feat(assets): publish benchmark assets with Git LFS

.gitattributes

@@ -58,9 +58,11 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
 *.usd filter=lfs diff=lfs merge=lfs -text
+*.usdz filter=lfs diff=lfs merge=lfs -text
 *.fbx filter=lfs diff=lfs merge=lfs -text
 *.obj filter=lfs diff=lfs merge=lfs -text
 *.stl filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text
 *.hdr filter=lfs diff=lfs merge=lfs -text
 *.mtl filter=lfs diff=lfs merge=lfs -text
 *.tx filter=lfs diff=lfs merge=lfs -text
@@ -69,3 +71,46 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.JPG filter=lfs diff=lfs merge=lfs -text
 *.usdc filter=lfs diff=lfs merge=lfs -text
 scenes/guanglun/CoffeeStore001/CoffeeStore_01.usda filter=lfs diff=lfs merge=lfs -text
+background/common/supermarket/supermarket_03/SubUSDs/textures/urban_alley.exr filter=lfs diff=lfs merge=lfs -text
+
+# Hugging Face release: binary and oversized assets use Git LFS.
+"/background/common/3DGS/0810_point.usdz" filter=lfs diff=lfs merge=lfs -text
+"/background/common/3DGS/gs_flattened_simpleremove_remove_shelf.usdz" filter=lfs diff=lfs merge=lfs -text
+"/background/common/3DGS/supermarket_04.usdz" filter=lfs diff=lfs merge=lfs -text
+"/background/common/ipc_objects/drawstring_bag/bottle2.usda" filter=lfs diff=lfs merge=lfs -text
+"/background/common/ipc_objects/drawstring_bag/trash_can.usda" filter=lfs diff=lfs merge=lfs -text
+"/background/common/laboratory_3/splat_7/splat_7.nurec" filter=lfs diff=lfs merge=lfs -text
+"/background/common/shelf/benchmark_shelf_001/textures/T_0058.TGA" filter=lfs diff=lfs merge=lfs -text
+"/background/common/supermarket/supermarket_03/SubUSDs/textures/3d66Model-23136354-files-071.tif" filter=lfs diff=lfs merge=lfs -text
+"/robot/G2_crsB_90d/robot_full_body_collision.usda" filter=lfs diff=lfs merge=lfs -text
+"/robot/G2_crsB_wuji/configuration/tex/bc.tga" filter=lfs diff=lfs merge=lfs -text
+"/robot/G2_crsB_wuji/configuration/tex/nor.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/shelf/benchmark_shelf_002/textures/T_0058.TGA" filter=lfs diff=lfs merge=lfs -text
+"/background/common/factory_04/SubUSDs/textures/3d66_falloff_26691309_036_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/3d66_VRayBitmap_21722605_196_VRayBitmap.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/3d66_falloff_21722605_206_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/3d66_falloff_21722605_207_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/3d66_falloff_21722605_214_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/3d66_falloff_21722605_228_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/3d66_falloff_21722605_246_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/3d66_falloff_24891254_199_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/3d66_falloff_24891254_213_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/Map__1_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/Map__2138274794_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/Map__2138278491_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/Map__53_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/home_t_589.tif" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/ms345130189_RGB Tint.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/home_agent/SubUSDs/textures/vase_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/hotle/hotle_000/textures/hotle_T_0045.tif" filter=lfs diff=lfs merge=lfs -text
+"/background/common/sandbox/textures/0e00ec5e056c57edd03983ae.tif" filter=lfs diff=lfs merge=lfs -text
+"/background/common/restaurant _02/textures/Map__1537_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/restaurant _02/textures/Map__2_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/background/common/supermarket/supermarket_03/SubUSDs/textures/3d66_falloff_23136354_844_Falloff.tga" filter=lfs diff=lfs merge=lfs -text
+"/mujoco/rubik_cube/assets/robogym/roundcube.msh" filter=lfs diff=lfs merge=lfs -text
+"/objects/benchmark/building_blocks/benchmark_building_blocks_073/Aligned" filter=lfs diff=lfs merge=lfs -text
+"/objects/benchmark/building_blocks/benchmark_building_blocks_093/Aligned" filter=lfs diff=lfs merge=lfs -text
+"/objects/benchmark/oven/benchmark_oven_000/textures/color_0C0C0C.exr" filter=lfs diff=lfs merge=lfs -text
+"/objects/benchmark/refrigerator/benchmark_refrigerator_001/textures/color_0C0C0C.exr" filter=lfs diff=lfs merge=lfs -text
+"/robot/G2_crsB_wuji/configuration/tex/met.tga" filter=lfs diff=lfs merge=lfs -text
+"/robot/G2_crsB_wuji/configuration/tex/rgh.tga" filter=lfs diff=lfs merge=lfs -text

