add mug_on_coaster assets

assets/scenes/objects/mug_on_coaster/coaster/properties.json

@@ -0,0 +1,17 @@
+{
+  "asset": "static.usda",
+  "units": "m",
+  "up_axis": "Z",
+  "default_prim": "/Coaster",
+  "representation": "static",
+  "radius_m": 0.055,
+  "thickness_m": 0.02,
+  "origin": "bottom_center",
+  "visual_triangles": 192,
+  "collision_shapes": 1,
+  "collision_description": "one Z-axis cylinder matching disk radius/thickness",
+  "static_friction": 0.65,
+  "dynamic_friction": 0.5,
+  "restitution": 0.05,
+  "scope": "Fixed cork coaster (no arrow mark); not a dynamic rigid body."
+}

assets/scenes/objects/mug_on_coaster/coaster/static.usda

@@ -0,0 +1,97 @@
+#usda 1.0
+(
+    defaultPrim = "Coaster"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "Coaster" (
+    doc = "Fixed cork coaster. Origin at bottom center. Author as static (no rigid body). Place with z = table_top."
+)
+{
+    custom token robobench:physicsMode = "static"
+
+    def Scope "Looks"
+    {
+        def Material "Cork"
+        {
+            token outputs:surface.connect = </Coaster/Looks/Cork/PreviewSurface.outputs:surface>
+
+            def Shader "PreviewSurface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Coaster/Looks/Cork/DiffuseTexture.outputs:rgb>
+                float inputs:metallic = 0
+                float inputs:roughness = 0.75
+                token outputs:surface
+            }
+
+            def Shader "DiffuseTexture"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @/home/lrf/RoboBench/assets/scenes/objects/mug_on_coaster/coaster/textures/top.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Coaster/Looks/Cork/PrimvarST.outputs:result>
+                token inputs:wrapS = "clamp"
+                token inputs:wrapT = "clamp"
+                float3 outputs:rgb
+            }
+
+            def Shader "PrimvarST"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                token inputs:varname = "st"
+                float2 outputs:result
+            }
+        }
+
+        def Material "PhysicalCork" (
+            prepend apiSchemas = ["PhysicsMaterialAPI"]
+        )
+        {
+            float physics:density = 250
+            float physics:dynamicFriction = 0.5
+            float physics:restitution = 0.05
+            float physics:staticFriction = 0.65
+        }
+    }
+
+    def "Visuals"
+    {
+        def Mesh "Disk" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            float3[] extent = [(-0.055, -0.055, 0), (0.055, 0.055, 0.02)]
+            int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+            int[] faceVertexIndices = [96, 0, 1, 97, 49, 48, 0, 48, 49, 0, 49, 1, 96, 1, 2, 97, 50, 49, 1, 49, 50, 1, 50, 2, 96, 2, 3, 97, 51, 50, 2, 50, 51, 2, 51, 3, 96, 3, 4, 97, 52, 51, 3, 51, 52, 3, 52, 4, 96, 4, 5, 97, 53, 52, 4, 52, 53, 4, 53, 5, 96, 5, 6, 97, 54, 53, 5, 53, 54, 5, 54, 6, 96, 6, 7, 97, 55, 54, 6, 54, 55, 6, 55, 7, 96, 7, 8, 97, 56, 55, 7, 55, 56, 7, 56, 8, 96, 8, 9, 97, 57, 56, 8, 56, 57, 8, 57, 9, 96, 9, 10, 97, 58, 57, 9, 57, 58, 9, 58, 10, 96, 10, 11, 97, 59, 