| --- |
| license: other |
| task_categories: |
| - robotics |
| tags: |
| - isaac-sim |
| - blender |
| - manipulation |
| - droid |
| --- |
| |
| # 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. |
|
|