AGENTS.md

@@ -1,5 +1,50 @@
 # AGENTS.md
 
+## HDR background retention
+
+HDR environment maps are retained for benchmark runtime generalization even when
+no current task or USD statically references them. Do not prune `.hdr` maps under
+`background/` based only on dependency reachability. Preserve EXR environment maps
+as well. Keep scene-embedded map paths so DomeLight directory sampling still
+works. This exception does not restore excluded robots, external packages, or
+unused scene USDs.
+
+## Data collection example retention
+
+Data collection examples and replay presets are release roots alongside
+benchmark tasks. Retain their complete candidate asset catalogs, metadata,
+USD-attached behavior scripts, canonical interaction/grasp data, and configured
+HDR background entry layers. Follow recursive USD, material, texture, and script
+references before pruning. An asset need not occur in a sampled benchmark scene
+to be required by an example task or its other scene instances.
+
+## Engine pipeline retention
+
+`genie_sim_engine_*` bringup scenes are release roots alongside benchmark tasks
+and data collection examples. Preserve these configured entry assets and their
+complete recursive USD, material, texture, mesh, and attached-script dependencies:
+
+- `scenes/GDK/demo.usda` for pick-and-place and whole-body-control scenes.
+- `scenes/blank/blank_cloth.usda` and `scenes/blank/T_Shirt_fold.usd` for the
+  Swiftpicker shirt scene.
+- `background/home/fried_noodles/background.usda` for the Wuji chef scenes.
+- `robot/G2_crsB_wuji/robot.usda` for the chef evaluation visual robot.
+
+The cloth scene references the retained local gridroom at
+`background/common/environments/gridroom_black/gridroom_black.usd`, including its
+`Materials/Textures` maps. Keep that relative reference local and portable.
+Do not replace a missing configured world with a generated flat scene or prune
+these dependencies merely because benchmark tasks do not reference them.
+
+## Runtime assembly cache
+
+Engine-generated assemblies belong in `scenes/<scene_stem>/`, including
+`manifest.json`, robot USD/URDF, render layers, and payloads. Keep this complete
+cache together; manifest paths and generated USD references must resolve after
+moving it. Generated `scene_*` directories are ignored by `scenes/.gitignore`.
+Retained authored entry assets such as `scenes/GDK/` and `scenes/blank/` remain
+tracked; categorized backgrounds and shared assets stay under `background/`.
+
 ## Build, Lint, and Test Commands
 
 ### Running Tests
@@ -75,29 +120,12 @@ ITEM = {
 - Include WARN and ERROR prefixes for important messages
 
 ### Asset Tools (Scripts)
-The `tools/` directory contains helper scripts for validating and batch-updating asset USD.
-
-**Detailed tool behavior (especially `compile.py`):** see [`tools/AGENTS.md`](tools/AGENTS.md).
-
-- `tools/cleanup.py`: remove generated/cache files inside `assets/` subfolders.
-- `tools/compile.py`: compile `Aligned.usda` + `item.py` from `object_parameters.json` / `Aligned.usd` (requires `--dir`; see `tools/AGENTS.md`).
-- `tools/review_physics.py`: validate and update `PhysicsMaterial` friction parameters in `.usda` files.
 
-### Agent Docs (synced from tools/)
-- `.agent/MODULE.CLEANUP_PY.md`: documentation for `tools/cleanup.py`
-- `.agent/MODULE.REVIEW_PY.md`: documentation for `tools/review.py`
+The `tools/` directory retains only `.gitignore` and these two standalone scripts:
 
-### Agent Docs Sync Rules
-- Whenever you change `tools/cleanup.py` or `tools/review.py`, update the corresponding module docs under `./.agent/`:
-  - `./.agent/MODULE.CLEANUP_PY.md` (for `tools/cleanup.py`)
-  - `./.agent/MODULE.REVIEW_PY.md` (for `tools/review.py`)
+- `tools/generate_recorder_usda.py`: generate recorder stages and cameras for assets.
+- `tools/generate_object_snapshots_and_video.py`: render snapshots and preview videos
+  from recorder stages using an Isaac Sim runtime.
 