58, 10, 58, 59, 10, 59, 11, 96, 11, 12, 97, 60, 59, 11, 59, 60, 11, 60, 12, 96, 12, 13, 97, 61, 60, 12, 60, 61, 12, 61, 13, 96, 13, 14, 97, 62, 61, 13, 61, 62, 13, 62, 14, 96, 14, 15, 97, 63, 62, 14, 62, 63, 14, 63, 15, 96, 15, 16, 97, 64, 63, 15, 63, 64, 15, 64, 16, 96, 16, 17, 97, 65, 64, 16, 64, 65, 16, 65, 17, 96, 17, 18, 97, 66, 65, 17, 65, 66, 17, 66, 18, 96, 18, 19, 97, 67, 66, 18, 66, 67, 18, 67, 19, 96, 19, 20, 97, 68, 67, 19, 67, 68, 19, 68, 20, 96, 20, 21, 97, 69, 68, 20, 68, 69, 20, 69, 21, 96, 21, 22, 97, 70, 69, 21, 69, 70, 21, 70, 22, 96, 22, 23, 97, 71, 70, 22, 70, 71, 22, 71, 23, 96, 23, 24, 97, 72, 71, 23, 71, 72, 23, 72, 24, 96, 24, 25, 97, 73, 72, 24, 72, 73, 24, 73, 25, 96, 25, 26, 97, 74, 73, 25, 73, 74, 25, 74, 26, 96, 26, 27, 97, 75, 74, 26, 74, 75, 26, 75, 27, 96, 27, 28, 97, 76, 75, 27, 75, 76, 27, 76, 28, 96, 28, 29, 97, 77, 76, 28, 76, 77, 28, 77, 29, 96, 29, 30, 97, 78, 77, 29, 77, 78, 29, 78, 30, 96, 30, 31, 97, 79, 78, 30, 78, 79, 30, 79, 31, 96, 31, 32, 97, 80, 79, 31, 79, 80, 31, 80, 32, 96, 32, 33, 97, 81, 80, 32, 80, 81, 32, 81, 33, 96, 33, 34, 97, 82, 81, 33, 81, 82, 33, 82, 34, 96, 34, 35, 97, 83, 82, 34, 82, 83, 34, 83, 35, 96, 35, 36, 97, 84, 83, 35, 83, 84, 35, 84, 36, 96, 36, 37, 97, 85, 84, 36, 84, 85, 36, 85, 37, 96, 37, 38, 97, 86, 85, 37, 85, 86, 37, 86, 38, 96, 38, 39, 97, 87, 86, 38, 86, 87, 38, 87, 39, 96, 39, 40, 97, 88, 87, 39, 87, 88, 39, 88, 40, 96, 40, 41, 97, 89, 88, 40, 88, 89, 40, 89, 41, 96, 41, 42, 97, 90, 89, 41, 89, 90, 41, 90, 42, 96, 42, 43, 97, 91, 90, 42, 90, 91, 42, 91, 43, 96, 43, 44, 97, 92, 91, 43, 91, 92, 43, 92, 44, 96, 44, 45, 97, 93, 92, 44, 92, 93, 44, 93, 45, 96, 45, 46, 97, 94, 93, 45, 93, 94, 45, 94, 46, 96, 46, 47, 97, 95, 94, 46, 94, 95, 46, 95, 47, 96, 47, 0, 97, 48, 95, 47, 95, 48, 47, 48, 0]
+            rel material:binding = </Coaster/Looks/Cork>
+            point3f[] points = [(0.055, 0, 0.02), (0.054529466, 0.0071789403, 0.02), (0.05312592, 0.014235048, 0.02), (0.050813373, 0.021047588, 0.02), (0.047631398, 0.0275, 0.02), (0.043634433, 0.033481877, 0.02), (0.038890872, 0.038890872, 0.02), (0.033481877, 0.043634433, 0.02), (0.0275, 0.047631398, 0.02), (0.021047588, 0.050813373, 0.02), (0.014235048, 0.05312592, 0.02), (0.0071789403, 0.054529466, 0.02), (3.3677786e-18, 0.055, 0.02), (-0.0071789403, 0.054529466, 0.02), (-0.014235048, 0.05312592, 0.02), (-0.021047588, 0.050813373, 0.02), (-0.0275, 0.047631398, 0.02), (-0.033481877, 0.043634433, 0.02), (-0.038890872, 0.038890872, 0.02), (-0.043634433, 0.033481877, 0.02), (-0.047631398, 0.0275, 0.02), (-0.050813373, 0.021047588, 0.02), (-0.05312592, 0.014235048, 0.02), (-0.054529466, 0.0071789403, 0.02), (-0.055, 6.735557e-18, 0.02), (-0.054529466, -0.0071789403, 0.02), (-0.05312592, -0.014235048, 0.02), (-0.050813373, -0.021047588, 0.02), (-0.047631398, -0.0275, 0.02), (-0.043634433, -0.033481877, 0.02), (-0.038890872, -0.038890872, 0.02), (-0.033481877, -0.043634433, 0.02), (-0.0275, -0.047631398, 0.02), (-0.021047588, -0.050813373, 0.02), (-0.014235048, -0.05312592, 0.02), (-0.0071789403, -0.054529466, 