 |
|
|
bool physics:jointEnabled = 1 |
|
|
quatf physics:localRot0 = (6.123234e-17, 0, 0, 1) |
|
|
quatf physics:localRot1 = (6.123234e-17, 0, 0, 1) |
|
|
float physics:lowerLimit = -20 |
|
|
float physics:upperLimit = 4 |
|
|
float physxJoint:maxJointVelocity = 1000000 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over "idx83_gripper_r_outer_joint4" ( |
|
|
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"] |
|
|
prepend apiSchemas = ["PhysicsDriveAPI:angular"] |
|
|
) |
|
|
{ |
|
|
float drive:angular:physics:damping = 0 |
|
|
float drive:angular:physics:maxForce = inf |
|
|
float drive:angular:physics:stiffness = 0.001 |
|
|
bool physics:jointEnabled = 1 |
|
|
float physics:lowerLimit = -20 |
|
|
float physics:upperLimit = 4 |
|
|
float physxJoint:maxJointVelocity = 1000000 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
over "Looks" |
|
|
{ |
|
|
over "Black_002" |
|
|
{ |
|
|
over "Black_002" |
|
|
{ |
|
|
float inputs:reflection_roughness_constant = 0.35 |
|
|
} |
|
|
} |
|
|
|
|
|
over "material_1___Default" |
|
|
{ |
|
|
over "material_1___Default" |
|
|
{ |
|
|
color3f inputs:diffuse_color_constant = (0.144, 0.14221951, 0.13641113) |
|
|
float inputs:metallic_constant = 0 |
|
|
float inputs:reflection_roughness_constant = 0.5 |
|
|
} |
|
|
} |
|
|
|
|
|
over "material_3___Default" |
|
|
{ |
|
|
over "material_3___Default" |
|
|
{ |
|
|
color3f inputs:diffuse_color_constant = (0.555, 0.4350001, 0.4350001) |
|
|
float inputs:metallic_constant = 1 |
|
|
float inputs:reflection_roughness_constant = 0.32 |
|
|
} |
|
|
} |
|
|
|
|
|
over "material_7___Default" |
|
|
{ |
|
|
over "material_7___Default" |
|
|
{ |
|
|
color3f inputs:diffuse_color_constant = (0.155, 0.155, 0.155) |
|
|
float inputs:metallic_constant = 1 |
|
|
float inputs:reflection_roughness_constant = 0.47 |
|
|
} |
|
|
} |
|
|
|
|
|
over "material_2___Default" |
|
|
{ |
|
|
over "material_2___Default" |
|
|
{ |
|
|
color3f inputs:diffuse_color_constant = (0.004, 0.004, 0.004) |
|
|
} |
|
|
} |
|
|
} |
|
|
|
|
|
def Material "PhysicsMaterial" ( |
|
|
prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"] |
|
|
) |
|
|
{ |
|
|
float physics:dynamicFriction = 1 |
|
|
float physics:restitution = 0.1 |
|
|
float physics:staticFriction = 1 |
|
|
uniform token physxMaterial:frictionCombineMode = "max" |
|
|
} |
|
|
|
|
|
over "loop_joints" |
|
|
{ |
|
|
over PhysicsRevoluteJoint "idx53_gripper_l_outer_joint0" ( |
|
|
prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] |
|
|
) |
|
|
{ |
|
|
float drive:angular:physics:stiffness = 0 |
|
|
rel physics:body0 = </G1/gripper_l_outer_link4> |
|
|
rel physics:body1 = </G1/gripper_l_outer_link2> |
|
|
uniform bool physics:excludeFromArticulation = 0 |
|
|
bool physics:jointEnabled = 1 |
|
|
point3f physics:localPos0 = (8.553238e-10, 0.010280432, -2.7292058e-8) |
|
|
point3f physics:localPos1 = (0.0316, 0.009602209, 0.000028008219) |
|
|
quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0) |
|
|
quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over PhysicsRevoluteJoint "idx54_gripper_l_inner_joint0" ( |