-Recommendation for the agent:
-- Re-generate/update the doc content based on `python3 tools/cleanup.py --help` and `python3 tools/review.py --help`.
-
-Examples (run from `assets/` folder):
-```bash
-python3 tools/review.py --func check --skip-omni6dpose --limit 100
-python3 tools/review.py --func check_update --static-friction 0.5 --dynamic-friction 0.3 --limit 100
-python3 tools/review.py --func print --limit 50 > physics_material_friction.txt
-```
+Run them from a prepared runtime with `geniesim_assets` installed. The rendering
+script starts Isaac Sim; do not import it for a metadata or syntax-only check.

README.md

@@ -70,6 +70,15 @@ viewer: false
 ## Download the Assets
 To download the full assets, please refer to the official Hugging Face/Modelscope documentation.
 
+## Python package
+From this repository root:
+
+```bash
+pip install -e .
+```
+
+Then use `import geniesim_assets`. The standalone recorder and preview scripts
+are retained under `tools/` and included in the asset package.
 
 ## Assets Structure
 ### Folder hierarchy

VERSION

@@ -1 +1 @@
-3.2.0
+4.0.0

background/classroom/clean_the_blackboard_01/background.usda

@@ -0,0 +1,232 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, 0, 0)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (2.8540996001032366, 1.530730782258937, 1.6308320207493805)
+                double3 target = (0.6096652193293988, -0.08063754205558804, 1.1283292849289586)
+            }
+            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 = "./background.usda"
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+            token "rtx:rendermode" = "RaytracedLighting"
+        }
+    }
+    defaultPrim = "World"
+    endTimeCode = 1000000
+    metersPerUnit = 1
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    def Scope "background"
+    {
+        def "Aligned" (
+            delete payload = @./common/classroom/classroom_00/Aligned.usd@
+            prepend payload = @../../common/classroom/classroom_00/Aligned.usd@
+        )
+        {
+            quatf xformOp:orient = (6.123234e-17, 0, 0, -1)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.48571515066050797, 0.1652859943889915, -8.881784197001252e-16)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            over "Aligned"
+            {
+                over "obj_093" (
+                    active = false
+                )
+                {
+                }
+
+                over "obj_094" (
+                    active = false
+                )
+                {
+                }
+
+                over "obj_095" (
+                    active = false
+                )
+                {
+                }
+
+                over "obj_098" (
+                    active = false
+                )
+                {
+                }
+
+                over "obj_099" (
+                    active = false
+                )
+                {
+                }
+
+                over "obj_100" (
+                    active = false
+                )
+                {
+                }
+
+                over "obj_101" (
+                    active = false
+                )
+                {
+                }
+
+                over "obj_102" (
+                    active = false
+                )
+                {
+                }
+            }
+        }
+
+        def "benchmark_whiteboard_000" (
+            delete payload = @./objects/benchmark/whiteboard/benchmark_whiteboard_000/Aligned.usda@
+            prepend payload = @../../../objects/benchmark/whiteboard/benchmark_whiteboard_000/Aligned.usda@
+            active = false
+        )
+        {
+            quatf xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (-0.9733998073591903, -0.5656605218408381, 0.8720996086974213)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            over "entity"
+            {
+                bool physics:rigidBodyEnabled = 0
+
+                def Xform "WritingSurface" (
+                    delete references = @./objects/benchmark/handwriting/benchmark_text_000/Aligned.usd@
+                    prepend references = @../../../objects/benchmark/handwriting/benchmark_text_000/Aligned.usd@
+                )
+                {
+                    matrix4d xformOp:transform:surface = ( (0, 0, -1, 0), (0, 1, 0, 0), (1, 0, 0, 0), (0.0059, 0.46985, -0.00005, 1) )
+                    uniform token[] xformOpOrder = ["xformOp:transform:surface"]
+                }
+            }
+        }
+    }
+
+    def Scope "objects"
+    {
+        def "benchmark_blackboard_eraser_000" (
+            delete payload = @./objects/benchmark/blackboard_eraser/benchmark_blackboard_eraser_000/Aligned.usda@
+            prepend payload = @../../../objects/benchmark/blackboard_eraser/benchmark_blackboard_eraser_000/Aligned.usda@
+            active = false
+        )
+        {
+            quatf xformOp:orient = (0.70710677, 0, 0, 0.70710677)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.7165614022593191, 0, 0.7250491638188907)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            over "entity" (
+                prepend apiSchemas = ["OmniScriptingAPI"]
+            )
+            {
+                custom string eraser:boardRelativePath = "../../../background/benchmark_whiteboard_000/entity/WritingSurface"
+                custom matrix4d eraser:contactTransform = ( (6.617444900424222e-24, 0, 0.9999999999999999, 0), (1, 5.048709793414476e-29, 0, 0), (-1.0097419586828951e-28, 1, 0, 0), (3.308724529140074e-24, -0.02058870531618595, 0, 1) )
+                custom bool eraser:demoEnabled = 0
+                custom double eraser:elapsedTime = 0
+                custom double eraser:erasedFraction = 0
+                custom double eraser:measuredTiltDegrees = 0
+                custom double2 eraser:padHalfSize = (0.054, 0.023)
+                custom int eraser:physicsSteps = 0
+                custom int eraser:remainingCells = 102945
+                custom bool eraser:touching = 0
+                custom asset[] omni:scripting:scripts = [@../../../objects/benchmark/blackboard_eraser/benchmark_blackboard_eraser_000/scripts/blackboard_eraser.py@]
+            }
+        }
+    }
+}
+
+def "Render" (
+    hide_in_stage_window = true
+    no_delete = true
+)
+{
+    def "OmniverseKit"
+    {
+        def "HydraTextures" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </OmniverseKit_Persp>
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
+                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
+                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
+                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                token omni:rtx:rendermode
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:ecoMode:enabled
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                uint omni:rtx:viewTile:limit = 4294967295
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (2297, 905)
+            }
+        }
+    }
+
+    def RenderSettings "OmniverseGlobalRenderSettings" (
+        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
+        no_delete = true
+    )
+    {
+        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
+    }
+
+    def "Vars"
+    {
+        def RenderVar "LdrColor" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            uniform string sourceName = "LdrColor"
+        }
+    }
+}
+