0.02), (-1.0103336e-17, -0.055, 0.02), (0.0071789403, -0.054529466, 0.02), (0.014235048, -0.05312592, 0.02), (0.021047588, -0.050813373, 0.02), (0.0275, -0.047631398, 0.02), (0.033481877, -0.043634433, 0.02), (0.038890872, -0.038890872, 0.02), (0.043634433, -0.033481877, 0.02), (0.047631398, -0.0275, 0.02), (0.050813373, -0.021047588, 0.02), (0.05312592, -0.014235048, 0.02), (0.054529466, -0.0071789403, 0.02), (0.055, 0, 0), (0.054529466, 0.0071789403, 0), (0.05312592, 0.014235048, 0), (0.050813373, 0.021047588, 0), (0.047631398, 0.0275, 0), (0.043634433, 0.033481877, 0), (0.038890872, 0.038890872, 0), (0.033481877, 0.043634433, 0), (0.0275, 0.047631398, 0), (0.021047588, 0.050813373, 0), (0.014235048, 0.05312592, 0), (0.0071789403, 0.054529466, 0), (3.3677786e-18, 0.055, 0), (-0.0071789403, 0.054529466, 0), (-0.014235048, 0.05312592, 0), (-0.021047588, 0.050813373, 0), (-0.0275, 0.047631398, 0), (-0.033481877, 0.043634433, 0), (-0.038890872, 0.038890872, 0), (-0.043634433, 0.033481877, 0), (-0.047631398, 0.0275, 0), (-0.050813373, 0.021047588, 0), (-0.05312592, 0.014235048, 0), (-0.054529466, 0.0071789403, 0), (-0.055, 6.735557e-18, 0), (-0.054529466, -0.0071789403, 0), (-0.05312592, -0.014235048, 0), (-0.050813373, -0.021047588, 0), (-0.047631398, -0.0275, 0), (-0.043634433, -0.033481877, 0), (-0.038890872, -0.038890872, 0), (-0.033481877, -0.043634433, 0), (-0.0275, -0.047631398, 0), (-0.021047588, -0.050813373, 0), (-0.014235048, -0.05312592, 0), (-0.0071789403, -0.054529466, 0), (-1.0103336e-17, -0.055, 0), (0.0071789403, -0.054529466, 0), (0.014235048, -0.05312592, 0), (0.021047588, -0.050813373, 0), (0.0275, -0.047631398, 0), (0.033481877, -0.043634433, 0), (0.038890872, -0.038890872, 0), (0.043634433, -0.033481877, 0), (0.047631398, -0.0275, 0), (0.050813373, -0.021047588, 0), (0.05312592, -0.014235048, 0), (0.054529466, -0.0071789403, 0), (0, 0, 0.02), (0, 0, 0)]
+            texCoord2f[] primvars:st = [(1, 0.5), (0.9957224, 0.5652631), (0.98296297, 0.62940955), (0.96193975, 0.6913417), (0.9330127, 0.75), (0.89667666, 0.8043807), (0.8535534, 0.8535534), (0.8043807, 0.89667666), (0.75, 0.9330127), (0.6913417, 0.96193975), (0.62940955, 0.98296297), (0.5652631, 0.9957224), (0.5, 1), (0.4347369, 0.9957224), (0.37059048, 0.98296297), (0.3086583, 0.96193975), (0.25, 0.9330127), (0.19561929, 0.89667666), (0.14644662, 0.8535534), (0.10332334, 0.8043807), (0.066987276, 0.75), (0.038060248, 0.6913417), (0.017037064, 0.62940955), (0.004277587, 0.5652631), (0, 0.5), (0.004277587, 0.4347369), (0.017037064, 0.37059048), (0.038060248, 0.3086583), (0.066987276, 0.25), (0.10332334, 0.19561929), (0.14644662, 0.14644662), (0.19561929, 0.10332334), (0.25, 0.066987276), (0.3086583, 0.038060248), (0.37059048, 0.017037064), (0.4347369, 0.004277587), (0.5, 0), (0.5652631, 0.004277587), (0.62940955, 0.017037064), (0.6913417, 0.038060248), (0.75, 0.066987276), (0.8043807, 0.10332334), (0.8535534, 0.14644662), (0.89667666, 0.19561929), (0.9330127, 0.25), (0.96193975, 0.3086583), (0.98296297, 0.37059048), (0.9957224, 0.4347369), (1, 0.5), (0.9957224, 0.5652631), (0.98296297, 