droid2sim

The Alchera PanClean kitchen scene, ported to Isaac Sim for DROID manipulation.

What's here

One scene under scenes/panclean/, in three stages from original to runnable:

panclean/
├── source/                  # 1. ORIGINAL — as delivered by Alchera (untouched)
│   ├── asset.glb            #      the kitchen (glTF, 465 MB)
│   └── render01.png         #      reference render — the look to match
│
├── asset.usd                # 2. PORTED — asset.glb converted to USD
├── textures/                #      PBR textures for asset.usd
├── assets/                  #      same scene split into per-object meshes (13 objects)
│
├── scene.usda               # 3. ASSEMBLED — asset.usd placed in the DROID robot frame
└── initial_conditions.json  #      robot/policy start state (from PolaRiS pan_clean)

• source/ — the original Alchera deliverable, nothing changed.
• asset.usd / textures / assets — the port: only the format is converted (glb → USD, via NVIDIA omni.kit.asset_converter); meshes are unchanged.
• scene.usda — only references asset.usd and sets position/orientation. It never edits the meshes.

Coordinate note

The source is Y-up, real scale (countertop ~1.1 m). The DROID policy expects Z-up with the surface ~0.05 m in front of the base, so scene.usda rotates +90° about X and lowers it into reach.

Reproduce

Docker setup + render/GUI scripts are in the code repo SNU-PI/droid2sim — clone it, download this scene into data/panclean/, and run scripts/docker/launch.sh. See that repo's README.

License

Held jointly by Seoul National University PI Lab, LG, and Alchera.