background/cloth_empty/background.usda

@@ -0,0 +1,186 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, 0, 0)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (4.956397862606363, 7.121549613775624, 6.246926630690298)
+                double3 target = (3.1498032404224547, -0.24989610658783068, 2.0758351832593647)
+            }
+            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 = "./background.usda"
+        }
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "World"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    def Scope "light"
+    {
+        def "Light_00" (
+            prepend references = @../common/Light/Light_00.usda@
+        )
+        {
+            token visibility = "inherited"
+            double3 xformOp:rotateZYX = (0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 2.367)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
+
+            over "DiskLight" (
+                active = false
+            )
+            {
+            }
+
+            over "DiskLight_01" (
+                active = false
+            )
+            {
+            }
+
+            over "DiskLight_02" (
+                active = false
+            )
+            {
+            }
+
+            over "DistantLight" (
+                active = false
+            )
+            {
+            }
+
+            over "RectLight" (
+                active = false
+            )
+            {
+            }
+
+            over "RectLight_01" (
+                active = false
+            )
+            {
+            }
+
+            over "RectLight_02" (
+                active = false
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "GroundPlane"
+    {
+        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"]
+
+        def Mesh "VisualMesh"
+        {
+            uniform bool doubleSided = 0
+            int[] faceVertexCounts = [4]
+            int[] faceVertexIndices = [0, 1, 2, 3]
+            normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)]
+            point3f[] points = [(-25, -25, 0), (25, -25, 0), (25, 25, 0), (-25, 25, 0)]
+            color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)]
+            texCoord2f[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1)] (
+                interpolation = "varying"
+            )
+            token visibility = "invisible"
+        }
+
+        def Plane "CollisionPlane" (
+            prepend apiSchemas = ["PhysicsCollisionAPI"]
+        )
+        {
+            uniform token axis = "Z"
+            uniform token purpose = "guide"
+        }
+    }
+}
+
+def "Render" (
+    hide_in_stage_window = true
+    no_delete = true
+)
+{
+    def "OmniverseKit"
+    {
+        def "HydraTextures" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </OmniverseKit_Persp>
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
+                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
+                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
+                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                token omni:rtx:rendermode = "RealTimePathTracing"
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                uint omni:rtx:viewTile:limit = 4294967295
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (1920, 1080)
+            }
+        }
+    }
+
+    def RenderSettings "OmniverseGlobalRenderSettings" (
+        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
+        no_delete = true
+    )
+    {
+        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
+    }
+
+    def "Vars"
+    {
+        def RenderVar "LdrColor" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            uniform string sourceName = "LdrColor"
+        }
+    }
+}
+