0.62940955), (0.96193975, 0.6913417), (0.9330127, 0.75), (0.89667666, 0.8043807), (0.8535534, 0.8535534), (0.8043807, 0.89667666), (0.75, 0.9330127), (0.6913417, 0.96193975), (0.62940955, 0.98296297), (0.5652631, 0.9957224), (0.5, 1), (0.4347369, 0.9957224), (0.37059048, 0.98296297), (0.3086583, 0.96193975), (0.25, 0.9330127), (0.19561929, 0.89667666), (0.14644662, 0.8535534), (0.10332334, 0.8043807), (0.066987276, 0.75), (0.038060248, 0.6913417), (0.017037064, 0.62940955), (0.004277587, 0.5652631), (0, 0.5), (0.004277587, 0.4347369), (0.017037064, 0.37059048), (0.038060248, 0.3086583), (0.066987276, 0.25), (0.10332334, 0.19561929), (0.14644662, 0.14644662), (0.19561929, 0.10332334), (0.25, 0.066987276), (0.3086583, 0.038060248), (0.37059048, 0.017037064), (0.4347369, 0.004277587), (0.5, 0), (0.5652631, 0.004277587), (0.62940955, 0.017037064), (0.6913417, 0.038060248), (0.75, 0.066987276), (0.8043807, 0.10332334), (0.8535534, 0.14644662), (0.89667666, 0.19561929), (0.9330127, 0.25), (0.96193975, 0.3086583), (0.98296297, 0.37059048), (0.9957224, 0.4347369), (0.5, 0.5), (0.5, 0.5)] (
+                interpolation = "vertex"
+            )
+            uniform token subdivisionScheme = "none"
+        }
+    }
+
+    def "Collision"
+    {
+        def Cylinder "Pad" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            uniform token axis = "Z"
+            float3[] extent = [(-0.055, -0.055, -0.01), (0.055, 0.055, 0.01)]
+            double height = 0.02
+            custom rel material:binding:physics = </Coaster/Looks/PhysicalCork>
+            bool physics:collisionEnabled = 1
+            custom float physxCollision:contactOffset = 0.002
+            custom float physxCollision:restOffset = 0
+            double radius = 0.055
+            token visibility = "invisible"
+            double3 xformOp:translate = (0, 0, 0.01)
+            uniform token[] xformOpOrder = ["xformOp:translate"]
+        }
+    }
+}
+

assets/scenes/objects/mug_on_coaster/mug/properties.json

@@ -0,0 +1,35 @@
+{
+  "asset": "rigid.usda",
+  "units": "m",
+  "up_axis": "Z",
+  "default_prim": "/Mug",
+  "height_m": 0.095,
+  "body_diameter_m": 0.078,
+  "rigid_bodies": 1,
+  "visual_triangles": 1848,
+  "collision_shapes": 21,
+  "collision_description": "12 convex wall sectors, one cylindrical foot, eight handle capsules",
+  "density_kg_m3": 2450.0,
+  "mass_kg": 0.25647950885455834,
+  "center_of_mass_m": [
+    0.004526858163931654,
+    1.0043644706787124e-17,
+    0.03952243259682566
+  ],
+  "diagonal_inertia_kg_m2": [
+    0.00031249491262781324,
+    0.00036329298943345675,
+    0.0004201461289947225
+  ],
+  "principal_axes_wxyz": [
+    -0.5527596715760347,
+    0.5527596738873873,
+    0.4409724988537192,
+    0.44097249762062307
+  ],
+  "static_friction": 0.55,
+  "dynamic_friction": 0.42,
+  "restitution": 0.04,
+  "mass_method": "Closed visual mesh volume integrals at uniform ceramic density; the handle attachment overlap is a small modeling approximation.",
+  "scope": "Empty rigid mug; no liquid, fracture or compliance model."
+}