|
|
prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] |
|
|
) |
|
|
{ |
|
|
float drive:angular:physics:stiffness = 0 |
|
|
rel physics:body0 = </G1/gripper_l_inner_link4> |
|
|
rel physics:body1 = </G1/gripper_l_inner_link2> |
|
|
uniform bool physics:excludeFromArticulation = 0 |
|
|
bool physics:jointEnabled = 1 |
|
|
point3f physics:localPos0 = (-8.553229e-10, -0.010280425, 2.739001e-8) |
|
|
point3f physics:localPos1 = (0.0316, -0.00960228, -0.000028019636) |
|
|
quatf physics:localRot0 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677) |
|
|
quatf physics:localRot1 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677) |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over PhysicsRevoluteJoint "idx93_gripper_r_outer_joint0" ( |
|
|
prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] |
|
|
) |
|
|
{ |
|
|
rel physics:body0 = </G1/gripper_r_outer_link4> |
|
|
rel physics:body1 = </G1/gripper_r_outer_link2> |
|
|
uniform bool physics:excludeFromArticulation = 0 |
|
|
bool physics:jointEnabled = 1 |
|
|
point3f physics:localPos0 = (0, 0.01, 0) |
|
|
point3f physics:localPos1 = (0.0316, 0.01, 0) |
|
|
quatf physics:localRot0 = (0.7071069, 1.6831714e-7, 0.70710665, 2.519124e-7) |
|
|
quatf physics:localRot1 = (0.7071069, 1.6831714e-7, 0.70710665, 2.519124e-7) |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
|
|
|
over PhysicsRevoluteJoint "idx94_gripper_r_inner_joint0" ( |
|
|
prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] |
|
|
) |
|
|
{ |
|
|
rel physics:body0 = </G1/gripper_r_inner_link4> |
|
|
rel physics:body1 = </G1/gripper_r_inner_link2> |
|
|
uniform bool physics:excludeFromArticulation = 0 |
|
|
bool physics:jointEnabled = 1 |
|
|
point3f physics:localPos0 = (0, -0.01, 0) |
|
|
point3f physics:localPos1 = (0.0316, -0.01, 0) |
|
|
quatf physics:localRot0 = (-1.7993496e-8, 0.7071067, -1.468232e-7, 0.7071068) |
|
|
quatf physics:localRot1 = (-1.7993496e-8, 0.7071067, -1.468232e-7, 0.7071068) |
|
|
float physics:lowerLimit = -180 |
|
|
float physics:upperLimit = 180 |
|
|
float state:angular:physics:position = 0 |
|
|
float state:angular:physics:velocity = 0 |
|
|
} |
|
|
} |
|
|
|
|
|
def Material "GripperMaterial" ( |
|
|
prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"] |
|
|
) |
|
|
{ |
|
|
float physics:dynamicFriction = 1 |
|
|
float physics:restitution = 0.1 |
|
|
float physics:staticFriction = 1 |
|
|
uniform token physxMaterial:frictionCombineMode = "max" |
|
|
} |
|
|
variantSet "Physics" = { |
|
|
"None" ( |
|
|
prepend references = @./configuration/G1_omnipicker_base.usd@ |
|
|
) { |
|
|
over "joints" ( |
|
|
active = false |
|
|
) |
|
|
{ |
|
|
} |
|
|
|
|
|
over "loop_joints" ( |
|
|
active = false |
|
|
) |
|
|
{ |
|
|
} |
|
|
|
|
|
} |
|
|
"PhysX" ( |
|
|
prepend payload = @./configuration/G1_omnipicker_physics.usd@ |
|
|
) { |
|
|
|
|
|
} |
|
|
} |
|
|
variantSet "Sensor" = { |
|
|
"None" { |
|
|
|
|
|
} |
|
|
"Sensors" ( |
|
|
prepend payload = @./configuration/G1_omnipicker_sensor.usd@ |
|
|
) { |
|
|
|
|
|
} |
|
|
} |
|
|
} |
|
|
|
|
|
|