background/cloth_hanger/background.usda

@@ -0,0 +1,77 @@
+#usda 1.0
+(
+    defaultPrim = "World"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    def DomeLight "DomeLight" (
+        prepend references = @../common/ipc_objects/cloth_hanger/hdr_home.usda@</Object>
+    )
+    {
+        quatd xformOp:orient = (0.1650707998190716, 0.16507079981907158, 0.6875693645350205, 0.6875693645350206)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+    def Scope "Objects"
+    {
+        def Xform "hangger" (
+            prepend references = @../common/ipc_objects/cloth_hanger/hangger.usda@</Object>
+        )
+        {
+            quatf xformOp:orient = (0.5, -0.5, 0.5, 0.5)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.5340658587082174, -0.1415108922051712, 0.7451859474119271)
+            token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+        def Mesh "rack_collider" (
+            prepend references = @../common/ipc_objects/cloth_hanger/rack_collider.usda@</Object>
+        )
+        {
+            quatd xformOp:orient = (0.6931359767913817, 0.693135971805957, -0.1398660828544016, -0.13986608285440152)
+            double3 xformOp:scale = (0.023095692675908382, 0.023095692675908264, 0.9316254213642174)
+            double3 xformOp:translate = (0.977830323653479, -0.3408920060905216, 1.0806273549216496)
+            token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+        def Xform "rack_visual" (
+            prepend references = @../common/ipc_objects/cloth_hanger/rack_visual.usda@</Object>
+        )
+        {
+            quatf xformOp:orient = (0.693136, 0.693136, -0.13986608, -0.13986608)
+            float3 xformOp:scale = (1, 0.7426413, 1)
+            double3 xformOp:translate = (1.132790777426067, 0.01436026897434038, 0.5667341057379189)
+            token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+        def Xform "table" (
+            prepend references = @../common/ipc_objects/cloth_hanger/table.usda@</Object>
+        )
+        {
+            quatf xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1.2537422, 1, 1)
+            double3 xformOp:translate = (0.6781036167401743, 0.38187681276057794, 0.35655141103745075)
+            token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+        def Mesh "table_collider" (
+            prepend references = @../common/ipc_objects/cloth_hanger/table_collider.usda@</Object>
+        )
+        {
+            quatd xformOp:orient = (0.7071067811865476, 0, 0, 0.7071067811865475)
+            double3 xformOp:scale = (1.2035081224479665, 0.7555203608578233, 0.14513362016125528)
+            double3 xformOp:translate = (0.6787220221354411, 0.38165735669716894, 0.6609995527914967)
+            token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+        def Xform "tshirt" (
+            prepend references = @../common/ipc_objects/cloth_hanger/tshirt.usda@</World>
+        )
+        {
+            quatf xformOp:orient = (0.96532136, 0, 0, 0.2610645)
+            double xformOp:rotateX:unitsResolve = 90.0
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.7051767249887809, 0.5310343998547091, 0.7581590163626698)
+            token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:rotateX:unitsResolve"]
+        }
+    }
+}

background/common/3DGS/0007_home_move_door.usdz

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background/common/3DGS/0013_office_move_table.usdz

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background/common/3DGS/0810_point.usdz

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background/common/3DGS/gs_flattened_simpleremove_remove_shelf.usdz

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background/common/3DGS/supermarket_04.usdz

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robot/curobo_robot/assets/robot/G2/configuration/Cam.usd → background/common/3DGS_background/0007_home/background.usd

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background/common/3DGS_background/0013_office_move_table/background.usd

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background/common/3DGS_background/bookshelf/background.usd

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background/common/3DGS_ground_mesh/0007_home/Aligned.usd

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background/common/3DGS_ground_mesh/0013_office/Aligned.usd

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background/common/Aligned_03/Aligned_03.usd

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background/common/HDR/{room/HDR_RESTAURANT.hdr → 0006_home.hdr}

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-size 21673439
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background/common/HDR/{room/brown_photostudio_02_4k.hdr → 0007_home.hdr}

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background/common/HDR/{room/christmas_photo_studio_04_4k.hdr → 0010_office.hdr}

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background/common/HDR/{room/docklands_02_4k.hdr → 0014_office_remove_chair_01.hdr}

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background/common/HDR/0014_office_remove_chair_02.hdr

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background/common/HDR/010_office_move_table.hdr

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background/common/HDR/011_office.hdr

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background/common/HDR/011_office_move_chair.hdr

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background/common/HDR/012_office_move_table.hdr

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background/common/HDR/14.hdr

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